A method, system and vehicle for controlling the convertible top

Abstract

This invention discloses a vehicle convertible control method, system, electronic device, storage medium, and vehicle. The method includes: responding to a vehicle convertible control signal; when the control signal is deemed valid, parsing the control signal and generating a corresponding control command; responding to the control command, capturing a motion trajectory image of the vehicle convertible based on a preset frame rate; identifying the motion boundaries and obstacle information of the motion trajectory image according to a convertible recognition algorithm; calculating the difference between the identified motion trajectory image and the preset motion trajectory information based on an image matching algorithm; 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. This method features high automation, high safety, high intelligence, and strong adaptability, significantly improving the user experience of vehicle convertibles.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, system, electronic device, storage medium, and vehicle for controlling a vehicle convertible top. Background Technology

[0002] Currently, with the continuous development of automotive technology and the increasing demands of consumers for automotive functions and driving experiences, convertibles, as a type of car that can provide a unique driving experience, are gaining popularity among consumers. However, traditional convertible control systems have many shortcomings in terms of automation, safety, and intelligence, such as cumbersome operation, low safety, and a low level of intelligence.

[0003] In existing technologies, convertible cars are primarily controlled by operating a hydraulic pump and controlling valves to raise or lower the roof. However, this method requires manual operation, is cumbersome and prone to errors, and poses certain safety hazards. Furthermore, with the development of intelligent automotive technology, consumers have increasingly higher demands for intelligent control systems in convertibles, which traditional control systems cannot meet.

[0004] Therefore, this application provides a method for controlling the convertible roof of a vehicle to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle convertible control method, system, electronic device, storage medium, and vehicle that can solve at least one of the aforementioned technical problems.

[0006] To address the aforementioned technical problems, the present invention provides a method for controlling a vehicle convertible roof, comprising:

[0007] In response to the vehicle convertible top control signal, when the control signal is determined to be valid, the control signal is parsed and a corresponding control command is generated;

[0008] In response to the control command, the motion trajectory image of the vehicle convertible is captured based on a preset frame rate, and the motion boundary and obstacle information of the motion trajectory image are identified according to the convertible recognition algorithm;

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

[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. The convertible control logic includes executing an emergency handling mechanism when the obstacle information is present.

[0011] In some specific embodiments, in response to a vehicle convertible top control signal, when the control signal is determined to be valid, the control signal is parsed and a corresponding control command is generated, specifically including:

[0012] In response to a physical touch or a virtual touch, a control signal for the vehicle convertible top is generated, wherein the physical touch includes touching a physical button, and the virtual touch includes touching a screen icon;

[0013] The vehicle convertible control signal is analyzed to determine whether it is a valid opening / closing command.

[0014] When a valid open / close instruction is received, the corresponding control instruction is generated.

[0015] In some specific embodiments, in response to the control command, a motion trajectory image of the vehicle convertible is captured based on a preset frame rate, and the motion boundaries and obstacle information of the motion trajectory image are identified according to a convertible recognition algorithm, specifically including:

[0016] The motion trajectory image is preprocessed;

[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] Obstacles are identified according to the target detection algorithm, and the obstacle information is identified, wherein the obstacle information includes position, size and distance;

[0020] The obstacle information is encoded into data.

[0021] In some specific embodiments, based on preset motion trajectory information, the difference between the identified motion trajectory image and the motion trajectory information is calculated according to an image matching algorithm, specifically including:

[0022] Based on the image matching algorithm, a multi-scale space for the image is constructed;

[0023] In the multi-scale space, key points in the image are determined by detecting local extrema.

[0024] Based on the gradient direction distribution characteristics of the pixels in the vicinity of the key point, at least one direction is assigned to each key point;

[0025] In the scale space of each key point, a neighborhood window of fixed size is selected, and the gradient information of pixels within the neighborhood window is statistically analyzed 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, corresponding convertible control logic is executed, and the status of the vehicle convertible is displayed in real time. The convertible control logic includes executing an emergency handling mechanism when obstacle information is present, specifically including:

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

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

[0030] The current position and speed status information of the vehicle's convertible top can be obtained in real time.

[0031] Calculate the error between the target position and the actual position of the vehicle's convertible top;

[0032] Based on the error and the PID algorithm parameters, calculate the control output parameters;

[0033] Based on the control output parameters, adjust the speed and direction of the vehicle convertible.

