Vehicle control device and method, vehicle and computer readable storage medium

Abstract

The invention discloses a vehicle control device and method, a vehicle and a computer readable storage medium, the vehicle control device comprises a recognition module, an execution mechanism and a controller, the vehicle control device recognizes action information of a target user after the recognition module is started; then, action information is obtained through a controller, an executing mechanism is controlled to execute motion corresponding to the action information, a vehicle body is driven to move along with the action information of the target user, and therefore the posture of the vehicle body is controlled; through the vehicle control device provided by the invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movement and show different vehicle body postures, so that different vehicle body galloping effects can be generated, the entertainment of the vehicle can be improved, and the interactivity and intelligence of the vehicle can also be improved.

Description

Technical Field

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

[0002] At present, cars are becoming an increasingly indispensable part of people's lives. Cars not only serve as a means of transportation to meet people's travel needs, but also to a large extent meet people's entertainment needs. Existing technology can make cars "sing", and the next step will focus on how to make cars "dance".

[0003] An existing vehicle control method mainly plays target music through the vehicle audio system, controls the vehicle body to move with the target music rhythm, and controls the multimedia system and the lighting system through the target music linkage.

[0004] However, this method only achieves dancing through target music and cannot adjust the way the vehicle dances according to the driver's wishes, resulting in poor interactivity and intelligence of the vehicle. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, one object of the present invention is to propose a vehicle control device, which can control the vehicle body to perform corresponding movements according to the actions of the target user, showing different vehicle body postures, thereby producing different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0007] To this end, a second object of the present invention is to provide a vehicle control method.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle control device, comprising: an identification module, used to identify the action information of the target user after being turned on; an actuator, the actuator is connected to the body of the vehicle, and the actuator is used to control the body posture; a controller, connected to the identification module and the actuator, the controller is used to obtain the action information, and based on the action information, control the actuator to perform corresponding movements to drive the body movement, thereby controlling the body posture, wherein different action information corresponds to different movements.

[0011] According to the vehicle control device of the embodiment of the present invention, the motion information of the target user is first identified through the identification module after being turned on; then the motion information is obtained through the controller, and the actuator is controlled to perform the movement corresponding to the motion information, driving the vehicle body to move with the motion information of the target user, so as to control the vehicle body posture; through the vehicle control device provided by the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, which can not only improve the entertainment of the vehicle, but also improve the interactivity and intelligence of the vehicle.

[0012] In some embodiments, the vehicle body posture includes: at least one of: front and rear pitching, left and right tilting, following the action information and jumping on the spot. Thus, by setting a variety of vehicle body postures corresponding to the action information, the expression of the vehicle body posture can be enriched and the interactivity can be improved.

[0013] In some embodiments, the actuator includes: a first adjustment component, which is arranged between the frame and the left front wheel of the vehicle, and the first adjustment component can be telescopically moved, and the ground clearance of the vehicle body at the left front wheel is adjusted by the telescopic movement of the first adjustment component; a second adjustment component, which is arranged between the frame and the right front wheel of the vehicle, and the second adjustment component can be telescopically moved, and the ground clearance of the vehicle body at the right front wheel is adjusted by the telescopic movement of the second adjustment component; a third adjustment component, which is arranged between the frame and the left rear wheel of the vehicle, and the third adjustment component can be telescopically moved, and the ground clearance of the vehicle body at the right front wheel is adjusted by the telescopic movement of the third adjustment component; a fourth adjustment component, which is arranged between the frame and the right rear wheel of the vehicle, and the fourth adjustment component can be telescopically moved, and the ground clearance of the vehicle body at the right rear wheel is adjusted by the telescopic movement of the fourth adjustment component. Thus, by arranging a telescopic adjustment component between each of the four wheels and the frame of the vehicle, the ground clearance of the vehicle body at different wheels can be adjusted by the four adjustment components, thereby realizing flexible control of different vehicle body postures by the actuator.

[0014] In some embodiments, the controller is used to control the output current of the first regulating component, the second regulating component, the third regulating component and the fourth regulating component to respectively control the stretching / contraction stroke of the first regulating component, the second regulating component, the third regulating component and the fourth regulating component, wherein the relationship between the stretching / contraction stroke and the output current is pre-calibrated. Thus, by controlling the output current of the four regulating components by the controller, and the relationship between the stretching / contraction stroke and the output current is pre-calibrated, the stretching / contraction stroke of the four regulating components can be controlled, so that the ground clearance of the vehicle body at different wheels can be adjusted accordingly, thereby realizing flexible control of different vehicle body postures.

