Vehicle platform control system, method, device, electronic equipment and vehicle

Abstract

The present disclosure relates to a vehicle-mounted platform control system, method, device, electronic equipment and vehicle, and relates to the field of vehicle-mounted platform control, and the method comprises the following steps: receiving communication information, the communication information comprising a target working mode for representing a vehicle-mounted platform, the target working mode being a mode for keeping an object on the vehicle-mounted platform relatively stationary with the vehicle-mounted platform; obtaining platform state information, determining control information based on the platform state information and a corresponding inclination angle calculation strategy of the control information; in the target working mode, determining a target inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy; and adjusting an initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme in the present disclosure, the relative stationarity of the vehicle-mounted platform and the object can be achieved, some fragile objects that are not easy to pack can be directly placed on the vehicle-mounted platform, and the user can take them as needed, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle platform control, and particularly relates to a vehicle platform control system, method, device, electronic equipment and vehicle. BACKGROUND

[0002] With the popularization of intelligent vehicles, if the items in the vehicle are not fixed when the vehicle is driving, turning or braking, the user can feel that the items in the vehicle are sliding or shaking. In an emergency, such as when the brake is stepped on or the vehicle is rear-ended, the items in the vehicle will all fall forward or backward as a whole, and even some items will hit the front windshield, which brings great safety hazards to the driving of the vehicle and also damages the items in the vehicle. Therefore, the fixing of the items in the vehicle is a very important thing.

[0003] Currently, the items on the vehicle are placed by using a physical fixing method, which generally stabilizes the objects in the driving vehicle through various supports. Among them, like larger items such as luggage compartments, storage boxes, etc., are fixed by using a net bag, and some small items are usually placed in the storage box or the armrest box, and some fragile items need to be fixed using a large amount of foam. Such a fixing method is not suitable and inconvenient for some items, such as a cup of coffee, a piece of cake and other fragile items that are not easy to package, and this fixing method not only takes time and effort, but also cannot be used and taken at any time, which is very inconvenient. SUMMARY

[0004] Therefore, the present disclosure provides a vehicle platform control system, method, device, electronic equipment and vehicle, which mainly aims to solve the problem that the fixing method in the current vehicle platform control system is time-consuming and laborious, cannot be used and taken at any time, and cannot fix liquids and some fragile items.

[0005] In a first aspect, the present disclosure provides a vehicle platform control method, which comprises:

[0006] receiving communication information, the communication information being used to represent a working mode of a vehicle platform, the working mode comprising a target working mode, the target working mode being a mode in which the items on the vehicle platform remain relatively stationary with the vehicle platform;

[0007] obtaining platform state information, determining control information for controlling the inclination angle of the vehicle platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information;

[0008] determining a target inclination angle of the vehicle platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information in the target working mode, the target inclination angle being an angle at which the items on the vehicle platform remain relatively stationary with the vehicle platform.

[0009] adjust an initial inclination angle of the vehicle-mounted platform relative to a horizontal ground to the target inclination angle.

[0010] In a second aspect, the present disclosure provides a vehicle-mounted platform control apparatus, comprising:

[0011] a receiving module configured to receive communication information, the communication information being used to represent a working mode of the vehicle-mounted platform, the working mode comprising a target working mode, the target working mode being a mode in which an article on the vehicle-mounted platform is kept relatively stationary with respect to the vehicle-mounted platform;

[0012] a obtaining module configured to obtain platform state information, determine control information for controlling an inclination angle of the vehicle-mounted platform based on the platform state information, and a corresponding inclination angle calculation strategy of the control information;

[0013] a determining module configured to determine, in the target working mode, a target inclination angle of the vehicle-mounted platform based on the platform state information and the corresponding inclination angle calculation strategy of the control information, the target inclination angle being an angle in which the article on the vehicle-mounted platform is kept relatively stationary with respect to the vehicle-mounted platform;

[0014] an adjusting module configured to adjust an initial inclination angle of the vehicle-mounted platform relative to a horizontal ground to the target inclination angle.

[0015] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the vehicle-mounted platform control method of the first aspect.

[0016] In a fourth aspect, the present disclosure provides an electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, the processor executing the computer program to implement the vehicle-mounted platform control method of the first aspect.

[0017] In a fifth aspect, the present disclosure provides a vehicle comprising the apparatus of the second aspect or the electronic device of the fourth aspect.

[0018] By the technical scheme, the vehicle-mounted platform control system, method, device, electronic equipment and vehicle provided by the present disclosure can receive communication information, the communication information is used to represent the working mode of the vehicle-mounted platform, the working mode includes a target working mode, the target working mode is a mode in which the objects on the vehicle-mounted platform are kept relatively stationary with the vehicle-mounted platform; platform state information is acquired, and control information used to control the inclination angle of the vehicle-mounted platform and an inclination angle calculation strategy corresponding to the control information are determined based on the platform state information; in the target working mode, the target inclination angle of the vehicle-mounted platform is determined based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle is an angle in which the objects on the vehicle-mounted platform are kept relatively stationary with the vehicle-mounted platform; and the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target inclination angle. Through the scheme in the present disclosure, the target inclination angle of the vehicle-mounted platform in the target working mode can be calculated based on the platform state information, and the gravity of the objects and the support force received by the objects can reach a force balance by adjusting the vehicle-mounted platform to the target inclination angle, the support force can make the acceleration of the objects consistent with that of the vehicle-mounted platform, that is, the relative stationarity of the vehicle-mounted platform and the objects can be achieved, some fragile objects that are not easy to pack can be directly placed on the vehicle-mounted platform, such as a cup of coffee or a piece of cake, and even in complex working conditions, the objects can be kept stationary, and the user can take the objects at any time, which is very convenient and improves the user experience.