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

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

[0036] In some specific embodiments, the real-time display of the vehicle's convertible top status includes:

[0037] When the obstacle information is present, a prompt will be issued to the user;

[0038] When the difference between the identified motion trajectory image and the motion trajectory information is large, the user is prompted to perform repairs.

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

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

[0041] The control command generation module is configured to respond to the vehicle convertible control signal. When the control signal is determined to be valid, the control signal is parsed and a corresponding control command is generated.

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

[0043] The difference calculation module is configured to calculate the difference between the recognized motion trajectory image and the motion trajectory information based on 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 to display the status of the vehicle convertible in real time. The convertible control logic includes executing an emergency handling mechanism when the obstacle information is present.

[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; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of a 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, which, when run on the electronic device, causes the electronic device to perform the steps of a vehicle convertible control method.

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

[0048] Compared with existing technologies, its advantages are as follows:

[0049] This invention discloses a vehicle convertible control method, system, electronic device, storage medium, and vehicle, which features high automation, high safety, high intelligence, and strong adaptability, and can significantly improve the user experience of vehicle convertibles. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating some specific embodiments of a vehicle convertible control method of the present invention;

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

[0052] Figure 3 This is a flowchart illustrating a vehicle convertible top control method of the present invention in some applications;

[0053] Figure 4 This is another schematic diagram of the process of the vehicle convertible control method of the present invention in some applications;

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

[0055] Figure 6 This is a schematic diagram of the structure of an electronic device according to some specific embodiments of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0058] It should be understood that the term "and / or" used in this article 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. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

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

[0060] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0061] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0062] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0063] Reference Figure 1 A method for controlling a vehicle convertible top, comprising:

[0064] S101, in response to the vehicle convertible control signal, when it is determined that the control signal is valid, the control signal is parsed and a corresponding control command is generated;

[0065] Understandably, in this step, convertible control signals are received via a user interface (such as a touchscreen, buttons, etc.) or a communication interface with other systems (such as vehicle control systems, smart keys, etc.). These signals include various types, such as manual control signals (e.g., a user pressing an "open" or "close" button), timed control signals (e.g., preset daily automatic opening or closing times), and remote control signals (e.g., commands sent via a smartphone app). The validity of the signal is determined based on the reliability of its source and the correctness of its format. For example, it checks whether the signal originates from an authorized device or user and whether the signal format conforms to a preset communication protocol. Once the control signal is deemed valid, it is parsed.

[0066] Taking 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. Based on the parsing result, corresponding control commands are generated to control the movement of the convertible mechanism.

[0067] Taking manual control signals 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 motion speed, acceleration, and motion trajectory. The instruction packet is then sent to the actuator of the convertible mechanism (such as a motor driver) to control the movement of the convertible mechanism.

[0068] In some 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 command is generated. In response to physical touch or virtual touch, a vehicle convertible control signal is triggered. Physical touch includes touching a physical button, and virtual touch includes touching a screen icon. The vehicle convertible control signal is parsed to determine whether it is a valid opening / closing command. When it is a valid opening / closing command, a corresponding control command is generated.

[0069] Understandably, this application incorporates physical buttons inside the vehicle for direct control of the convertible's opening and closing. When a user needs to open or close the convertible, they can directly touch the corresponding physical button. For example, "Open" and "Close" buttons could be located on the vehicle's center console or inside the doors, allowing the user to press the appropriate button as needed. For instance, to open the convertible, the user presses the "Open" button on the center console. Upon detecting this physical touch, a convertible control signal is generated, containing the "Open" command. A virtual control interface is integrated into the vehicle's infotainment system, allowing users to control the convertible's opening and closing by touching icons on the screen. For example, a "Convertible Control" option could be added to the infotainment system's main menu. Clicking this option would display "Open" and "Close" icons, which are then touched to send control signals. For instance, while driving, a user might want to close the convertible by touching the screen. They would select the "Convertible Control" option from the infotainment system's main menu and then touch the "Close" icon. Upon receiving the virtual touch, a convertible control signal is generated, containing the "Close" command.

[0070] When the convertible top control signal is determined to be a valid opening / closing command, a corresponding control command is generated and sent to the actuator to control the opening and closing of the convertible top. Based on the parsed command type and parameter information, the corresponding control command is generated, including the target state (e.g., "open" or "closed"), speed, acceleration, and other parameters. The generated control command is sent to the actuator (e.g., a motor driver) via a communication interface. The actuator controls the movement of the convertible top mechanism according to the received command to achieve the opening and closing action.