[0015] In some embodiments, the output current is proportional to the stretching / contraction stroke. Thus, the larger the output current of one of the adjustment components controlled by the controller is, the larger the corresponding stretching / contraction stroke is, and the stretching / contraction stroke of the four adjustment components can be controlled.

[0016] In some embodiments, the controller is used to control the actuator to perform a first movement to make the vehicle body pitch forward and backward; wherein, the controller controls the actuator to perform the first movement, including: alternately performing a first action and a second action; wherein, the first action includes: controlling the first adjustment component and the second adjustment component to contract, while controlling the third adjustment component and the fourth adjustment component to stretch; the second action includes: controlling the first adjustment component and the second adjustment component to stretch, while controlling the third adjustment component and the fourth adjustment component to contract. Thus, when the recognition module recognizes that the target user makes an action corresponding to the pitching of the vehicle body, the controller controls the actuator to perform the first movement, so that the vehicle body can pitch forward and backward; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0017] In some embodiments, when receiving the first action information generated by the recognition module, the controller controls the actuator to perform the first movement; wherein, when the body movement information of the target person in the vehicle is recognized, and according to the body movement information of the target person in the vehicle, the horizontal movement distance of the limbs of the target person in the vehicle is less than the first threshold value within a set time, and the vertical movement distance of the limbs of the target person in the vehicle is not less than the second threshold value, the recognition module generates the first action information; or, when the body movement information of the target person outside the vehicle is recognized, and according to the body movement information of the target person outside the vehicle, the limbs of the target person outside the vehicle present a first motion trajectory within a set time, the recognition module generates the first action information. Thus, when the recognition module recognizes that the target user makes an action corresponding to the forward and backward pitching of the vehicle body, the first action information is generated, and when the controller receives the first action information generated by the recognition module, it controls the actuator to perform the first movement, so that the vehicle body can be pitched forward and backward.

[0018] In some embodiments, the controller is used to control the actuator to perform a second movement to make the vehicle body tilt left or right; wherein, the controller controls the actuator to perform the second movement, including: alternately performing a third action and a fourth action; wherein, the third action includes: controlling the first adjustment component and the third adjustment component to contract, while controlling the second adjustment component and the fourth adjustment component to stretch; the fourth action includes: controlling the first adjustment component and the third adjustment component to stretch, while controlling the second adjustment component and the fourth adjustment component to contract. Thus, when the recognition module recognizes that the target user makes an action corresponding to the vehicle body tilting left or right, the controller controls the actuator to perform the second movement, thereby making the vehicle body tilt left or right; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0019] In some embodiments, when receiving the second action information generated by the recognition module, the controller controls the actuator to perform the second movement; wherein, when the body movement information of the target person in the vehicle is recognized, and according to the body movement information of the target person in the vehicle, the horizontal movement distance of the limbs of the target person in the vehicle is not less than the first threshold value within the set time, and the vertical movement distance of the limbs of the target person in the vehicle is less than the second threshold value, the recognition module generates the second action information; or, when the body movement information of the target person outside the vehicle is recognized, and according to the body movement information of the target person outside the vehicle, the limbs of the target person outside the vehicle present a second motion trajectory within the set time, the recognition module generates the second action information. Thus, when the recognition module recognizes that the target user makes an action corresponding to the left and right tilt of the vehicle body, the second action information is generated, and when the controller receives the second action information generated by the recognition module, the actuator is controlled to perform the second movement, so that the vehicle body can tilt left and right.

[0020] In some embodiments, the controller is used to control the actuator to perform a third movement so that the vehicle body and the action information can follow the movement; wherein, the controller controls the actuator to perform the third movement, including: alternately performing the fifth movement and the sixth movement; wherein, the fifth movement includes: controlling the first adjustment component and the fourth adjustment component to contract, while controlling the second adjustment component and the third adjustment component to stretch; the sixth movement includes: controlling the first adjustment component and the fourth adjustment component to stretch, while controlling the second adjustment component and the third adjustment component to contract. Thus, when the recognition module recognizes that the target user makes a movement corresponding to the follow-up movement of the vehicle body and the action information, the controller controls the actuator to perform the third movement, so that the vehicle body and the action information can follow the movement; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0021] In some embodiments, when receiving the third action information generated by the recognition module, the controller controls the actuator to perform the third movement; wherein, when the body movement information of the target person in the vehicle is recognized, and according to the body movement information of the target person in the vehicle, the horizontal movement distance of the limbs of the target person in the vehicle is not less than the first threshold value within the set time, and the vertical movement distance of the limbs of the target person in the vehicle is not less than the second threshold value, the recognition module generates the third action information; or, when the body movement information of the target person outside the vehicle is recognized, and according to the body movement information of the target person outside the vehicle, the limbs of the target person outside the vehicle present a third motion trajectory within the set time, the recognition module generates the third action information. Thus, when the recognition module recognizes that the target user makes an action corresponding to the follow-up movement of the vehicle body and the action information, the third action information is generated, and when the controller receives the third action information generated by the recognition module, it controls the actuator to perform the third movement, so that the vehicle body and the action information can be moved with the movement.