[0019] The above description is only a summary of the technical scheme of the present disclosure, in order to more clearly understand the technical means of the present disclosure, the contents of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings incorporated into the specification and forming part of the specification show embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 A structural schematic diagram of a vehicle-mounted platform control system provided by an embodiment of the present disclosure is shown;

[0023] Figure 2 A flowchart of a vehicle-mounted platform control method provided by an embodiment of the present disclosure is shown;

[0024] Figure 3 A schematic diagram illustrating the principle flow of an in-vehicle platform control according to an embodiment of this disclosure is shown;

[0025] Figure 4 A flowchart illustrating an embodiment of the vehicle platform control method provided in this disclosure is shown.

[0026] Figure 5 A schematic diagram of the structure of an on-board platform control device provided in an embodiment of this disclosure is shown.

[0027] Figure 1 middle:

[0028] 1-Terminal equipment;

[0029] 2-Sensor module, 21-Pressure sensor, 22-Attitude sensor;

[0030] 3-Platform controller;

[0031] 4- Fast charging protocol chip;

[0032] 5-Voltage regulator circuit;

[0033] 6-Motor. Detailed Implementation

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In order to enable more clear understanding of the above-mentioned purposes, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0038] In order to improve the problem that the current vehicle platform control system cannot achieve random use and cannot fix liquids and some fragile items due to time-consuming and laborious fixing method, the present application provides a vehicle platform control system, method, device, electronic equipment and vehicle.

[0039] As Figure 1 As shown in the figure, the present application provides a vehicle platform control system, which comprises a terminal device 1, a sensor module 2 and a platform controller 3; the terminal device 1 is connected with the platform controller 3, and the terminal device 1 is used to send communication information to the platform controller 3, the communication information is used to represent the working mode of the vehicle platform, and the working mode includes a target working mode, which is a mode to keep the articles on the vehicle platform relatively stationary; the sensor module 2 is connected with the platform controller 3, and the sensor module 2 is used to collect platform state information and send the platform state information to the platform controller 3; the platform controller 3 is used to determine control information for controlling the inclination angle of the vehicle platform based on the platform state information, and the inclination angle calculation strategy corresponding to the control information, in the target working mode, based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle of the vehicle platform is determined, and the initial inclination angle of the vehicle platform relative to the horizontal ground is adjusted to the target inclination angle, and the target inclination angle is an angle to keep the articles on the vehicle platform relatively stationary, wherein the terminal device 1 is used to support networking and has the function of sending communication information, such as but not limited to car machine system, game machine, mobile phone, tablet computer, notebook computer and the like, and the technical solutions in the present application are described by taking the terminal device 1 as the car machine system, but it does not constitute a specific limitation to the technical solutions in the present application.

[0040] In a specific application scenario, the terminal device 1 is configured to send a target working mode to the platform controller 3, wherein the target working mode is a mode for keeping the articles on the vehicle-mounted platform relatively static with the vehicle-mounted platform. The platform controller 3 receives the target working mode and acquires platform state information collected by the sensor module 2. The sensor module 2 includes a pressure sensor 21 and an attitude sensor 22. The pressure sensor 21 is connected to the platform controller 3. The pressure sensor 21 is configured to collect a platform pressure value and send the platform pressure value to the platform controller 3. The attitude sensor 22 is connected to the platform controller 3. The attitude sensor 22 is configured to collect a platform acceleration value and send the platform acceleration value to the platform controller 3. The platform state information is information for representing the current state of the vehicle-mounted platform. The platform state information can include the platform pressure value and the platform acceleration value. The platform pressure value is used to represent the pressure of the articles on the vehicle-mounted platform. The platform acceleration value is used to represent the current acceleration of the vehicle-mounted platform. Based on the platform pressure value and the platform acceleration value, the platform controller 3 can determine a target inclination angle of the vehicle-mounted platform in the self-stabilizing mode by using a preset angle calculation method. The preset angle calculation method can be various and is not limited herein. The initial inclination angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target inclination angle. Through the vector decomposition of the support force of the object along the X-axis and the Z-axis, the gravity of the articles and the support force received can reach a force balance. The support force can keep the acceleration of the articles consistent with the vehicle-mounted platform, that is, the relative static state of the vehicle-mounted platform and the articles can be achieved.