[0071] In some of these applications, real-time display of the vehicle's convertible status includes alerting the user when obstacle information is present; prompting the user to perform repairs when the recognized motion trajectory image differs significantly from the motion trajectory information; and providing both image displays and voice prompts.

[0072] Understandably, in this application, the vehicle's convertible status is monitored in real-time by the in-vehicle system and displayed to the driver or passengers. This includes the convertible's open / closed status, current location, and speed. This information is displayed through the vehicle's infotainment system or on the dashboard screen. When an obstacle is detected near the convertible, an obstacle information alert function is activated.

[0073] For example, while the vehicle is in motion, the driver decides to open the convertible top. At this moment, a tree branch obstacle is detected above the top. First, an image of the branch is captured by a camera, and the location and size of the obstacle are identified using an image processing algorithm. Then, a warning image is displayed on the infotainment system screen, marking the location of the obstacle, and the driver is prompted with a voice prompt: "Please note that there is an obstacle above the top of the convertible. Please proceed with caution."

[0074] The system uses sensors (such as motor encoders and position sensors) to acquire real-time images of the convertible's movement trajectory and compares them with preset movement trajectory information. When the difference between the identified movement trajectory image and the preset movement trajectory information exceeds a preset threshold, it is determined that the convertible may have a malfunction or abnormality.

[0075] For example, the driver has successfully opened the convertible top, but a significant difference is detected between the top's trajectory and the preset normal trajectory. Abnormal pauses or vibrations are observed during the opening process. The difference in trajectory is then calculated, and it is determined whether it exceeds a preset threshold (e.g., a difference exceeding 10%). If the difference exceeds the threshold, a fault image is displayed on the infotainment system screen, and the driver is prompted via voice: "Please note that the convertible top's trajectory is abnormal. Please have it checked and repaired as soon as possible."

[0076] The system provides both visual and audio prompts. Visual displays are displayed on the infotainment system's screen, providing a clear view of obstacle locations, malfunction images, and other information. Audio prompts are delivered through the vehicle's audio system, conveying crucial information to the driver instantly. Using both methods together ensures the driver receives timely notifications regarding the convertible status while driving.

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

[0078] Understandably, 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 motion boundaries and obstacle information in the motion trajectory image. When the vehicle convertible control command is triggered, the image capture function is activated. To ensure the capture of a continuous and clear image sequence, a preset frame rate is used for image capture. The choice of the preset frame rate depends on the actual needs; for example, 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, a user triggers the "open the convertible" command via a physical button or virtual icon. Upon receiving the command, the camera immediately activates and begins capturing a sequence of images of the convertible opening process at a frame rate of 30 frames per second.

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

[0081] For example, in the captured image sequence, image processing algorithms (such as edge detection algorithms) are first used to perform edge detection on each frame to extract the convertible's edge information. Then, tracking algorithms (such as optical flow or Kalman filters) are used to track and match the edge information in consecutive frames to identify the convertible's motion boundaries.

[0082] While identifying motion boundaries, a convertible recognition algorithm is used to identify obstacle information in the image. Obstacle information includes features such as the obstacle's position, size, and shape.

[0083] In some applications, in response to control commands, motion trajectory images of the vehicle convertible are captured based on a preset frame rate. A convertible recognition algorithm is used to identify the motion boundaries and obstacle information within the motion trajectory image, followed by preprocessing. The convertible recognition algorithm includes edge detection and target detection algorithms. Based on the preprocessed motion trajectory image, edge extraction is performed using the edge detection algorithm to identify motion boundaries. Obstacle recognition is performed using the target detection algorithm to identify obstacle information, including location, size, and distance. The obstacle information is then encoded.

[0084] Understandably, in this application, the captured motion trajectory images are preprocessed before image recognition. This includes noise suppression, contrast enhancement, and image scaling to improve image quality and reduce errors in subsequent recognition processes.

[0085] For example, if the original captured image size is 1920x1080 pixels, it is scaled down to 960x540 pixels to reduce computational complexity and improve recognition speed. Simultaneously, a median filter is used to suppress noise in the image, reducing noise interference.

[0086] The convertible recognition algorithm includes edge detection and object detection algorithms. Edge detection is used to extract edge information from the image to identify the convertible's movement boundaries; object detection is used to detect obstacles in the image and identify their position, size, and distance. First, the edge detection algorithm is applied to the preprocessed image.