[0022] In some embodiments, the controller is used to control the actuator to perform a fourth movement to make the vehicle body jump in place; wherein, the controller controls the actuator to perform the fourth movement, including: alternately performing a seventh action and an eighth action; wherein, the seventh action includes: controlling the first adjustment component, the second adjustment component, the third adjustment component, and the fourth adjustment component to contract; and the eighth action includes: controlling the first adjustment component, the second adjustment component, the third adjustment component, and the fourth adjustment component to stretch. Thus, when the recognition module recognizes that the target user makes an action corresponding to the vehicle body jumping in place, the controller controls the actuator to perform the fourth movement, so that the vehicle body can jump in place; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0023] In some embodiments, when receiving the fourth action information generated by the recognition module, the controller controls the actuator to perform the fourth movement; wherein, when the body movement information of the target person outside the vehicle is recognized, and according to the body movement information of the target person outside the vehicle, it is recognized that the body of the target person outside the vehicle presents a fourth movement trajectory within a set time, the recognition module generates the fourth action information. Thus, when the recognition module recognizes that the target user makes an action corresponding to the vehicle body jumping on the spot, the fourth action information is generated, and when the controller receives the fourth action information generated by the recognition module, it controls the actuator to perform the fourth movement, so that the vehicle body can jump on the spot.

[0024] In some embodiments, the movement range is proportional or inversely proportional to the magnitude of the output current. Thus, the amplitude of the dancing of the vehicle body can be controlled according to the amplitude of the movement of the limbs of the target person.

[0025] In some embodiments, the vehicle control device further includes: a sensor assembly for detecting the pitch angle and roll angle of the vehicle body; the controller is further used to limit the magnitude of the output current according to the pitch angle and / or the roll angle. Thus, the controller limits the magnitude of the output current according to the pitch angle and / or the roll angle, thereby limiting the extension / contraction stroke of the adjustment assembly, thereby avoiding accidents such as vehicle rollover, thereby ensuring the safety of the vehicle.

[0026] In some embodiments, when the pitch angle and / or the roll angle reaches a preset angle threshold, the controller controls the first to fourth adjustment components to no longer increase the output current. Thus, when the pitch angle and / or the roll angle reaches a preset angle threshold, the controller controls the first to fourth adjustment components to no longer increase the output current, thereby limiting the extension / contraction stroke of the adjustment component to no longer increase, thereby avoiding accidents such as vehicle rollover, thereby ensuring the safety of the vehicle.

[0027] In some embodiments, the first adjustment component includes a first linear current driver, the second adjustment component includes a second linear current driver, the third adjustment component includes a third linear current driver, and the fourth adjustment component includes a fourth linear current driver. Thus, by providing a linear current driver between each of the four wheels and the vehicle frame, the controller can be quickly responded to, quickly extended and retracted, and the ground clearance of the vehicle body at different wheels can be quickly adjusted, thereby realizing flexible control of different vehicle body postures by the actuator.

[0028] In some embodiments, the recognition module includes a first camera, the first camera is used to obtain an image inside the vehicle, and a first target person inside the vehicle is used as the target person; wherein the first target person is a person who performs an action in a first target area inside the vehicle. Thus, the action information of the target person inside the vehicle can be accurately identified, so that the controller can control the vehicle body accordingly according to the action information.

[0029] In some embodiments, the first target person is a person carrying a first target object and performing an action in a first target area in the vehicle. Thus, the action information of the target person in the vehicle can be further accurately identified, so that the controller can control the vehicle body accordingly according to the action information.

[0030] In some embodiments, the recognition module includes a second camera, which is used to obtain an image outside the vehicle and use a second target person outside the vehicle as the target person; wherein the second target person is a person who performs an action in a second target area outside the vehicle. Thus, the action information of the target person outside the vehicle can be accurately identified, so that the controller can control the vehicle body accordingly according to the action information.

