Vehicle table board control method and device, electronic equipment and readable storage medium

Abstract

The invention relates to a vehicle table board control method and device, electronic equipment and a computer readable storage medium. Comprising the steps that steering wheel action information, accelerator pedal action information, brake pedal action information, automatic brake information and the current vehicle speed of a vehicle are obtained, and the pre-judged acceleration is determined according to the obtained information; determining a minimum inclination angle target value according to the pre-judged acceleration; according to the minimum inclination angle target value, a first action instruction is sent to a motor driver; the first action instruction is used for indicating the motor driver to drive the motor so as to drive the table board for the vehicle to incline to the minimum inclination angle target value. The method is combined with the actual driving working condition of the vehicle, the vehicle table board is controlled to actively make pre-inclination at a proper angle, the stress state of objects on the table board is changed, inertia in the linear direction caused by sudden braking and sudden starting of the vehicle or lateral centrifugal inertia caused by sudden turning of the vehicle is offset, the stability of the objects on the table can be guaranteed, and the service life of the table board is prolonged. And the riding comfort and the vehicle safety are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle table control method, device, electronic device and computer-readable storage medium. Background Art

[0002] At present, some models are equipped with retractable tables on the back of the seats or the central armrest for passengers to place items, eat, relax and work on the way. At present, car tables generally adopt a fixed structure with a single axis limit. When the vehicle brakes, starts or turns suddenly, the items on the table are prone to move, slide or fall, resulting in a poor user experience for the passengers, and even safety accidents in extreme cases. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle table control method, device, electronic device and computer-readable storage medium to address the above-mentioned technical problems, which can ensure the stability of items on the table and improve riding comfort and vehicle safety.

[0004] In a first aspect, the present application provides a method for controlling a vehicle table, comprising:

[0005] Acquire driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel movement information, accelerator pedal movement information, brake pedal movement information, automatic braking information and current vehicle speed;

[0006] According to the predicted acceleration, the minimum tilt angle target value is determined;

[0007] According to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0008] In one embodiment, after determining the minimum tilt angle target value according to the predicted acceleration, the method further includes:

[0009] Get the set correction coefficient;

[0010] Determine the target angle value according to the minimum tilt angle target value and the set correction coefficient;

[0011] According to the target angle value, a second action instruction is sent to the motor driver; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

[0012] In one embodiment, sending a first action instruction to the motor driver according to the minimum tilt angle target value includes:

[0013] Determine the real-time error according to the minimum tilt angle target value and the real-time angle value of the vehicle table; perform proportional integral differential operation according to the real-time error to determine the output;

[0014] According to the output, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the vehicle table to approach the minimum tilt angle target value.

[0015] In one embodiment, before determining the minimum tilt angle target value according to the predicted acceleration, the method further includes:

[0016] Determine whether the predicted acceleration is greater than the reference acceleration;

[0017] If the predicted acceleration is greater than the reference acceleration, a step of determining a minimum tilt angle target value according to the predicted acceleration is performed.

[0018] In one embodiment, after sending a first action instruction to the motor driver according to the minimum tilt angle target value, the method further includes:

[0019] Get the real-time acceleration of the car table;

[0020] According to the real-time acceleration, determine the real-time tilt angle target value;

[0021] According to the real-time target tilt angle value, a third action instruction is sent to the motor driver; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time target tilt angle value.

[0022] In one embodiment, the method further comprises:

[0023] Obtain the static friction coefficient of the vehicle table;

[0024] Based on a preset formula, the angle target value is determined according to the acceleration and the static friction coefficient; wherein the acceleration is the predicted acceleration or the real-time acceleration, and the angle target value is the minimum tilt angle target value or the real-time tilt angle target value;

[0025] The default formula is:

[0026] ;

[0027] Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0028] In one embodiment, the vehicle table is provided with a first motor and a second motor, the first motor is used to drive the vehicle table to rotate around the pitch axis, and the second motor is used to drive the vehicle table to rotate around the roll axis;

[0029] According to the minimum tilt angle target value, a first action instruction is sent to the motor driver, including:

[0030] Determine the rotation direction of the vehicle table according to the predicted acceleration direction;

[0031] Determine a target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor;

[0032] According to the minimum tilt angle target value and the target motor, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0033] In a second aspect, the present application also provides a vehicle table control device, comprising:

[0034] An acquisition module, used to acquire driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed;

[0035] A determination module, used to determine a minimum tilt angle target value according to the predicted acceleration;

[0036] The control module is used to send a first action instruction to the motor driver according to the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0037] In a third aspect, the present application further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0038] Acquire driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel movement information, accelerator pedal movement information, brake pedal movement information, automatic braking information and current vehicle speed;

[0039] According to the predicted acceleration, the minimum tilt angle target value is determined;

[0040] According to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0042] Acquire driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel movement information, accelerator pedal movement information, brake pedal movement information, automatic braking information and current vehicle speed;

[0043] According to the predicted acceleration, the minimum tilt angle target value is determined;