[0087] For example, the Canny edge detection algorithm can be used 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 can be extracted to identify the movement boundaries of the convertible.

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

[0089] For example, the YOLOv3 algorithm is chosen as the object detection algorithm. The model is trained and tuned to recognize obstacles (such as tree branches, wires, etc.) in an image. The output is the bounding box of the obstacle, which includes the obstacle's location (top-left and bottom-right corner coordinates), size (width and height), and confidence score.

[0090] To facilitate subsequent processing and analysis, the identified obstacle information is encoded. The encoding method can use common data exchange formats such as JSON or XML.

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

[0092]

[0093] The above method allows for the storage and transmission of identified obstacle information in a structured form, facilitating subsequent processing and analysis.

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

[0095] Understandably, in this step, based on preset motion trajectory information, an image matching algorithm is used to calculate the difference between the recognized motion trajectory image and the preset motion trajectory information. The preset motion trajectory information refers to parameters such as the expected movement path and speed of the vehicle's convertible top during opening or closing.

[0096] For example, during the opening of a convertible top, the preset motion trajectory information includes the path of the top from its initial position to its final position, the speed and timestamps of each key point, etc. This is represented as a series of point coordinates and corresponding timestamps, forming a predicted trajectory curve.

[0097] Image matching algorithms are used to match and compare the recognized motion trajectory image with preset motion trajectory information.

[0098] For example, a feature-point-based image matching algorithm can be used. First, feature points, such as edge intersections and corners, 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 are used to optimize the matching results.

[0099] The calculation of differences is based on various indicators, such as positional deviation, velocity deviation, and time deviation. The specific calculation method depends on the actual application requirements and scenarios.

[0100] For example, positional deviation and velocity deviation can be used as metrics for calculating the degree of difference. First, for each feature point in the identified motion trajectory image, its nearest corresponding point in the preset motion trajectory information is found. Then, the positional deviation between these two points is calculated, and the positional deviations of all feature points are summed to obtain the total positional deviation. Similarly, the velocity deviation can be calculated. Finally, the positional deviation and velocity deviation are weighted and summed according to certain weights to obtain the final degree of difference value.

[0101] For example, the weight of positional deviation is 0.6, and the weight of velocity deviation is 0.4. For a certain feature point, its positional deviation is 0.05 meters, and its velocity 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 summing 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 assess the degree of deviation between the actual trajectory and the preset 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 speed, direction, or path, to ensure that the actual trajectory follows the preset trajectory.

[0103] In some applications, based on preset motion trajectory information, the difference between the recognized motion trajectory image and the motion trajectory information is calculated using an image matching algorithm. A multi-scale space for the image is constructed based on the image matching algorithm. In this multi-scale space, key points in the image are determined by detecting local extrema. Based on the gradient direction distribution characteristics of pixels in the vicinity of each key point, at least one direction is assigned to each key point. In the scale space of each key point, a fixed-size neighborhood window is selected, and the gradient information of pixels within the neighborhood window is statistically analyzed 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] Understandably, in this application, a multi-scale space of the image is constructed, local extrema are detected as keypoints, a descriptor is generated for each keypoint, and finally, the difference is calculated by matching the descriptors. The multi-scale space of the image is constructed using a Gaussian pyramid.

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

[0106] In multi-scale space, key points in an image, such as corner points and edge points, are determined by detecting local extrema.

[0107] For example, the SI FT algorithm is used to detect keypoints. At each scale, the pixel is compared with 26 pixels, including the 8 neighboring pixels and the 9x2 pixels corresponding to the adjacent scales above and below. If the current pixel is an extreme point among these pixels, it is marked as a keypoint.

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

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

[0110] In the scale space of each keypoint, a fixed-size neighborhood window (e.g., 16x16 pixels) is selected and divided into smaller sub-regions (e.g., 4x4 pixels). The gradient information (e.g., direction, magnitude) of pixels within each sub-region is statistically analyzed to generate a descriptor.

[0111] For example, for each keypoint, first determine its scale space layer, and then select a 16x16 pixel neighborhood window within that scale space layer. Divide this window into 4x4 sub-regions, and collect gradient information in 8 directions for each sub-region, forming an 8-dimensional vector. Concatenate the vectors from all sub-regions to form a 128-dimensional descriptor.