[0031] In some embodiments, the second target person is a person carrying a second target object and performing an action in a second target area outside the vehicle. Thus, the action information of the target person outside the vehicle can be further accurately identified, so that the controller can perform corresponding control on the vehicle body according to the action information.

[0032] In some embodiments, the recognition module is used to start when receiving a command signal for instructing to start the vehicle dancing function. Thus, the operator can actively indicate the timing of starting the vehicle dancing function, and it can also avoid the recognition module being in a standby state all the time, causing energy waste.

[0033] In some embodiments, the command signal is issued when a preset function switch on the vehicle is turned on. Thus, the operator can actively indicate the timing of turning on the vehicle dancing function, which is simple and direct to operate, and can also avoid the identification module being in a standby state all the time, causing energy waste.

[0034] In some embodiments, the command signal is sent by a terminal, which includes a vehicle-mounted terminal and / or a user handheld terminal. Thus, the operator can actively indicate the timing of starting the vehicle dancing function, which can not only enrich the operation form, but also avoid the identification module being in a standby state all the time, causing energy waste.

[0035] In some embodiments, the command signal includes a command signal for turning on the first camera and / or the second camera. Thus, only one command is needed to turn on the camera and the dancing function at the same time, avoiding complicated operations.

[0036] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a vehicle control method, comprising the following steps: identifying the action information of the target user; controlling the actuator to perform corresponding movements based on the action information to drive the movement of the vehicle body, and then controlling the vehicle body posture, wherein different action information corresponds to different movements, and the actuator is connected to the vehicle body for controlling the vehicle body posture.

[0037] According to the vehicle control method of the embodiment of the present invention, it is implemented based on the vehicle control device of the above-mentioned embodiment of the present invention. First, the motion information of the target user is identified by the identification module after it is turned on; then the motion information is obtained by the controller, and the actuator is controlled to perform the movement corresponding to the motion information, so as to drive the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; through the vehicle control method provided by the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0038] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, comprising: a vehicle control device as described in the above-mentioned embodiment of the present invention; or a processor, a memory, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program implements the vehicle control method as described in the above-mentioned embodiment of the present invention when executed by the processor.

[0039] According to the vehicle of the embodiment of the present invention, the vehicle method of the above embodiment of the present invention is implemented based on the vehicle control device of the above embodiment of the present invention, firstly, the motion information of the target user is identified through the identification module after being turned on; then the motion information is obtained through the controller, and the actuator is controlled to perform the movement corresponding to the motion information, so as to drive the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; the vehicle provided by the embodiment of the present invention can control the vehicle speed according to the action of the target user to perform corresponding movements, show different vehicle body postures, and thus produce different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0040] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the vehicle control method as described in the above-mentioned embodiment of the present invention is implemented.

[0041] According to the computer-readable storage medium of an embodiment of the present invention, when the vehicle control program stored thereon is executed by the processor, the vehicle method of the above embodiment of the present invention is implemented based on the vehicle control device of the above embodiment of the present invention, firstly, the action information of the target user is identified through the identification module after being turned on; then the action information is obtained through the controller, and the actuator is controlled to execute the movement corresponding to the action information, so as to drive the vehicle body to move with the action information of the target user, thereby controlling the vehicle body posture; through the computer-readable storage medium provided by the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0042] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention; Figure 2 is an application schematic diagram of a vehicle control device according to a specific embodiment of the present invention; Figure 3 is a schematic diagram of a vehicle leaning forward according to a specific embodiment of the present invention; Figure 4 is a schematic diagram of a vehicle tilting backward according to a specific embodiment of the present invention; Figure 5 is a schematic diagram of a vehicle leaning right according to a specific embodiment of the present invention; Figure 6 is a schematic diagram of a vehicle leaning left according to a specific embodiment of the present invention; Figure 7 is a schematic diagram of a vehicle jumping in situ according to a specific embodiment of the present invention; Figure 8 is a flow chart of a vehicle control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0045] Reference below Figure 1-Figure 8 A vehicle control device, a method, a vehicle, and a computer-readable storage medium according to embodiments of the present invention are described.

[0046] Figure 1 FIG. 1 is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present invention. Figure 1 As shown, the vehicle control device 100 includes: an identification module 110, which is used to identify the motion information of the target user after being turned on; an actuator 120, which is connected to the body of the vehicle and is used to control the body posture; a controller 130, which is connected to the identification module 110 and the actuator 120, and is used to obtain motion information, and control the actuator 120 to perform corresponding movements based on the motion information to drive the body movement, thereby controlling the body posture, wherein different motion information corresponds to different movements.