[0044] According to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0045] The above-mentioned vehicle table control method, device, electronic device and computer-readable storage medium obtain the driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; according to the predicted acceleration, the minimum tilt angle target value is determined; according to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value. Through the above-mentioned method, combined with the actual driving conditions of the vehicle, the vehicle table is controlled to actively make a pre-tilt at an appropriate angle, change the stress state of the table items, offset the inertia in the straight line direction caused by sudden braking and sudden starting of the vehicle or the lateral centrifugal inertia caused by sharp turns, which can ensure the stability of the items on the table and improve riding comfort and vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] FIG1 is a schematic flow chart of a method for controlling a vehicle table in one embodiment;

[0048] FIG2 is a schematic diagram of an electrical architecture principle in one embodiment;

[0049] FIG3 is a flow chart of a method for controlling a vehicle table in another embodiment;

[0050] FIG4 is a schematic flow chart of a method for controlling a vehicle table in another embodiment;

[0051] FIG5 is a schematic diagram of the basic principle of active inertia mitigation in one embodiment;

[0052] FIG6 is a schematic diagram of the structure of a vehicle table in one embodiment;

[0053] FIG7 is a schematic diagram of the rotation of a vehicle table in one embodiment;

[0054] FIG8 is a structural block diagram of a vehicle table control device in one embodiment;

[0055] FIG. 9 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] In an exemplary embodiment, as shown in FIG1 , a method for controlling a vehicle table is provided, comprising the following steps:

[0058] Step 102, obtaining driving information of the vehicle, and determining a predicted acceleration based on the driving information; wherein the driving information includes steering wheel movement information, accelerator pedal movement information, brake pedal movement information, automatic braking information, and current vehicle speed.

[0059] Among them, the vehicle table control method provided in this embodiment is applied to an electronic device, and the electronic device can be a controller connected to the vehicle controller for communication, or it can be a vehicle controller. This embodiment is explained by taking the controller as an example. The vehicle is provided with a table, a bracket, an inertial sensor, a motor driver and a motor, wherein the table is connected to the relevant part of the vehicle body through the bracket; the bracket is used to support the table; the inertial sensor is used to detect the rotation of the table, collect the real-time information of the posture of the table and the real-time information of the acceleration; the motor driver is used to receive the data collected by the inertial sensor, and at the same time receive the instructions of the controller to drive the motor to rotate; the motor is fixed to the bracket or the table, and outputs the power for the rotation of the table. Optionally, the electronic device is a servo controller, the motor driver is a servo motor driver, and accordingly, the motor is a servo motor. It should be noted that the vehicle table of the embodiment of the present application is initially in an open state with a tilt angle of 0. In this state, the controller executes the steps of the vehicle table control method provided in the embodiment of the present application.

[0060] It is understandable that the controller obtains the vehicle's driving information through the vehicle controller, including steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information, and current vehicle speed. Automatic braking information refers to the action information of the automatic emergency braking system (Autonomous Emergency Braking, AEB).

[0061] Optionally, the subsequent acceleration of the vehicle can be predicted by calculation or direct reading based on the acquired driving information, which is collectively referred to as predicted acceleration in this application, that is, the acceleration of the vehicle in a certain period of time in the future. Optionally, based on the steering wheel angle and vehicle speed, the lateral acceleration during the turn can be estimated, a=v 2 ×sin(θ / k) / L, k is the proportional coefficient between the steering wheel and the front wheel angle, and L is the wheelbase. Optionally, the longitudinal acceleration of the vehicle is estimated based on the throttle opening and brake pedal position change information (or automatic braking information) combined with the vehicle dynamics model.

[0062] In an optional implementation, a preset neural network model is trained based on the historical driving data of the vehicle to establish an acceleration prediction model. The input of the acceleration prediction model includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed, and the output is the acceleration within a certain period of time in the future, that is, the predicted acceleration. The driving information obtained this time is input into the acceleration prediction model to obtain the predicted acceleration.

[0063] It is understandable that the predicted acceleration may be the acceleration of a sudden acceleration condition, the deceleration of a sudden braking condition, the centripetal acceleration of a sharp turning condition, and the superimposed acceleration of the aforementioned conditions mixed with each other.

[0064] Step 104, determining a minimum tilt angle target value according to the predicted acceleration.

[0065] Among them, the force state of the items on the table can be changed according to the inclination of the table top. At a suitable inclination angle, the force on the items can ensure that the items on the table maintain the same acceleration as the vehicle, thereby ensuring that the items on the table and the table top do not slide relative to each other. The minimum inclination angle target value is the inclination angle estimated according to the predicted acceleration, which can ensure that the items on the table reach the predicted acceleration.

[0066] Optionally, the minimum tilt angle target value is determined by the following formula: ; θ is the minimum tilt angle target value, a is the predicted acceleration, and g is the gravity acceleration. This method does not take into account the friction between the desktop and the items on the desktop.