[0112] The descriptors of the identified motion trajectory image are matched with the descriptors 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 can be used for descriptor matching. For each keypoint descriptor in the motion trajectory image, the nearest descriptor in the set of descriptors for the motion trajectory information is found as the matching pair. Then, the sum or average distance of all matching pairs is calculated as a measure of dissimilarity.

[0114] S104, based on the difference between the identified motion trajectory image and the motion trajectory information, execute the corresponding convertible control logic and display the status of the vehicle convertible in real time. The convertible control logic includes executing an emergency handling mechanism when the obstacle information is present.

[0115] Understandably, in this step, the corresponding convertible control logic is executed based on the calculated difference. The control logic includes multiple levels, such as normal operation, early warning prompts, and emergency handling.

[0116] Normal operation: When the difference is within the preset threshold range, it is considered that the actual trajectory is 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 will be issued to remind the driver or passengers to pay attention to the open-top condition and prepare to take appropriate measures.

[0118] Emergency Response Mechanism: When the difference in voltage reaches or exceeds the emergency response threshold, or when obstacle information is detected, the emergency response mechanism is activated. This mechanism includes immediately stopping the convertible operation, retracting the convertible to a safe position, engaging the vehicle's braking system, or issuing an emergency alarm.

[0119] For example, the preset difference threshold is 10%, and the emergency handling threshold is 20%. During 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 by flashing warning lights on the dashboard or sounding an alarm to remind the driver; if the difference suddenly increases to 25%, or an obstacle is detected in the convertible's path, the emergency handling mechanism is immediately activated, the convertible closing operation is stopped, and an attempt is made to retract the convertible to a safe position.

[0120] In some applications, based on the difference between the identified motion trajectory image and the motion trajectory information, corresponding convertible control logic is executed, and the status of the vehicle convertible is displayed in real time. The convertible control logic includes, when obstacle information is present, executing an emergency handling mechanism. The control logic includes adjusting the vehicle convertible's movement based on a PID control algorithm; determining PID algorithm parameters, including proportional coefficient, integral coefficient, and derivative coefficient; acquiring 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 control output parameters based on the error and PID algorithm parameters; adjusting the speed and direction of the vehicle convertible based on the control output parameters; the emergency handling mechanism includes deceleration, stopping, and obstacle avoidance actions. When obstacle information is present, the corresponding emergency handling mechanism is executed; and the status of the vehicle convertible is displayed in real time.

[0121] Understandably, in this application, the proportional coefficient (Kp), integral coefficient (Ki), and derivative coefficient (Kd) of the PID control algorithm are determined first.

[0122] For example, after debugging and testing, the proportional coefficient Kp of the PID control algorithm was determined to be 1.5, the integral coefficient Ki to be 0.2, and the derivative coefficient Kd to be 0.1.

[0123] It can obtain the current position and speed status information of the vehicle's convertible top in real time.

[0124] For example, a position sensor is used to measure the convertible's current position, and a speed sensor measures its current speed. Let's assume the current position is 50% (meaning the convertible is half-closed) and the current speed is 2% per second.

[0125] The position error is calculated based on the target position of the vehicle's convertible top (e.g., fully closed, i.e., 100%) and the real-time current position. Then, the control output parameters are 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%, then the position error is 50%. According to the PID algorithm, the control output parameter = Kp * error + Ki * error integral + Kd * error derivative. Substituting the known Kp, Ki, Kd, ​​and error values, the control output parameter can be calculated.

[0127] The speed and direction of the vehicle's convertible top are adjusted based on the control output parameters calculated by the PID control algorithm. If the control output parameter is positive, the closing speed of the convertible top is increased; if it is negative, the speed is decreased or the direction is changed (e.g., the convertible top is opened).

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

[0129] When an obstacle is detected, an emergency response mechanism is activated. This mechanism includes deceleration, stopping, and obstacle avoidance maneuvers.

[0130] For example, if an obstacle is detected, the system first attempts to slow down to reduce the risk of a collision. If slowing down is ineffective or the obstacle is too close, the convertible should stop immediately. In some cases, obstacle avoidance maneuvers can also be performed, such as changing the convertible's trajectory to avoid the obstacle.

[0131] It displays real-time status information of the convertible vehicle, including current location, speed, trajectory, and whether it is in an emergency situation. This information is displayed through the vehicle's instrument panel, central control screen, or mobile application.