[0041] In a specific application scenario, the vehicle-mounted platform control system further comprises a fast charging protocol chip 4, a voltage stabilizing circuit 5, and a motor 6; the fast charging protocol chip 4 is connected with the terminal device 1, and is configured to adjust the output voltage of the terminal device 1 to a first working voltage of the motor 6; the voltage stabilizing circuit 5 is connected with the fast charging protocol chip 4, and the voltage stabilizing circuit 5 is configured to convert the first working voltage to a second working voltage of the platform controller 3. The terminal device 1 can be configured to provide voltage for the motor 6 and the platform controller 3. For example, the terminal device 1 can provide a voltage of 5v, and the terminal device 1 sends the voltage of 5v to the motor 6 through a USB interface. Since the motor 6 can accept a voltage of 12v, the terminal device 1 needs to pass through the fast charging protocol chip 4 to increase the voltage of 5v to 12v to supply power to the motor 6 before the voltage of 5v is transmitted to the motor 6. Since the output voltage of the terminal device 1 is changed to 12v by the fast charging protocol chip 4, and the platform controller 3 can accept a voltage of 3.3v, the voltage stabilizing circuit 5 is needed to stabilize the voltage of 12v to 3.3v to supply power to the platform controller 3. The voltage stabilizing circuit 5 is a voltage stabilizer for adjusting voltage, and is configured to stabilize the received voltage to be consistent with the voltage of the current device. The fast charging protocol chip 4 is a Power Delivery (PD) protocol chip of a power receiving end, and the fast charging protocol chip 4 is internally provided with a PD communication module. By handshaking communication with a PD protocol chip of a power supply end (such as the terminal device 1), the voltage required by a product (such as the motor 6) can be applied to supply power to the product (such as the motor 6).

[0042] As shown in Figure 2 The embodiments of the present disclosure provide a vehicle-mounted platform control method, which can be applied to the vehicle-mounted platform control system and executed by the platform controller in the vehicle-mounted platform control system. The vehicle-mounted platform control method can include the following steps.

[0043] In step 101, communication information is received, and the communication information is used to represent the working mode of the vehicle-mounted platform. The working mode includes a target working mode, and the target working mode is a mode in which the articles on the vehicle-mounted platform are kept relatively static with the vehicle-mounted platform.

[0044] In which, as a possible implementation method, the terminal device can send communication information, and the terminal device is used to support networking and has the function of sending communication information, such as game consoles, mobile phones, tablets, laptops, car systems, etc., which are not limited to. Taking the terminal device as an example, the car system is used to illustrate the technical solutions in the present disclosure, but it does not constitute a specific limitation on the technical solutions in the present disclosure. The vehicle-mounted platform is a container that can be fixed or detached for placing any object in the car, which can be placed at any position that the user can touch in the car. The vehicle-mounted platform can be a tray or other container that can hold objects, which is not limited. The communication information can be used to represent the working mode of the vehicle-mounted platform, which can include self-stabilization mode information, horizontal mode information, support mode information, etc., which is not limited. In the embodiments of the present disclosure, the communication information is taken as an example of self-stabilization mode information, horizontal mode information, and support mode information, which is used to illustrate the technical solutions in the present disclosure, but it does not constitute a specific limitation on the technical solutions in the present disclosure. The target working mode is a mode that keeps the objects on the vehicle-mounted platform relatively stationary with the vehicle-mounted platform. This mode can be a self-stabilization mode, which is a mode that keeps the objects on the vehicle-mounted platform relatively stationary with the vehicle-mounted platform.

[0045] For the embodiments of the present disclosure, since the motion of the object comes from the force, in order to keep the object stationary, as a possible implementation method, the object can be kept in force balance. For example, in order to keep the objects on the vehicle-mounted platform relatively stationary with the vehicle-mounted platform, the motion state of the object can be equivalent to the motion state of the vehicle-mounted platform, which can include but is not limited to acceleration and speed. Since the vehicle is in the process of driving, there are acceleration, deceleration, turning, etc. The objects in the car will be subjected to acceleration from all directions, and if the vehicle-mounted platform can be inclined at a certain angle along the X and Y axes, the support force of the vehicle-mounted platform on the objects can be used to make the objects have the same acceleration as the vehicle-mounted platform, that is, the relative stationary of the vehicle-mounted platform and the objects can be achieved.

[0046] For example, during the acceleration of the car, the acceleration is along the positive direction of the X axis, the vehicle-mounted platform is inclined at a certain angle along the X axis, the support force of the vehicle-mounted platform on the object is vector decomposed along the X and Z axes, the gravity of the object along the Z axis and the support force reach force balance, the object will be subjected to the support force along the X axis. As long as the inclination angle is appropriate, the support force along the X axis can make the acceleration of the object consistent with that of the vehicle-mounted platform, that is, the relative stationary of the vehicle-mounted platform and the object can be achieved.

[0047] For the embodiments of the present disclosure, the execution subject can be a platform controller, which can be developed by using, but not limited to, a TC397 model chip of a Micro Control Unit (MCU), and can be connected with a terminal device through a USB interface and a USB-to-serial port, where the USB-to-serial port can realize conversion between a computer USB interface and a physical serial port, and can add a serial port to a computer or other USB host without a serial port. The platform controller can receive self-stabilization mode information sent by the terminal device, determine a target inclination angle of the platform state information of the vehicle platform in the self-stabilization mode, and adjust an initial inclination angle of the vehicle platform relative to the horizontal ground to the target inclination angle, so as to realize relative static state of the vehicle platform and the articles, so that any articles placed can be in a relative static state with the vehicle platform regardless of how the vehicle travels, and can be taken as needed to improve the riding experience. The vehicle platform can be used to replace a handrail box or be fixed inside any box in the vehicle, and can be used to place some fragile or commonly used articles regardless of how the vehicle travels.