[0067] Optionally, the minimum tilt angle target value is determined by the following formula:

[0068] ;

[0069] Where θ is the minimum tilt angle target value, a is the predicted acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0070] Step 106, sending a first action instruction to the motor driver according to the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0071] Among them, the electronic device of this embodiment sends a first action instruction to the motor driver, drives the motor through the motor driver, and adjusts the inclination angle of the car table to reach the minimum inclination angle target value, thereby changing the force state of the items on the table.

[0072] It is understandable that the vehicle controller will subsequently generate control instructions based on the driving information to control each actuator to complete the acceleration and deceleration actions. The sending of these control instructions and the execution of acceleration and deceleration actions will take a certain amount of time. For example, the time from the steering wheel action information being converted into the steering gear executing the mechanical action until the wheel actually completes the turn, the time from the accelerator pedal action information being converted into the motor input current (for fuel vehicles, it is the engine throttle opening and closing angle) until the torque increase or speed increase is actually completed, and the time from the brake pedal action information or AEB information being converted into the brake caliper hydraulic clamping action until the braking force is actually formed. This embodiment determines the predicted acceleration based on the driving information of the vehicle, and identifies the minimum tilt angle target value required for the vehicle table based on the predicted acceleration, which can provide the necessary time window for the table to tilt before the actual acceleration of the vehicle occurs, thereby improving the timeliness of the response of the table control.

[0073] In the above-mentioned vehicle table control method, the driving information of the vehicle is obtained, and the predicted acceleration is determined according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; according to the predicted acceleration, the minimum tilt angle target value is determined; according to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value. Through the above-mentioned method, combined with the actual driving conditions of the vehicle, the vehicle table is controlled to actively make a pre-tilt at an appropriate angle, change the stress state of the table items, offset the inertia in the straight line direction caused by sudden braking and sudden starting of the vehicle or the lateral centrifugal inertia caused by sharp turns, which can ensure the stability of the items on the table and improve riding comfort and vehicle safety.

[0074] In an exemplary embodiment, after step 104, the method further includes: obtaining a set correction coefficient; determining a target angle value based on the minimum tilt angle target value and the set correction coefficient; sending a second action instruction to the motor driver based on the target angle value; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

[0075] It is understandable that the effective tilt angle that can ensure that the items on the table and the table do not slide relative to each other is within a range of values, and the minimum tilt angle target value estimated based on the predicted acceleration of the vehicle may deviate from the actual value.

[0076] Optionally, the target angle value is determined according to the following formula: ; In the formula, θ is the minimum tilt angle target value, θ1 is the target angle value, and s is the set correction coefficient.

[0077] The correction coefficient is set as an adjustable parameter greater than 1. The minimum tilt angle target value is the minimum value within the effective tilt angle range. By setting the correction coefficient, the error of the minimum tilt angle target value can be compensated, so that the predicted angle is larger but remains within the effective tilt angle range, thereby improving the accuracy of desktop control. The correction coefficient is set as an adjustable parameter, and calibration adjustment can be performed according to the inherent characteristics of a specific vehicle model, for example, "105%", "110%" or "115%".

[0078] In an exemplary embodiment, step 106 includes: determining a real-time error based on a minimum tilt angle target value and a real-time angle value of the vehicle table; performing proportional integral differential operations based on the real-time error to determine an output; and sending a first action instruction to a motor driver based on the output; wherein the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the vehicle table to approach the minimum tilt angle target value.

[0079] Wherein, referring to FIG. 2, FIG. 2 is a schematic diagram of the electrical architecture principle in an embodiment; the vehicle table control method provided in the embodiment of the present application is applied to the servo controller of FIG. 2, and the motor driver proposed in the embodiment of the present application is the servo driver shown in FIG. 2, and the motor is the servo motor (integrated encoder and reducer) shown in FIG. 2. The control process of the vehicle table includes command flow, drive flow and power flow. The command flow is implemented by the servo controller, the drive flow is implemented by the servo driver, and the action flow is implemented by the servo motor and the table. Among them, the vehicle controller (VCU) collects steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed, and transmits them to the servo controller. The servo controller determines the predicted acceleration based on these driving information, and the servo controller determines the action instruction according to the inertia relief algorithm and the attitude decoupling algorithm, and outputs it to the servo driver. The servo driver drives the servo motor according to the action instruction, and receives the speed, position and torque information fed back by the motor end based on the decoder. The table is provided with an inertial sensor (IMU), and the servo driver also receives the angle and angular velocity fed back by the sensor and feeds it back to the servo controller. According to the feedback information received, the servo controller sends action instructions to the servo driver based on the PID (proportional integral differential) algorithm, thereby driving and controlling the motor.

[0080] It can be understood that the real-time angle value of the car table is the angle collected by the inertial sensor installed on the car table. The servo controller processes the information according to the PID algorithm, outputs the angle of the table for the first action, and sends it to the servo driver. The servo motor driver drives the servo motor connected to the table to rotate and adjust the tilt angle of the table to the target value. The inertial sensor inside the table collects the real-time angle value of the table in real time, and dynamically feeds back the real-time angle value to the servo controller. The servo controller further dynamically sends adjustment instructions to the servo driver based on the difference between the minimum tilt angle target value and the real-time angle value, and repeats the dynamic adjustment process until the real-time angle value of the car table reaches the minimum tilt angle target value.