[0047] In a specific embodiment, the recognition module 110 includes, for example, but is not limited to, an in-vehicle camera and an out-vehicle camera, etc., and the target user includes, for example, but is not limited to, an in-vehicle operator and an out-vehicle operator, etc. Specifically, the motion information of the in-vehicle operator can be recognized through the in-vehicle camera, and the motion information of the out-vehicle operator can be recognized through the out-vehicle camera.

[0048] In a specific embodiment, the actuator 120 includes, for example, but is not limited to, a linear current driver disposed between the four wheels and the chassis of the vehicle. Specifically, the height of the vehicle body at the four wheels can be changed by controlling the four linear current drivers to extend and retract to different degrees, thereby driving the vehicle body to move, forming different body postures, and producing a "dancing" effect, thereby enhancing the entertainment of the vehicle.

[0049] Figure 2 FIG. 1 is a schematic diagram of an application of a vehicle control device according to a specific embodiment of the present invention. Figure 2 As shown, the recognition module 110 is a camera. The camera and the dancing mode can be turned on by a dancing mode switch. The camera recognizes motion information by recognizing gesture gloves or through a gesture recognition area.

[0050] Specifically, the vehicle control device 100 provided in the embodiment of the present invention first identifies the motion information of the target user through the identification module 110 after being turned on; then obtains the motion information through the controller 130, and controls the actuator 120 to perform the movement corresponding to the motion information, driving the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; through the vehicle control device 100 provided in the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, which can not only improve the entertainment of the vehicle, but also improve the interactivity and intelligence of the vehicle.

[0051] It is not difficult to understand that in order to ensure the safety of the vehicle and personnel, before driving the vehicle body to move, it is necessary to ensure that the vehicle is in a safe state, such as ensuring that the vehicle is parked and powered on.

[0052] In one embodiment of the present invention, the vehicle body posture includes at least one of: front and rear pitching, left and right rolling, following movement with action information, and jumping on the spot.

[0053] In a specific embodiment, the front and rear pitching is, for example, the height of the front and rear of the vehicle body changes alternately, thereby generating a pitching feeling; the left and right roll is, for example, the height of the left and right of the vehicle body changes alternately, thereby generating a left and right roll feeling; the follow-up movement with the action information is, for example, the height of the vehicle body in the oblique direction (including the left front and right rear and the left rear and right front) changes alternately, thereby generating a follow-up feeling; the in-situ jump is, for example, the height of the entire vehicle body changes alternately together, thereby generating a jumping feeling. Specifically, by setting a variety of vehicle body postures, the expression forms of the vehicle body postures can be enriched, which helps to further improve the entertainment of the vehicle, as well as further improve the interactivity and intelligence of the vehicle.

[0054] Specifically, the vehicle control device 100 provided in the embodiment of the present invention first identifies the motion information of the target user through the identification module 110 after being turned on; then obtains the motion information through the controller 130, and controls the actuator 120 to execute the movement corresponding to the motion information, driving the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body to present at least one of the postures of front and rear pitching, left and right tilting, following the motion information and jumping on the spot; thus, through the vehicle control device 100 provided in the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, and by setting a variety of vehicle body postures, the expression of the vehicle body postures can be enriched, which helps to further improve the entertainment of the vehicle, as well as further improve the interactivity and intelligence of the vehicle.

[0055] In one embodiment of the present invention, the actuator 120 includes: a first adjusting component 1201, which is arranged between the frame and the left front wheel of the vehicle, and the first adjusting component 1201 can move telescopically, and the ground clearance of the vehicle body at the left front wheel is adjusted by the telescopic movement of the first adjusting component 1201; a second adjusting component 1202, which is arranged between the frame and the right front wheel of the vehicle, and the second adjusting component 1202 can move telescopically, and the ground clearance of the vehicle body at the right front wheel is adjusted by the telescopic movement of the second adjusting component 1202; a third adjusting component 1203, which is arranged between the frame and the left rear wheel of the vehicle, and the third adjusting component 1203 can move telescopically, and the ground clearance of the vehicle body at the right front wheel is adjusted by the telescopic movement of the third adjusting component 1203; a fourth adjusting component 1204, which is arranged between the frame and the right rear wheel of the vehicle, and the fourth adjusting component 1204 can move telescopically, and the ground clearance of the vehicle body at the right rear wheel is adjusted by the telescopic movement of the fourth adjusting component 1204. Furthermore, the vehicle body posture is controlled by controlling each adjustment component to adjust the height of the vehicle body from the ground at the corresponding wheel, thereby forming different vehicle body postures and achieving the purpose of vehicle dancing.