[0132] For example, the vehicle's central control screen can display the convertible's current position (e.g., a percentage indicating how close it is), speed (e.g., percentage closing per second), and whether it's in an emergency (e.g., displaying a red warning light or text prompt). This allows the driver or passengers to stay informed about the convertible's status at all times.

[0133] The following is combined with Figures 2-4 This invention describes embodiments of the vehicle convertible top control method in some applications:

[0134] This embodiment includes a vehicle body, a convertible movement mechanism, a switch, a vision sensing device, an image storage system, an image processing system, a control system, and an information output device. The convertible movement mechanism is the actuator for opening and closing the convertible, controlled by the control system. The switch does not require a long press; a single press is sufficient for one-touch opening and closing of the convertible. The vision sensing device, fixed to the vehicle body, has a visual perception range covering the entire movement trajectory of the movement mechanism. The image storage system stores images perceived by the vision sensing device and can also store information based on computer simulations. The image processing system analyzes, processes, and compares the images perceived by the vision sensing device, converting relevant information into digital signals that are transmitted to the control system. The control system executes corresponding control logic based on the digital signals processed by the image processing system to control the actions of the convertible movement mechanism. The information output device conveys the current status information of the convertible to the user and provides 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 sensing 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 mechanism is the actuator for opening and closing the convertible roof, controlled by the control system. The switch does not require a long press; a single press is sufficient for one-touch opening and closing of the convertible roof. A visual sensing device, fixed to the vehicle body, covers the entire movement trajectory of the mechanism. During the opening and closing of the convertible roof, it monitors the movement trajectory and identifies any other people or objects along the path. The image storage system stores the images perceived by the visual sensing device—the actual movement trajectory of the convertible roof—and also stores information based on computer simulations—the theoretical movement trajectory of the convertible roof. The image processing system analyzes, processes, and compares the images perceived by the visual sensing device, converting relevant information into digital signals and transmitting them to the control system, such as whether the actual movement trajectory matches the theoretical trajectory and whether there are people or other obstacles on the predicted trajectory. The control system executes corresponding control logic based on digital signals processed by the image processing system. When it detects a person or obstacle on the convertible's trajectory, it commands the convertible to stop moving and alerts the occupants via image or sound transmission through the information output device. Once the person or obstacle leaves the trajectory, it controls the convertible to resume movement. Simultaneously, if the actual trajectory deviates below a certain limit from the theoretical trajectory, it indicates a potential problem with the mechanism, and the system alerts the user to repair it via image transmission through the information output device.

[0137] For the purpose of simplicity, the method steps disclosed in the above embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to 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 command generation module 201 is configured to respond to a vehicle convertible control signal, and when the control signal is determined to be valid, parse the control signal and generate a corresponding control command.

[0140] The vehicle convertible recognition module 202 is configured to, in response to the control command, capture the motion trajectory image of the vehicle convertible based on a preset frame rate, and identify 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 recognized motion trajectory image and the motion trajectory information based on preset motion trajectory information and according to an 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 to display the status of the vehicle convertible in real time. The convertible control logic includes executing an emergency handling mechanism when the obstacle information is present.

[0143] It is worth noting that although only some basic functional modules are disclosed in the embodiments of this invention, it does not mean that the composition of this system is limited to the above-mentioned basic functional modules. On the contrary, what this embodiment intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. The fact that this embodiment only discloses a few basic functional modules should not be considered as the scope of protection of the claims of this invention being limited to the disclosed basic functional modules. At the same time, for the convenience of description, the above device is described separately according to its functions as various units and modules. Of course, in implementing this invention, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0144] like Figure 6As shown, 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; the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the vehicle convertible control method.

[0145] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. For example... Figure 6 The structure shown in this embodiment of the invention includes an electronic device comprising one or more processors 710 and a storage device 720; the processors 710 in this electronic device may be one or more. Figure 6 Taking a processor 710 as an example; a 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, causing the one or more processors 710 to implement the vehicle convertible control method as described in any one of the embodiments of the present invention.

[0146] The electronic device may also 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 this electronic device can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0148] The storage device 720 in this electronic device serves as a computer-readable storage medium, which can be used to store one or more programs. These programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle convertible control method provided in this embodiment of the 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, thereby implementing the vehicle convertible control method described in the above method embodiment.

[0149] Storage device 720 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, storage device 720 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 720 may further include memory remotely located relative to processor 710, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0150] Input device 730 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 740 may include display devices 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, which, when run on the electronic device, causes the electronic device to perform the steps of a vehicle convertible control method.