[0081] In an optional implementation, in order to ensure accurate acquisition of the table top posture information, the servo controller performs signal amplification, filtering, analog-to-digital conversion and other processing on the data detected by the inertial sensor, and performs PID calculations based on the processed data.

[0082] In an exemplary embodiment, before step 104 , the method further includes: determining whether the predicted acceleration is greater than the reference acceleration; if the predicted acceleration is greater than the reference acceleration, executing step 104 .

[0083] The reference acceleration is a parameter set in advance, which is used to characterize the acceleration that can be guaranteed by the maximum static friction between the table items and the table top. Optionally, the reference acceleration is the product of the static friction coefficient of the vehicle table and the acceleration of gravity. If the predicted acceleration is greater than the reference acceleration, the subsequent table tilting action is performed; if the predicted acceleration is not greater than the reference acceleration, the table tilting action is not performed.

[0084] In this embodiment, when the predicted acceleration of the vehicle exceeds the acceleration that can be guaranteed by the maximum static friction between the table items and the table top, the inclination angle of the vehicle table top is adjusted to change the force state of the table items, thereby ensuring the stability of the table items. By setting conditional judgment, it is possible to ensure that the table top angle is adjusted at the right time, avoiding invalid adjustments and improving the efficiency and accuracy of table top control.

[0085] In an exemplary embodiment, as shown in FIG3 , after step 106, the method further includes:

[0086] Step 302, obtaining the real-time acceleration of the vehicle table.

[0087] Among them, the inertial sensor set in the table top can detect the real-time acceleration of the table top. It can be understood that under the condition of rapid acceleration, sudden braking or sharp turning, the real-time acceleration of the vehicle will tend to slow down after a momentary extreme value. In this embodiment, after the table top tilting action is performed according to the minimum tilt angle target value determined by the predicted acceleration, the real-time acceleration detected by the table top inertial sensor is used to calculate and adjust the subsequent table top tilt angle until the table top is flat again.

[0088] It is understandable that under sudden acceleration, sudden braking or sharp turning conditions, the recognition of vehicle acceleration comes from two channels: the predicted acceleration calculated based on the front signal of the vehicle controller (i.e., driving information), or the real-time driving degree detected by the inertial sensor installed on the table. In an optional implementation, the angle calculation and the motor action are completely dependent on the real-time acceleration detected by the inertial sensor, which can also achieve the adjustment of the table tilt angle. This embodiment takes into account the response time of the servo motor, first executes the table tilt action according to the minimum tilt angle target value determined by the predicted acceleration, and then performs subsequent table control according to the real-time acceleration detected by the inertial sensor, which can improve the response timeliness of the table control.

[0089] Step 304: Determine a real-time tilt angle target value according to the real-time acceleration.

[0090] The real-time tilt angle target value is a tilt angle estimated based on the real-time acceleration and can ensure that the items on the table reach the real-time acceleration.

[0091] Optionally, the real-time tilt angle target value is determined by the following formula: ; θ is the real-time tilt angle target value, a is the real-time acceleration, and g is the gravity acceleration. This method does not take into account the friction between the desktop and the items on the desktop.

[0092] Optionally, the real-time tilt angle target value is determined by the following formula:

[0093] ;

[0094] Where θ is the real-time tilt angle target value, a is the real-time acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0095] In an optional implementation, if the real-time acceleration is less than or equal to the reference acceleration, the motor is driven by the motor driver to drive the vehicle table to return to a horizontal state, that is, the tilt angle is 0. If the real-time acceleration is greater than the reference acceleration, step 304 is executed.

[0096] Step 306, sending a third action instruction to the motor driver according to the real-time tilt angle target value; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time tilt angle target value.

[0097] Among them, the electronic device of this embodiment sends a third action instruction to the motor driver, drives the motor through the motor driver, and adjusts the tilt angle of the car table to reach the real-time tilt angle target value, thereby changing the force state of the items on the table.

[0098] In an optional implementation, step 306 includes: determining a real-time error according to the real-time tilt angle target value and the real-time angle value of the vehicle table; performing proportional integral differential operation according to the real-time error to determine an output; sending a third action instruction to the motor driver according to the output; wherein the third action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the vehicle table to approach the real-time tilt angle target value. The description of the PID algorithm can be found in the explanation of the aforementioned embodiment, which will not be repeated here.

[0099] In an optional implementation, referring to FIG. 4 , the controller provided in the present application controls the rotation of the table top through the following steps to implement the active inertia mitigation function:

[0100] S1: Obtain relevant driving information through the vehicle controller, including steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed.

[0101] S2: The controller calculates the predicted acceleration of the vehicle.

[0102] S3: Determine whether the desktop moves according to the predicted acceleration. If the predicted acceleration does not exceed the reference acceleration, the desktop tilting action is not performed; if the predicted acceleration exceeds the reference acceleration, the required tilt angle target value of the desktop is calculated and output.