[0056] In a specific embodiment, the actuator 120 includes a first adjustment component 1201, a second adjustment component 1202, a third adjustment component 1203, and a fourth adjustment component 1204, which are respectively arranged between the left front wheel, the right front wheel, the left rear wheel, the right rear wheel and the vehicle frame. Specifically, the four adjustment components are, for example, linear current drivers, and through the telescopic movement of the four adjustment components, the ground clearance of the vehicle body at different wheels can be correspondingly adjusted, thereby achieving control of different vehicle body postures.

[0057] Specifically, the vehicle control device 100 provided in the embodiment of the present invention can realize that the ground clearance of the vehicle body at different wheels can be adjusted by the four adjustment components respectively by setting a retractable adjustment component between each of the four wheels and the vehicle frame, thereby realizing the flexible control of different vehicle body postures by the actuator 120, thereby enriching the expression of the vehicle body posture, helping to improve the entertainment of the vehicle, as well as improving the interactivity and intelligence of the vehicle.

[0058] In one embodiment of the present invention, the controller 130 is used to control the output current of the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204 to respectively control the stretching / contraction stroke of the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204, wherein the relationship between the stretching / contraction stroke and the output current is pre-calibrated.

[0059] In a specific embodiment, the relationship between the stretching / contraction stroke and the output current can be pre-calibrated in a relevant controller of the vehicle, such as a vehicle controller, in the form of a table. Specifically, the stretching / contraction stroke and the output current can be in a proportional relationship, that is, the larger the output current of one of the adjustment components controlled by the controller 130 is, the larger the corresponding stretching / contraction stroke is, and the stretching or contraction can be determined by the current direction. For example, the more positive the output current of one of the adjustment components controlled by the controller 130 is, the corresponding stretching movement is performed.

[0060] Specifically, the vehicle control device 100 provided in the embodiment of the present invention, by setting a retractable adjustment component between each of the four wheels and the vehicle frame, and the controller 130 controls the output current of the four adjustment components, and the relationship between the stretching / contraction stroke and the output current is pre-calibrated, so as to realize the control of the stretching / contraction stroke of the four adjustment components, so as to adjust the ground clearance of the vehicle body at different wheels accordingly, thereby realizing flexible control of different vehicle body postures, and further enriching the expression of the vehicle body posture, which helps to improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0061] In one embodiment of the present invention, the output current is proportional to the extension / contraction stroke.

[0062] In a specific embodiment, the stretching / contraction stroke is proportional to the output current, that is, the larger the output current of one of the adjustment components controlled by the controller 130 is, the larger the corresponding stretching / contraction stroke is, and the stretching or contraction can be determined by the current direction. For example, the more positive the output current of one of the adjustment components controlled by the controller 130 is, the corresponding stretching movement is.

[0063] Specifically, the vehicle control device 100 provided in the embodiment of the present invention, by respectively setting a retractable adjustment component between the four wheels and the vehicle frame, and controlling the output current of the four adjustment components by the controller 130, the output current size is proportional to the stretching / contraction stroke, thereby realizing the control of the stretching / contraction stroke of the four adjustment components, so that the ground clearance of the vehicle body at different wheels can be adjusted accordingly, thereby realizing flexible control of different vehicle body postures, and further enriching the expression of the vehicle body posture, which helps to improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0064] In one embodiment of the present invention, the controller 130 is used to control the actuator 120 to perform a first movement to make the vehicle body pitch forward and backward; wherein, the controller 130 controls the actuator 120 to perform the first movement, including: alternatingly performing the first action and the second action; wherein, the first action includes: controlling the first adjustment component 1201 and the second adjustment component 1202 to contract, and simultaneously controlling the third adjustment component 1203 and the fourth adjustment component 1204 to stretch; the second action includes: controlling the first adjustment component 1201 and the second adjustment component 1202 to stretch, and simultaneously controlling the third adjustment component 1203 and the fourth adjustment component 1204 to contract.