[0048] As a possible implementation, when the vehicle is not started or travels on a stable and non-bumpy road, the platform controller can receive horizontal mode information sent by the terminal device, and can control the initial inclination angle between the vehicle platform and the horizontal ground to be 0, that is, keep the vehicle platform parallel to the horizontal ground, where the horizontal mode information is information for keeping the vehicle platform parallel to the horizontal ground.

[0049] As another possible implementation, when the vehicle is not started or travels on a stable and non-bumpy road, the platform controller can receive support mode information sent by the terminal device, the platform controller can not control the vehicle platform, the user can adjust the initial inclination angle of the vehicle platform relative to the horizontal ground to any inclination angle, and the motor can be locked to keep the vehicle platform fixed, at this time, the vehicle platform can be used as a common support.

[0050] As Figure 3As shown, before the platform controller receives the communication information sent by the terminal device, power-on self-test needs to be performed first. The power-on self-test is to detect the vehicle devices, voltage, etc. to determine whether a fault occurs. If no fault exists, data communication with the vehicle system can be performed, and the target instruction sent by the vehicle system can be received. The target instruction can select and control the vehicle devices (such as the vehicle platform). The vehicle system can be provided with a selection mode for allowing a user to select a required mode and control the corresponding vehicle devices (such as the vehicle platform) to perform corresponding operations. The selection mode can include but is not limited to a self-stabilization mode, a horizontal mode, and a support mode. If the selection mode is the self-stabilization mode, the platform controller can receive the self-stabilization mode information and control the vehicle platform to adjust the inclination angle to keep the objects on the vehicle platform relatively stationary. If the selection mode is the horizontal mode, the platform controller can receive the horizontal mode information and control the initial inclination angle between the vehicle platform and the horizontal ground to be 0, i.e., keep the vehicle platform parallel to the horizontal ground. If the selection mode is the support mode, the platform controller can receive the support mode information. The platform controller can not control the vehicle platform. The user can adjust the initial inclination angle of the vehicle platform relative to the horizontal ground to any inclination angle and lock the motor to keep the vehicle platform stationary. At this time, the vehicle platform can be used as an ordinary support. The motor can be used to adjust the inclination angle of the vehicle platform.

[0051] Step 102, obtaining platform state information, determining control information for controlling the inclination angle of the vehicle platform based on the platform state information and an inclination angle calculation strategy corresponding to the control information.

[0052] As a possible implementation method, the platform state information can be collected by a sensor module. The sensor module is used to detect the information of the measured object and can transform the detected information into an electrical signal or other required form of information output according to a certain rule, to meet the requirements of information transmission, processing, storage, display, recording and control. The sensor in the sensor module can be but is not limited to a posture sensor, a pressure sensor, etc. The platform state information is information used to represent the current state of the vehicle-mounted platform, which can include but is not limited to a platform pressure value and a platform acceleration value. The platform pressure value is used to represent the pressure of the object on the vehicle-mounted platform. The platform acceleration value is used to represent the current acceleration of the vehicle-mounted platform. The posture sensor can be but is not limited to an inertial measurement unit (IMU). The IMU sensor is used to detect acceleration and angular velocity to represent motion and motion intensity. The posture sensor can be but is not limited to an ASM330LHH model. The pressure sensor can be but is not limited to an HX711 model. The control information can include a pressure level used to determine the tilt angle calculation strategy. The pressure level is a constant parameter of the vehicle-mounted platform under the current platform pressure value. The tilt angle calculation strategy can include multiple strategies, such as a proportional-integral-derivative control algorithm as the tilt angle calculation strategy. This does not make specific limitations on the tilt angle calculation strategy. The proportional-integral-derivative control algorithm is taken as an example to illustrate the technical solutions in the present disclosure, but does not constitute a specific limitation on the technical solutions in the present disclosure.

[0053] For the embodiments of the present disclosure, the platform controller can obtain the platform state information collected by the sensor module. Based on the platform state information, the pressure level of the vehicle-mounted platform under the current tilt angle can be determined. The tilt angle calculation strategy corresponding to different pressure levels is also different.

[0054] Step 103, in the target working mode, based on the platform state information and the tilt angle calculation strategy corresponding to the control information, the target tilt angle of the vehicle-mounted platform is determined.

[0055] The target tilt angle is an angle at which the object on the vehicle-mounted platform is kept relatively stationary.

[0056] For the embodiments of the present disclosure, the self-stabilization mode is taken as an example of the target working mode to illustrate the technical solutions in the present disclosure, but does not constitute a specific limitation on the technical solutions in the present disclosure. As a possible implementation method, the platform state value under the current vehicle-mounted platform can be calculated by the platform state information. By substituting the platform state value into the tilt angle calculation strategy corresponding to the current vehicle-mounted platform pressure level, the target tilt angle of the vehicle-mounted platform can be calculated.

[0057] Step 104, adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle.