[0103] S4: The controller determines the output based on the PID algorithm according to the determined tilt angle target value, and sends the output to the motor driver. The motor driver drives the motor connected to the table top to rotate, driving the table top to rotate to the tilt angle target value.

[0104] S5: The inertial sensor inside the table top collects the real-time angle and real-time acceleration of the table top in real time, and dynamically feeds the information back to the controller. The table top controller further dynamically sends adjustment instructions to the motor driver based on the difference between the real-time angle and the tilt angle target value.

[0105] S6: Repeat S4 to S5 until the real-time angle of the table top reaches the target tilt angle value.

[0106] S7: The controller calculates the target tilt angle value required for the desktop according to the real-time acceleration, and repeatedly executes S4-S5 until the real-time angle of the desktop reaches the target tilt angle value.

[0107] In this embodiment, the table top tilting action is first performed according to the minimum tilt angle target value determined by the predicted acceleration, which can improve the timeliness of the response of the table top control; and then the subsequent table top control is performed according to the real-time acceleration detected by the inertial sensor, which can improve the accuracy of the table top control.

[0108] In an exemplary embodiment, the method further includes: obtaining a static friction coefficient of the vehicle table; determining an angle target value based on a preset formula according to the acceleration and the static friction coefficient; wherein the acceleration is a predicted acceleration or a real-time acceleration, and the angle target value is a minimum tilt angle target value or a real-time tilt angle target value;

[0109] The default formula is:

[0110] ;

[0111] Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0112] It can be understood that ① when an object moves, the net force on the object is the product of the mass of the object and the acceleration, that is, F=m×a (F is the force, m is the mass, and a is the acceleration). ② Static friction: When two objects in contact have a tendency to slide relative to each other but remain relatively still, they exert a resistance to each other that prevents relative sliding. This resistance is called static friction. , whose size can be between 0 and Changes between , is the maximum static friction), ( is the normal pressure of the two objects, is the static friction coefficient between two objects). ③ Dynamic friction: When the contact surfaces of two objects slide relative to each other, the constraint force along the tangent direction of the contact surface is called dynamic friction. , ( is the coefficient of kinetic friction between two objects). ④ The coefficient of static friction and the coefficient of kinetic friction between two objects depend on the materials of both parties and the roughness of the contact surface. The coefficient of friction can be regarded as a constant.

[0113] It should be noted that, ① when the vehicle accelerates suddenly, the vehicle generates acceleration , if the maximum static friction of the object , then the object and the table will not slide against each other, and the resultant force on the object ; If the maximum static friction of the object , the object and the table will slide against each other, and the resultant force on the object ,and ② When the vehicle brakes suddenly or turns sharply, the force and motion state analysis of the object is similar to the above, the difference is that the acceleration generated by sudden braking is opposite to the direction of the vehicle's travel, and the centripetal acceleration generated by sharp turns points to the center of the vehicle's turn. ③ The above three situations may occur in parallel, such as the vehicle decelerating sharply and making a sharp turn at the same time.

[0114] Wherein, referring to FIG5, FIG5 is a schematic diagram of the basic principle of active inertia mitigation in one embodiment. When the vehicle brakes suddenly: ① If , because the object does not slide, the table does not move, as shown in Figure 5 (a). ② If , the desktop actively tilts θ, and the force on the object changes, and the resultant force , that is, by adjusting the force state, the acceleration of the object and the vehicle can still be maintained at the same level, thereby ensuring that the object and the table do not slide relative to each other, as shown in Figure 5 (b). ③ When the table needs to be tilted to ensure that the object does not slide relative to each other, the effective tilt angle of the table is a range interval. As shown in the calculation formula in the present embodiment, angle θ is the minimum value of the range interval, corresponding to , from the perspective of engineering optimization, the smallest angle represents the smallest table travel, the smallest power input, and the shortest response time, so the tabletop tilting action of the embodiment of the present application is preferably the smallest tilt angle target value. ④ The above principle is applicable to sudden acceleration, sudden braking, sharp turning, and a combination of the three.

[0115] Among them, the static friction coefficient is an adjustable parameter, which can be calibrated according to actual conditions to improve the accuracy and reliability of the table control. It can be understood that the tabletop material of the car table is fixed (such as wooden surface, leather-covered surface, injection molded surface, etc.), and the material of the items on the table is uncertain. The static friction coefficient corresponding to the material that is easier to slide than the tabletop material is selected as the static friction coefficient of the car table in this embodiment to ensure that items of various materials can be taken into account.