[0065] Figure 3 is a schematic diagram of a vehicle leaning forward according to a specific embodiment of the present invention, Figure 4 FIG. 1 is a schematic diagram of a vehicle tilting backward according to a specific embodiment of the present invention. Figure 3 and Figure 4 As shown, in a specific embodiment, when the actuator 120 performs the first movement, that is, alternately performs the first action and the second action, the vehicle body can be pitched forward and backward. Specifically, the first action includes: controlling the first adjustment component 1201 and the second adjustment component 1202 to contract, and controlling the third adjustment component 1203 and the fourth adjustment component 1204 to stretch; the second action includes: controlling the first adjustment component 1201 and the second adjustment component 1202 to stretch, and controlling the third adjustment component 1203 and the fourth adjustment component 1204 to contract.

[0066] In a specific embodiment, the alternation time can be set by the operator as needed and stored in a relevant controller of the vehicle, such as a vehicle controller. The shorter the alternation time, the faster the frequency of the vehicle body pitching forward and backward.

[0067] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the pitching of the vehicle body, the controller 130 controls the actuator 120 to perform the first movement, so that the vehicle body can pitch forward and backward; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0068] In one embodiment of the present invention, when receiving the first action information generated by the recognition module 110, the controller 130 controls the actuator 120 to perform the first movement; wherein, when the limb movement information of the target person in the vehicle is recognized, and it is recognized based on the limb movement information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is less than a first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is not less than a second threshold, the recognition module 110 generates the first action information; or, when the limb movement information of the target person outside the vehicle is recognized, and it is recognized based on the limb movement information of the target person outside the vehicle that within a set time, the limbs of the target person outside the vehicle present a first motion trajectory, the recognition module 110 generates the first action information; wherein, the movement range of the limbs of the target person in the vehicle is directly proportional to or inversely proportional to the output current, and the movement range of the limbs of the target person outside the vehicle is directly proportional to or inversely proportional to the output current.

[0069] In a specific embodiment, the target person may include a target person in the vehicle. When the recognition module 110 recognizes the body movement information of the target person in the vehicle, and recognizes that the horizontal movement distance of the target person in the vehicle is less than the first threshold value and the vertical movement distance of the target person in the vehicle is not less than the second threshold value within the set time according to the body movement information of the target person in the vehicle, it is determined that the target user in the vehicle makes a movement corresponding to the front and rear pitch of the vehicle body, and the recognition module 110 generates the first movement information. Specifically, the set time, the first threshold value and the second threshold value can be set by the operator and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0070] In a specific embodiment, the target person may include a target person outside the vehicle. When the recognition module 110 recognizes the body movement information of the target person outside the vehicle, and recognizes that the body of the target person outside the vehicle presents a first motion trajectory within a set time according to the body movement information of the target person outside the vehicle, it is determined that the target user outside the vehicle makes a motion corresponding to the forward and backward pitching of the vehicle body, and the recognition module 110 generates the first motion information. Specifically, the first motion trajectory is, for example, bending the arm forward, etc. The set time and the first motion trajectory can be set by the operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0071] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the forward and backward pitching of the vehicle body, the first action information is generated. When the controller 130 receives the first action information generated by the recognition module 110, it controls the actuator 120 to perform the first movement, so that the vehicle body can pitch forward and backward; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0072] At the same time, the movement range of the target person's limbs inside the vehicle is directly or inversely proportional to the output current, and the movement range of the target person's limbs outside the vehicle is directly or inversely proportional to the output current. For example, they are directly proportional, that is, the longer the movement range of the target person's limbs, the larger the corresponding output current, and the larger the stretching / contraction range of the corresponding adjustment component. Therefore, the pitch amplitude of the vehicle body can be controlled according to the movement amplitude of the target person's limbs, thereby further improving the entertainment of the vehicle, as well as further improving the interactivity and intelligence of the vehicle.

[0073] In one embodiment of the present invention, the controller 130 is used to control the actuator 120 to perform a second movement to make the vehicle body tilt left or right; wherein, the controller 130 controls the actuator 120 to perform the second movement, including: alternately performing a third action and a fourth action; wherein the third action includes: controlling the first adjustment component 1201 and the third adjustment component 1203 to contract, and simultaneously controlling the second adjustment component 1202 and the fourth adjustment component 1204 to stretch; the fourth action includes: controlling the first adjustment component 1201 and the third adjustment component 1203 to stretch, and simultaneously controlling the second adjustment component 1202 and the fourth adjustment component 1204 to contract.