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

[0153] The present invention also provides a vehicle equipped with a convertible 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 method for controlling a vehicle convertible top, characterized in that, include: In response to the vehicle convertible top control signal, when the control signal is determined to be valid, the control signal is parsed and a corresponding control command is generated; In response to the control command, the motion trajectory image of the vehicle convertible is captured based on a preset frame rate, and the motion boundary and obstacle information of the motion trajectory image are identified according to the convertible recognition algorithm; Based on the preset motion trajectory information, the difference between the recognized motion trajectory image and the motion trajectory information is calculated according to the image matching algorithm; 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 executing an emergency handling mechanism when the obstacle information is present.

2. The vehicle convertible top control method according to claim 1, characterized in that, In response to a vehicle convertible top control signal, when the control signal is determined to be valid, the control signal is parsed, and corresponding control commands are generated, specifically including: In response to a physical touch or a virtual touch, a control signal for the vehicle convertible top is generated, wherein the physical touch includes touching a physical button, and the virtual touch includes touching a screen icon; The vehicle convertible control signal is analyzed to determine whether it is a valid opening / closing command. When a valid open / close instruction is received, the corresponding control instruction is generated.

3. The vehicle convertible top control method according to claim 1, characterized in that, In response to the control command, the motion trajectory image of the vehicle convertible is captured based on a preset frame rate. According to the convertible recognition algorithm, the motion boundary and obstacle information of the motion trajectory image are identified, specifically including: The motion trajectory image is preprocessed; 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; Obstacles are identified according to the target detection algorithm, and the obstacle information is identified, wherein the obstacle information includes position, size and distance; The obstacle information is encoded into data.

4. The vehicle convertible top control method according to claim 1, characterized in that, 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, specifically including: Based on the image matching algorithm, a multi-scale space for the image is constructed; In the multi-scale space, key points in the image are determined by detecting local extrema. Based on the gradient direction distribution characteristics of the pixels in the vicinity of the key point, at least one direction is assigned to each key point; In the scale space of each key point, a neighborhood window of fixed size is selected, and the gradient information of pixels within the neighborhood window is statistically analyzed 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 top control method according to claim 1, characterized in that, Based on the difference between the identified motion trajectory image and the motion trajectory information, corresponding convertible control logic is executed, and the status of the vehicle's convertible top is displayed in real time. The convertible control logic includes, when the obstacle information is present, executing an emergency handling mechanism, specifically including: The control logic includes adjusting the movement of the vehicle tent based on a PID control algorithm; Determine the PID algorithm parameters, including the proportional coefficient, integral coefficient, and derivative coefficient; The current position and speed status information of the vehicle's convertible top can be obtained in real time. Calculate the error between the target position and the actual position of the vehicle's convertible top; Based on the error and the PID algorithm parameters, calculate the control output parameters; Based on the control output parameters, adjust the speed and direction of the vehicle convertible. The emergency response mechanism includes deceleration, stopping, and obstacle avoidance actions. When the obstacle information is present, the corresponding emergency response mechanism is executed. The status of the vehicle's convertible top is displayed in real time.

6. The vehicle convertible top control method according to claim 1, characterized in that, The real-time display of the vehicle's convertible top status includes: When the obstacle information is present, a prompt will be issued to the user; When the difference between the identified motion trajectory image and the motion trajectory information is large, the user is prompted to perform repairs. The prompts include image displays and voice prompts.

7. A vehicle convertible control system, characterized in that, include: The control command generation module is configured to respond to the vehicle convertible control signal. When the control signal is determined to be valid, the control signal is parsed and a corresponding control command is generated. The vehicle convertible recognition module is configured to, in response to the control command, capture the motion trajectory image of the vehicle convertible based on a preset frame rate, and identify the motion boundary and obstacle information of the motion trajectory image according to the convertible recognition algorithm; The difference calculation module is configured to calculate the difference between the recognized motion trajectory image and the motion trajectory information based on 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 to display the status of the vehicle convertible in real time. The convertible control logic includes executing an emergency handling mechanism when the obstacle information is present.

8. An electronic device, characterized in that, include: The system includes 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; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method according to 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, which, when run on the electronic device, causes the electronic device to perform the steps of the method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, The vehicle is equipped with a convertible control system as described in claim 7.

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