[0116] In an exemplary embodiment, the vehicle table is provided with a first motor and a second motor, the first motor is used to drive the vehicle table to rotate around the pitch axis, and the second motor is used to drive the vehicle table to rotate around the roll axis;

[0117] Step 106 includes: determining the rotation direction of the vehicle table according to the predicted direction of acceleration; determining the target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor; sending a first action instruction to the motor driver according to the minimum tilt angle target value and the target motor; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0118] Wherein, referring to FIG. 6, FIG. 6 is a schematic diagram of the structure of a vehicle table in an embodiment; the table assembly structure includes a tabletop 1, a frame 2, a frame 3, a motor 4, and a motor 5. The tabletop 1 is supported by the frame 2 and can rotate around the frame 2, and its rotation axis is the pitch axis. The whole composed of the tabletop 1 and the frame 2 is supported by the frame 3 and can rotate around the frame 3 as a whole, and its rotation axis is the roll axis. ② The pitch axis is parallel to the direction of the front of the vehicle in the horizontal plane, and the roll axis is perpendicular to the direction of the front of the vehicle in the horizontal plane. ③ The frame 3 is responsible for the connection between the tabletop assembly and the vehicle body. Generally speaking, the tabletop assembly is connected to the seat or central armrest of the vehicle body through the frame 3. ④ Motor 4 (i.e., the first motor in this embodiment) provides a driving force for the tabletop 1 to rotate around the pitch axis, and motor 5 (i.e., the second motor in this embodiment) provides a driving force for the tabletop 1 and the frame 2 to rotate around the roll axis as a whole. ⑤ Two sets of IMUs (inertial sensors) are set at the relevant positions of the roll axis and pitch axis of the tabletop to detect the angular velocity information and acceleration information of the two axes. ⑥ The controller mainboard is placed in the relevant position (not shown in Figure 6).

[0119] Refer to Figure 7, which is a schematic diagram of the rotation of a vehicle table in one embodiment; A and B respectively represent different viewing angles. The first motor can drive the vehicle table to rotate a certain angle around the pitch axis, and the second motor can drive the vehicle table to rotate a certain angle around the roll axis.

[0120] It is understandable that the direction of the vehicle's acceleration is different under sudden acceleration, sudden braking, sharp turns, and a combination of the three. Under sudden acceleration, the vehicle's acceleration is the same as the vehicle's travel direction; under sudden braking, the vehicle's acceleration is opposite to the vehicle's travel direction; under sharp turns, the vehicle's centripetal acceleration points to the vehicle's turning center. The tabletop rotation direction corresponding to each acceleration direction and the motor corresponding to each tabletop rotation direction are set in advance. Under different working conditions, the controlled motors are different, allowing the vehicle tabletop to rotate around the pitch axis and roll axis, realizing multi-dimensional rotation of the vehicle tabletop, and improving the flexibility and accuracy of the vehicle tabletop control.

[0121] In an optional implementation, it is assumed that the direction in which the tabletop of the vehicle table rotates around the pitch axis toward the front of the vehicle is the clockwise direction of the pitch axis, the direction in which the tabletop rotates around the pitch axis toward the rear of the vehicle is the counterclockwise direction of the pitch axis, the direction in which the tabletop rotates around the roll axis toward the right space of the vehicle is the clockwise direction of the roll axis, and the direction in which the tabletop rotates around the roll axis toward the left space of the vehicle is the counterclockwise direction of the roll axis. Under rapid acceleration conditions, the direction of the predicted acceleration is the same as the direction of travel of the vehicle, the direction of rotation of the vehicle table is determined to be the clockwise direction of the pitch axis, and the target motor is the first motor, that is, the method of this embodiment is used to control the tabletop of the vehicle table to rotate around the pitch axis toward the front of the vehicle at a certain angle. Under rapid deceleration conditions, the direction of the predicted acceleration is opposite to the direction of travel of the vehicle, the direction of rotation of the vehicle table is determined to be the counterclockwise direction of the pitch axis, and the target motor is the first motor, that is, the method of this embodiment is used to control the tabletop of the vehicle table to rotate around the pitch axis toward the rear of the vehicle at a certain angle. Under the condition of a sharp turn (left turn), the predicted acceleration points to the left side of the vehicle, the rotation direction of the vehicle table is determined to be the counterclockwise direction of the roll axis, and the target motor is the second motor, that is, the method of this embodiment is used to control the tabletop of the vehicle table to rotate a certain angle around the roll axis toward the left space of the vehicle. Under the condition of a sharp turn (right turn), the predicted acceleration points to the right side of the vehicle, the rotation direction of the vehicle table is determined to be the clockwise direction of the roll axis, and the target motor is the second motor, that is, the method of this embodiment is used to control the tabletop of the vehicle table to rotate a certain angle around the roll axis toward the right space of the vehicle. Under mixed conditions (left turn, acceleration), the decomposition of the predicted acceleration in the linear direction is the same as the driving direction of the vehicle, and the decomposition in the lateral direction points to the left side of the vehicle. The rotation direction of the vehicle table is determined to be the clockwise direction of the pitch axis and the counterclockwise direction of the roll axis. The target motors are the first motor and the second motor, that is, the method of this embodiment is used to control the tabletop of the vehicle table to rotate a certain angle around the pitch axis toward the front of the vehicle, and to rotate a certain angle around the roll axis toward the left space of the vehicle. The rotation methods of other mixed working conditions are similar and will not be described in detail here.

[0122] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a vehicle table control device for implementing the vehicle table control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle table control device embodiments provided below can refer to the limitations of the vehicle table control method above, and will not be repeated here.