[0058] For the embodiments of the present disclosure, the initial inclination angle is the angle between the vehicle-mounted platform and the horizontal ground when the vehicle-mounted platform is not adjusted. The platform controller controls the motor to adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle calculated in step 103, wherein the motor can be but is not limited to a steering engine, which can be used to adjust the inclination angle of the vehicle-mounted platform. In the embodiments of the present disclosure, the motor is taken as an example of a steering engine to illustrate the technical solutions in the present disclosure, but it does not constitute a specific limitation on the technical solutions in the present disclosure. The steering engine is a position (angle) servo driver, which is suitable for closed-loop control of the execution module that needs to change the angle continuously and can be maintained. The number of motors (steering engines) is at least 2, which can be installed at both ends of the vehicle-mounted platform. The motor can make the two ends of the vehicle-mounted platform at different heights during work, so as to ensure that the vehicle-mounted platform can have an inclination angle with the horizontal ground.

[0059] In summary, compared with the prior art, the vehicle-mounted platform control method provided by the present disclosure can receive communication information, which is used to represent the working mode of the vehicle-mounted platform, the working mode includes a target working mode, the target working mode is a mode in which the objects on the vehicle-mounted platform are relatively static with the vehicle-mounted platform; obtain platform state information, determine control information for controlling the inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information; in the target working mode, determine the target inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle is an angle at which the objects on the vehicle-mounted platform are relatively static with the vehicle-mounted platform; adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme in the present disclosure, based on the platform state information, the target inclination angle of the vehicle-mounted platform in the target working mode can be calculated, and by adjusting the vehicle-mounted platform to the target inclination angle, the gravity of the objects and the supporting force received can reach a force balance, the supporting force can make the acceleration of the objects consistent with the vehicle-mounted platform, that is, the relative static state of the vehicle-mounted platform and the objects can be achieved, some fragile objects that are not easy to pack can be placed directly on the vehicle-mounted platform, such as a cup of coffee, a cake, etc. Even in complex working conditions, the objects will remain static, and the user can take them at any time, which is very convenient and improves the user experience.

[0060] Further, as a refinement and extension of the above-mentioned embodiments, in order to completely describe the specific implementation process of the method of the present embodiment, the present embodiment provides a specific method as shown in Figure 4 The method comprises:

[0061] Step 201, receiving communication information, the communication information is used to represent the working mode of the vehicle-mounted platform, and the working mode includes a target working mode, and the target working mode is a mode for keeping the articles on the vehicle-mounted platform relatively static with the vehicle-mounted platform.

[0062] For the embodiments of the present disclosure, the implementation process can be referred to the related description in the embodiment step 101, which will not be repeated here.

[0063] Step 202, obtaining platform state information, determining a target pressure level corresponding to the platform pressure value for controlling the inclination angle of the vehicle-mounted platform based on a preset first correspondence.

[0064] The first correspondence is the correspondence between the platform pressure value and the pressure level, which can include but is not limited to a preset fuzzy matrix table. Taking the fuzzy matrix table as the first correspondence as an example, the technical solutions in the present disclosure are described, but it does not constitute a specific limitation on the technical solutions in the present disclosure.

[0065] For the embodiments of the present disclosure, based on the preset first correspondence, the target pressure level corresponding to the platform pressure value for controlling the inclination angle of the vehicle-mounted platform is determined, and the specific implementation process can be described as: querying the target constant parameter corresponding to the platform pressure value in the fuzzy matrix table as the target pressure level, the target constant parameter being the constant parameter matched with the platform pressure value in the proportional integral differential control algorithm, k p , k i and k d can be used as constant parameters, and the proportional integral differential control algorithm is used as the inclination angle calculation strategy. The fuzzy matrix table is a pre-set constant parameter for querying the platform pressure value corresponding to the proportional integral differential control algorithm, the proportional integral differential control algorithm is a PID fuzzy control algorithm, also known as a PID fuzzy adaptive algorithm, the parameter P represents the proportion, the parameter I represents the integral, and the parameter D represents the differential. For example, the formula characteristic description of the proportional integral differential control algorithm can be:

[0066] Δu(k)=k p (e(k)-e(k-1))+k i e(k)+k d (e(k)-2e(k-1)+e(k-2))

[0067] Wherein, Δu(k) represents the target inclination angle; k represents different time points in a preset time period, such as the first second, the second second, etc.; e is the acceleration error value; p represents the proportion, i represents the integral, and d represents the differential.

[0068] In a specific application scenario, considering the uncertainty of the weight and volume of the object, and the uncertainty of the size and direction of the acceleration, the platform controller controls the inclination angle of the vehicle-mounted platform under different platform accelerations under different weights and volumes. The platform controller can take the platform pressure value collected by the pressure sensor as a reference to query the corresponding target constant parameter (such as k p = 5, k i = 6, k d = 7) in the fuzzy matrix table. The platform controller can be, but is not limited to, a closed-loop control system that is adaptive and independent of the external environment. The attitude sensor and the pressure sensor are embedded in the platform controller, and the X-axis and the Y-axis of the platform controller controlled by the two servos can be used as the output end, and the proportional integral derivative control algorithm can be used to form a closed-loop control system. The closed-loop control system is a type of control system, and the specific content is that part or all of the output of the control system is sent back to the input end of the system through a certain method and device, and then the feedback information is compared with the original input information, and the comparison result is applied to the system for control to avoid the system deviating from the predetermined target.

[0069] In step 203, based on the preset second correspondence relationship, the inclination angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined, wherein the second correspondence relationship is the correspondence relationship between the platform acceleration value and the inclination angle calculation strategy under different pressure levels.