[0124] In an exemplary embodiment, as shown in FIG8 , a vehicle table control device is provided, comprising:

[0125] The acquisition module 802 is used to acquire the driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed.

[0126] The determination module 804 is used to determine the minimum tilt angle target value according to the predicted acceleration.

[0127] The control module 806 is used to send a first action instruction to the motor driver according to the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0128] In the above-mentioned vehicle table control device, the driving information of the vehicle is obtained, and the predicted acceleration is determined according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; according to the predicted acceleration, the minimum tilt angle target value is determined; according to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value. Through the above-mentioned method, combined with the actual driving conditions of the vehicle, the vehicle table is controlled to actively make a pre-tilt at an appropriate angle, change the stress state of the table items, offset the inertia in the straight line direction caused by sudden braking and sudden starting of the vehicle or the lateral centrifugal inertia caused by sharp turns, which can ensure the stability of the items on the table and improve riding comfort and vehicle safety.

[0129] In an exemplary embodiment, the determination module 804 is further configured to obtain a set correction coefficient; determine a target angle value according to the minimum tilt angle target value and the set correction coefficient;

[0130] The control module 806 is further used to send a second action instruction to the motor driver according to the target angle value; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

[0131] In an exemplary embodiment, the control module 806 is also used to determine the real-time error based on the minimum tilt angle target value and the real-time angle value of the vehicle table; perform proportional integral differential operations based on the real-time error to determine the output; and send a first action instruction to the motor driver based on the output; wherein the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the vehicle table to approach the minimum tilt angle target value.

[0132] In an exemplary embodiment, the determination module 804 is further used to determine whether the predicted acceleration is greater than the reference acceleration; if the predicted acceleration is greater than the reference acceleration, the step of determining the minimum tilt angle target value according to the predicted acceleration is executed.

[0133] In an exemplary embodiment, the acquisition module 802 is further used to acquire the real-time acceleration of the vehicle table;

[0134] The determination module 804 is further used to determine a real-time tilt angle target value according to the real-time acceleration;

[0135] The control module 806 is also used to send a third action instruction to the motor driver according to the real-time tilt angle target value; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time tilt angle target value.

[0136] In an exemplary embodiment, the determination module 804 is further used to obtain the static friction coefficient of the vehicle table; based on a preset formula, according to the acceleration and the static friction coefficient, determine the angle target value; wherein the acceleration is a predicted acceleration or a real-time acceleration, and the angle target value is a minimum tilt angle target value or a real-time tilt angle target value;

[0137] The default formula is:

[0138] ;

[0139] Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0140] In an exemplary embodiment, the vehicle table is provided with a first motor and a second motor, the first motor is used to drive the vehicle table to rotate around the pitch axis, and the second motor is used to drive the vehicle table to rotate around the roll axis;

[0141] The control module 806 is also used to determine the rotation direction of the vehicle table based on the predicted direction of acceleration; determine the target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor; send a first action instruction to the motor driver based on the minimum tilt angle target value and the target motor; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0142] Each module in the above-mentioned vehicle table control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in an electronic device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0143] In an exemplary embodiment, an electronic device is provided, which may be a server, and its internal structure diagram may be shown in FIG9. The electronic device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling a vehicle table is implemented.

[0144] Those skilled in the art will understand that the structure shown in FIG. 9 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0145] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: obtaining driving information of the vehicle, and determining a predicted acceleration based on the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information, and current vehicle speed; determining a minimum tilt angle target value based on the predicted acceleration; and sending a first action instruction to a motor driver based on the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0146] In one embodiment, the processor also implements the following steps when executing the computer program: obtaining a set correction coefficient; determining a target angle value based on the minimum tilt angle target value and the set correction coefficient; sending a second action instruction to the motor driver based on the target angle value; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

[0147] In one embodiment, the processor also implements the following steps when executing the computer program: determining the real-time error based on the minimum tilt angle target value and the real-time angle value of the car table; performing proportional integral differential operations based on the real-time error to determine the output; and sending a first action instruction to the motor driver based on the output; wherein the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the car table to approach the minimum tilt angle target value.

[0148] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether the predicted acceleration is greater than the reference acceleration; if the predicted acceleration is greater than the reference acceleration, executing the step of determining the minimum tilt angle target value based on the predicted acceleration.

[0149] In one embodiment, the processor also implements the following steps when executing the computer program: obtaining the real-time acceleration of the vehicle table; determining the real-time tilt angle target value based on the real-time acceleration; sending a third action instruction to the motor driver based on the real-time tilt angle target value; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time tilt angle target value.