[0070] For the embodiment of the present disclosure, based on the preset second correspondence relationship, the inclination angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined, and the specific implementation process can be described as follows: adjusting the initial constant parameter in the proportional integral derivative control algorithm to the target pressure level to obtain the proportional integral derivative control algorithm after parameter adjustment as the inclination angle calculation strategy corresponding to the platform acceleration value.

[0071] For the embodiment of the present disclosure, the corresponding target constant parameters are different under different pressure levels of the vehicle-mounted platform, by comparing the initial constant parameter (such as k p = 3, k i = 2, k d = 8) in the proportional integral derivative control algorithm with the target constant parameter, and adjusting the initial constant parameter in the proportional integral derivative control algorithm to the target constant parameter, to meet the influence of the weight of the object at different times on the constant parameter of the proportional integral derivative control algorithm, wherein the constant parameter can be k p、 k i and k d in the formula characteristic description, and meet the requirements of the acceleration error value and the error change rate at different times on the constant parameter self-adjustment.

[0072] Step 204, in the target working mode, based on the platform state information and the corresponding tilt angle calculation strategy of the control information, the target tilt angle of the vehicle-mounted platform is determined.

[0073] For the embodiments of the present disclosure, based on the platform state information and the corresponding tilt angle calculation strategy of the control information, the target tilt angle of the vehicle-mounted platform is determined, and the specific implementation process can be described as follows: based on the preset platform acceleration value, the acceleration error value of the platform acceleration value and the error change rate are calculated, the acceleration error value is the difference between the platform acceleration value at different time points in a preset time period and the preset platform acceleration value, and the error change rate is the ratio of the corresponding acceleration error values at adjacent time points in the preset time period; the acceleration error value and the error change rate of the platform acceleration value are input into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle-mounted platform. Wherein, the preset platform acceleration value is a platform acceleration value that can be set in advance according to actual conditions, and the value is not limited in size.

[0074] The acceleration error value and the error change rate of the platform acceleration value are input into the proportional-integral-derivative control algorithm under the constant parameter corresponding to the pressure level to obtain the target tilt angle of the vehicle-mounted platform.

[0075] For example, after determining that the constant parameter in the proportional-integral-derivative control algorithm is the target constant parameter, it is assumed that the preset platform acceleration value is 10 m / s 2 , the platform acceleration value at the first second is 7 m / s 2 , the platform acceleration value at the second second is 8 m / s 2 , and the platform acceleration value at the second second is 9 m / s 2 , then the acceleration error value at the first second is 3, the acceleration error value at the second second is 2, and the acceleration error value at the third second is 1, then the error change rate between the first second and the second second is 3 / 2, and the error change rate between the second second and the third second is 2, the calculated acceleration error value and error change rate of the vehicle-mounted platform are input into the proportional-integral-derivative control algorithm to obtain the target tilt angle of the vehicle-mounted platform.

[0076] Step 205, the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target tilt angle.

[0077] For the embodiments of the present disclosure, the implementation process can be specifically referred to the related description in the embodiment step 103, which will not be repeated here.

[0078] In summary, the vehicle-mounted platform control method provided by the present disclosure can receive communication information, the communication information being used to represent a working mode of the vehicle-mounted platform, the working mode including a target working mode, the target working mode being a mode in which an article on the vehicle-mounted platform is kept relatively stationary with the vehicle-mounted platform; obtain platform state information, determine control information for controlling an inclination angle of the vehicle-mounted platform based on the platform state information and an inclination angle calculation strategy corresponding to the control information; in the target working mode, determine a target inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle being an angle in which the article on the vehicle-mounted platform is kept relatively stationary with the vehicle-mounted platform; and adjust an initial inclination angle of the vehicle-mounted platform relative to a horizontal ground to the target inclination angle. Through the scheme in the present disclosure, the target inclination angle of the vehicle-mounted platform in the target working mode can be calculated based on the platform state information, and by adjusting the vehicle-mounted platform to the target inclination angle, the gravitational force of the article and the support force received by the article can reach a force balance, the support force can make the acceleration of the article consistent with that of the vehicle-mounted platform, i.e., the relative stationarity of the vehicle-mounted platform and the article can be achieved, and some fragile articles that are not easy to pack can be directly placed on the vehicle-mounted platform, such as a cup of coffee or a piece of cake, even in complex working conditions, the article can be kept as stationary, and the user can take the article as needed, which is very convenient and improves the user experience.

[0079] Based on the specific implementation of the method shown above Figure 2 and Figure 4 The present embodiment provides a vehicle-mounted platform control device, as shown in Figure 5 The device comprises a receiving module 31, an obtaining module 32, a determining module 33, and an adjusting module 34.

[0080] The receiving module 31 is configured to receive communication information, the communication information being used to represent a working mode of the vehicle-mounted platform, the working mode including a target working mode, the target working mode being a mode in which an article on the vehicle-mounted platform is kept relatively stationary with the vehicle-mounted platform;

[0081] The obtaining module 32 is configured to obtain platform state information, determine control information for controlling an inclination angle of the vehicle-mounted platform based on the platform state information, and an inclination angle calculation strategy corresponding to the control information;

[0082] The determining module 33 is configured to, in the target working mode, determine a target inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle being an angle in which the article on the vehicle-mounted platform is kept relatively stationary with the vehicle-mounted platform;

[0083] The adjusting module 34 is configured to adjust an initial inclination angle of the vehicle-mounted platform relative to a horizontal ground to the target inclination angle.