[0150] In one embodiment, when the processor executes the computer program, the following steps are further implemented: obtaining the static friction coefficient of the vehicle table; determining the angle target value based on the preset formula according to the acceleration and the static friction coefficient; wherein the acceleration is the predicted acceleration or the real-time acceleration, and the angle target value is the minimum tilt angle target value or the real-time tilt angle target value; the preset formula is:

[0151] ;

[0152] Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0153] In one embodiment, the processor also implements the following steps when executing the computer program: determining the rotation direction of the vehicle table based on the predicted direction of acceleration; determining the target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor; sending a first action instruction to the motor driver based on the minimum tilt angle target value and the target motor; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0154] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining driving information of the vehicle, and determining a predicted acceleration based on the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; determining a minimum tilt angle target value based on the predicted acceleration; sending a first action instruction to a motor driver based on the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining a set correction coefficient; determining a target angle value based on the minimum tilt angle target value and the set correction coefficient; sending a second action instruction to the motor driver based on the target angle value; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

[0156] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the real-time error based on the minimum tilt angle target value and the real-time angle value of the car table; performing proportional integral differential operations based on the real-time error to determine the output; and sending a first action instruction to the motor driver based on the output; wherein the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the car table to approach the minimum tilt angle target value.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether the predicted acceleration is greater than the reference acceleration; if the predicted acceleration is greater than the reference acceleration, executing the step of determining the minimum tilt angle target value based on the predicted acceleration.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the real-time acceleration of the vehicle table; determining the real-time tilt angle target value based on the real-time acceleration; sending a third action instruction to the motor driver based on the real-time tilt angle target value; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time tilt angle target value.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the static friction coefficient of the vehicle table; determining the angle target value based on the preset formula according to the acceleration and the static friction coefficient; wherein the acceleration is the predicted acceleration or the real-time acceleration, and the angle target value is the minimum tilt angle target value or the real-time tilt angle target value; the preset formula is:

[0160] ;

[0161] Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

[0162] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the rotation direction of the vehicle table based on the predicted direction of acceleration; determining the target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor; sending a first action instruction to the motor driver based on the minimum tilt angle target value and the target motor; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0164] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0165] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0166] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a vehicle table, characterized in that: The method comprises: Acquire driving information of the vehicle, and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; Determining a minimum tilt angle target value according to the predicted acceleration; According to the minimum tilt angle target value, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

2. The method according to claim 1, characterized in that After determining the minimum tilt angle target value according to the predicted acceleration, the method further includes: Get the set correction coefficient; Determining a target angle value according to the minimum tilt angle target value and the set correction coefficient; According to the target angle value, a second action instruction is sent to the motor driver; wherein the second action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the target angle value.

3. The method according to claim 1, characterized in that The step of sending a first action instruction to the motor driver according to the minimum tilt angle target value comprises: Determine a real-time error according to the minimum tilt angle target value and the real-time angle value of the vehicle table; perform proportional-integral-differential calculation according to the real-time error to determine an output; According to the output, a first action instruction is sent to the motor driver; wherein, the first action instruction is used to instruct the motor driver to drive the motor to drive the real-time angle value of the vehicle table to approach the minimum tilt angle target value.

4. The method according to claim 1, characterized in that: Before determining the minimum tilt angle target value according to the predicted acceleration, the method further includes: Determining whether the predicted acceleration is greater than a reference acceleration; If the predicted acceleration is greater than the reference acceleration, the step of determining the minimum tilt angle target value according to the predicted acceleration is performed.

5. The method according to claim 1, characterized in that After sending the first action instruction to the motor driver according to the minimum tilt angle target value, the method further includes: Obtaining the real-time acceleration of the vehicle table; Determining a real-time tilt angle target value according to the real-time acceleration; According to the real-time tilt angle target value, a third action instruction is sent to the motor driver; wherein the third action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the real-time tilt angle target value.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Obtaining the static friction coefficient of the vehicle table top; Based on a preset formula, the angle target value is determined according to the acceleration and the static friction coefficient; wherein the acceleration is the predicted acceleration or the real-time acceleration, and the angle target value is the minimum tilt angle target value or the real-time tilt angle target value; The preset formula is: ； Where θ is the target angle, a is the acceleration, μ is the static friction coefficient, and g is the gravitational acceleration.

7. The method according to any one of claims 1 to 5, characterized in that The vehicle table is provided with a first motor and a second motor, the first motor is used to drive the vehicle table to rotate around the pitch axis, and the second motor is used to drive the vehicle table to rotate around the roll axis; The step of sending a first action instruction to the motor driver according to the minimum tilt angle target value comprises: Determining the rotation direction of the vehicle table according to the direction of the predicted acceleration; Determine a target motor corresponding to the rotation direction; wherein the target motor is at least one of the first motor and the second motor; According to the minimum tilt angle target value and the target motor, a first action instruction is sent to the motor driver; wherein the first action instruction is used to instruct the motor driver to drive the target motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

8. A vehicle table control device, characterized in that: The device comprises: An acquisition module, used to acquire driving information of the vehicle and determine the predicted acceleration according to the driving information; wherein the driving information includes steering wheel action information, accelerator pedal action information, brake pedal action information, automatic braking information and current vehicle speed; A determination module, used to determine a minimum tilt angle target value according to the predicted acceleration; A control module is used to send a first action instruction to the motor driver according to the minimum tilt angle target value; wherein the first action instruction is used to instruct the motor driver to drive the motor, thereby driving the vehicle table to tilt to the minimum tilt angle target value.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images