[0084] In a specific application scenario, the platform state information includes a platform pressure value and a platform acceleration value, the control information includes a pressure level, the obtaining module 32 can be used to determine, based on a preset first correspondence relationship, a target pressure level corresponding to the platform pressure value and used to control the inclination angle of the vehicle-mounted platform, wherein the first correspondence relationship is a correspondence relationship between the platform pressure value and the pressure level; determine, based on a preset second correspondence relationship, an inclination angle calculation strategy corresponding to the platform acceleration value under the target pressure level, wherein the second correspondence relationship is a correspondence relationship between the platform acceleration value and the inclination angle calculation strategy under different pressure levels.

[0085] In a specific application scenario, the preset first correspondence relationship is a preset fuzzy matrix table, the obtaining module 32 can be used to query a target constant parameter corresponding to the platform pressure value in the fuzzy matrix table as the target pressure level, and the target constant parameter is a constant parameter matched with the platform pressure value in a proportional-integral-derivative control algorithm, and the proportional-integral-derivative control algorithm is used as the inclination angle calculation strategy.

[0086] In a specific application scenario, the inclination angle calculation strategy is a proportional-integral-derivative control algorithm; the obtaining module 32 can be used to adjust an initial constant parameter in the proportional-integral-derivative control algorithm to the target pressure level, to obtain a proportional-integral-derivative control algorithm after parameter adjustment as the inclination angle calculation strategy corresponding to the platform acceleration value.

[0087] In a specific application scenario, the determining module 33 can be used to calculate, based on a preset platform acceleration value, an acceleration error value of the platform acceleration value and an error change rate, the acceleration error value being a difference between the platform acceleration value at different moments within a preset time period and the preset platform acceleration value, and the error change rate being a ratio of acceleration error values corresponding to adjacent moments within the preset time period; input the acceleration error value of the platform acceleration value and the error change rate to the inclination angle calculation strategy corresponding to the platform acceleration value, to obtain a target inclination angle of the vehicle-mounted platform.

[0088] In a specific application scenario, the determining module 33 can be used to input the acceleration error value of the platform acceleration value and the error change rate to a proportional-integral-derivative control algorithm under a constant parameter corresponding to the pressure level, to obtain a target inclination angle of the vehicle-mounted platform.

[0089] It should be noted that other corresponding descriptions of the functions of the vehicle-mounted platform control device provided in this embodiment can be referred to the corresponding descriptions in Figure 2 and Figure 4 , which will not be described here in detail.

[0090] Based on the above as Figure 2 and Figure 4The method shown, accordingly, the embodiment also provides a computer readable storage medium, which stores a computer program, the computer program is executed by the processor to realize the above-mentioned as Figure 2 and Figure 4 The method shown.

[0091] Based on such understanding, the technical scheme of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method of each embodiment scenario of the present application.

[0092] Based on the above-mentioned as Figure 2 and Figure 4 The method shown, and Figure 5 The virtual device embodiment shown, in order to realize the above-mentioned purpose, the embodiment of the present application also provides an electronic device, which can be configured at the side of the vehicle (such as electric vehicle), the device includes a storage medium and a processor; the storage medium is used to store computer programs; the processor is used to execute computer programs to realize the above-mentioned as Figure 2 and Figure 4 The method shown.

[0093] Optionally, the above-mentioned entity device can also include a user interface, a network interface, a camera, a radio frequency (Radio Frequency, RF) circuit, a sensor, an audio circuit, a WI-FI module and the like. The user interface can include a display screen (Display), an input unit such as a keyboard (Keyboard) and the like, and the optional user interface can also include a USB interface, a card reader interface and the like. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface) and the like.

[0094] Those skilled in the art can understand that the above-mentioned entity device structure provided by the embodiment does not constitute a limitation on the entity device, and can include more or fewer components, or combine certain components, or different component arrangements.

[0095] The storage medium can also include an operating system, a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned entity device, supports the running of information processing programs and other software and / or programs. The network communication module is used to realize the communication between the components in the storage medium and the communication between other hardware and software in the information processing entity device.

[0096] Those skilled in the art can clearly understand that the application can be implemented by means of software plus necessary universal hardware platforms or by hardware, through the description of the above embodiments. Compared with the prior art, the present disclosure can receive communication information, the communication information being used to represent the working mode of the vehicle-mounted platform, the working mode including a target working mode, the target working mode being a mode in which the objects on the vehicle-mounted platform are kept relatively stationary with the vehicle-mounted platform; obtain platform state information, determine control information for controlling the inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information; in the target working mode, determine the target inclination angle of the vehicle-mounted platform based on the platform state information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle being an angle in which the objects on the vehicle-mounted platform are kept relatively stationary with the vehicle-mounted platform; and adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme in the present disclosure, the target inclination angle of the vehicle-mounted platform in the target working mode can be calculated based on the platform state information, and by adjusting the vehicle-mounted platform to the target inclination angle, the gravitational force of the objects and the support force received by the objects can reach a force balance, the support force can make the acceleration of the objects consistent with that of the vehicle-mounted platform, that is, the relative stationarity of the vehicle-mounted platform and the objects can be achieved, and some fragile objects that are not easy to pack can be directly placed on the vehicle-mounted platform, such as a cup of coffee or a piece of cake, even in complex working conditions, the objects will remain stationary, and users can take them as needed, which is very convenient and improves the user experience.

[0097] It should be noted that, in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”,“includes”,“including” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by“comprises a” does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0098] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to these embodiments without departing from the spirit and scope of the application. It is intended that the scope of the application should not be limited by the particular representative embodiments described above.

Claims

1. A vehicle-mounted platform control method, characterized in that, include: Receive communication information, the communication information being used to characterize the working mode of the vehicle platform, the working mode including a target working mode, the target working mode being a mode that keeps the items on the vehicle platform relatively stationary relative to the vehicle platform; Obtain platform status information, and determine control information for controlling the tilt angle of the vehicle platform and the tilt angle calculation strategy corresponding to the control information based on the platform status information; In the target working mode, based on the platform status information and the tilt angle calculation strategy corresponding to the control information, the target tilt angle of the vehicle platform is determined. The target tilt angle is the angle at which the items on the vehicle platform remain relatively stationary with respect to the vehicle platform. The initial tilt angle of the vehicle platform relative to the horizontal ground is adjusted to the target tilt angle; The platform status information includes platform pressure and platform acceleration values; the control information includes pressure levels; and the control information for determining the tilt angle of the vehicle platform based on the platform status information, as well as the tilt angle calculation strategy corresponding to the control information, includes: Based on a preset first correspondence, a target pressure level for controlling the tilt angle of the vehicle platform is determined, corresponding to the platform pressure value, wherein the first correspondence is the correspondence between the platform pressure value and the pressure level. Based on a preset second correspondence, a tilt angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined, wherein the second correspondence is the correspondence between the platform acceleration value and the tilt angle calculation strategy under different pressure levels.

2. The method according to claim 1, characterized in that, The preset first correspondence is a preset fuzzy matrix table; the step of determining the target pressure level for controlling the tilt angle of the vehicle platform corresponding to the platform pressure value based on the preset first correspondence includes: The target constant parameter corresponding to the platform pressure value in the fuzzy matrix table is used as the target pressure level. The target constant parameter is a constant parameter in the proportional-integral-derivative control algorithm that matches the platform pressure value. The proportional-integral-derivative control algorithm is used as the tilt angle calculation strategy.

3. The method according to claim 1 or 2, characterized in that, The tilt angle calculation strategy is a proportional-integral-derivative (PID) control algorithm; the tilt angle calculation strategy based on a preset second correspondence, determining the tilt angle corresponding to the platform acceleration value under the target pressure level, includes: The initial constant parameters in the proportional-integral-derivative (PID) control algorithm are adjusted to the target pressure level to obtain the parameter-adjusted PID control algorithm, which serves as the tilt angle calculation strategy corresponding to the platform acceleration value.

4. The method according to claim 1, characterized in that, The method for determining the target tilt angle of the vehicle platform based on the tilt angle calculation strategy corresponding to the platform status information and the control information includes: Based on a preset platform acceleration value, the acceleration error value and the error change rate of the platform acceleration value are calculated. The acceleration error value is the difference between the platform acceleration value and the preset platform acceleration value at different times within a preset time period. The error change rate is the ratio of the acceleration error values ​​corresponding to adjacent times within the preset time period. The acceleration error value and the rate of change of the platform acceleration value are input into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle platform.

5. The method according to claim 4, characterized in that, The step of inputting the acceleration error value and the rate of change of the platform acceleration value into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle platform includes: The acceleration error value and the rate of change of the platform acceleration value are input into the proportional-integral-derivative control algorithm under the constant parameters corresponding to the pressure level to obtain the target tilt angle of the vehicle platform.

6. A vehicle-mounted platform control device, characterized in that, include: A receiving module is used to receive communication information, which is used to characterize the working mode of the vehicle platform. The working mode includes a target working mode, which is a mode in which the items on the vehicle platform are kept relatively stationary relative to the vehicle platform. The acquisition module is used to acquire platform status information and determine control information for controlling the tilt angle of the vehicle platform and the tilt angle calculation strategy corresponding to the control information based on the platform status information. The determination module is used to determine the target tilt angle of the vehicle platform based on the tilt angle calculation strategy corresponding to the platform status information and the control information in the target working mode. The target tilt angle is the angle at which the items on the vehicle platform remain relatively stationary with respect to the vehicle platform. An adjustment module is used to adjust the initial tilt angle of the vehicle platform relative to the horizontal ground to the target tilt angle; The platform status information includes platform pressure and platform acceleration values; the control information includes pressure levels; and the control information for determining the tilt angle of the vehicle platform based on the platform status information, as well as the tilt angle calculation strategy corresponding to the control information, includes: Based on a preset first correspondence, a target pressure level for controlling the tilt angle of the vehicle platform is determined, corresponding to the platform pressure value, wherein the first correspondence is the correspondence between the platform pressure value and the pressure level. Based on a preset second correspondence, a tilt angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined, wherein the second correspondence is the correspondence between the platform acceleration value and the tilt angle calculation strategy under different pressure levels.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 5.

8. An electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 5.

9. A vehicle, characterized in that, include: The apparatus of claim 6, or the electronic device of claim 8.

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