[0074] Figure 5 is a schematic diagram of a vehicle leaning right according to a specific embodiment of the present invention, Figure 6 Schematic diagram of a vehicle leaning left according to a specific embodiment of the present invention. Figure 5 and Figure 6 As shown, in a specific embodiment, when the actuator 120 performs the second movement, that is, alternately performs the third action and the fourth action, the vehicle body can be tilted left and right. Specifically, the third action includes: controlling the first adjustment component 1201 and the third adjustment component 1203 to contract, and controlling the second adjustment component 1202 and the fourth adjustment component 1204 to stretch; the fourth action includes: controlling the first adjustment component 1201 and the third adjustment component 1203 to stretch, and controlling the second adjustment component 1202 and the fourth adjustment component 1204 to contract.

[0075] In a specific embodiment, the alternation time can be set by the operator as needed and stored in a relevant controller of the vehicle, such as a vehicle controller. The shorter the alternation time, the faster the frequency of the left and right tilting of the vehicle body.

[0076] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the left or right tilt of the vehicle body, the controller 130 controls the actuator 120 to perform a second movement, thereby causing the vehicle body to tilt left or right; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0077] In one embodiment of the present invention, when receiving the second action information generated by the recognition module 110, the controller 130 controls the actuator 120 to perform the second movement; wherein, when the limb motion information of the target person in the vehicle is recognized, and it is recognized based on the limb motion information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is not less than the first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is less than the second threshold, the recognition module 110 generates the second action information; or, when the limb motion information of the target person outside the vehicle is recognized, and it is recognized based on the limb motion information of the target person outside the vehicle that within a set time, the limbs of the target person outside the vehicle present a second motion trajectory, the recognition module 110 generates the second action information; wherein, the movement range of the limbs of the target person in the vehicle is directly proportional to or inversely proportional to the output current, and the movement range of the limbs of the target person outside the vehicle is directly proportional to or inversely proportional to the output current.

[0078] In a specific embodiment, the target person may include a target person in the vehicle. When the recognition module 110 recognizes the body movement information of the target person in the vehicle, and recognizes that the horizontal movement distance of the target person in the vehicle is not less than the first threshold value and the vertical movement distance of the target person in the vehicle is less than the second threshold value within the set time according to the body movement information of the target person in the vehicle, it is determined that the target user in the vehicle makes a motion corresponding to the left and right tilt of the vehicle body, and the recognition module 110 generates the second motion information. Specifically, the set time, the first threshold value and the second threshold value can be set by the operator and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0079] In a specific embodiment, the target person may include a target person outside the vehicle. When the recognition module 110 recognizes the body movement information of the target person outside the vehicle, and recognizes that the body of the target person outside the vehicle presents a second motion trajectory within a set time according to the body movement information of the target person outside the vehicle, it is determined that the target user outside the vehicle makes a motion corresponding to the left and right tilt of the vehicle body, and the recognition module 110 generates the second motion information. Specifically, the second motion trajectory is, for example, bending the arm to the side, etc. The set time and the second motion trajectory can be set by the operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0080] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the left or right tilt of the vehicle body, the second action information is generated. When the controller 130 receives the second action information generated by the recognition module 110, it controls the actuator 120 to perform the second movement, thereby making the vehicle body tilt left or right; thereby, the entertainment of the vehicle can be improved, as well as the interactivity and intelligence of the vehicle can be improved.

[0081] At the same time, the movement range of the target person's limbs inside the vehicle is directly or inversely proportional to the output current, and the movement range of the target person's limbs outside the vehicle is directly or inversely proportional to the output current, for example, directly proportional, that is, the longer the movement range of the target person's limbs, the larger the corresponding output current, and the larger the stretching / contraction range of the corresponding adjustment component. Therefore, the amplitude of the left and right tilt of the vehicle body can be controlled according to the movement amplitude of the target person's limbs, thereby further improving the entertainment of the vehicle, as well as further improving the interactivity and intelligence of the vehicle.

[0082] In one embodiment of the present invention, the controller 130 is used to control the actuator 120 to perform a third movement so that the vehicle body and the motion information move accordingly; wherein the controller 130 controls the actuator 120 to perform the third movement, including: alternately performing a fifth movement and a sixth movement; wherein the fifth movement includes: controlling the first adjustment component 1201 and the fourth adjustment component 1204 to contract, and simultaneously controlling the second adjustment component 1202 and the third adjustment component 1203 to stretch; the sixth movement includes: controlling the first adjustment component 1201 and the fourth adjustment component 1204 to stretch, and simultaneously controlling the second adjustment component 1202 and the third adjustment component 1203 to contract.

[0083] In a specific embodiment, when the actuator 120 performs the third movement, that is, alternately performs the fifth and sixth movements, the vehicle body and the movement information can be made to move with the movement. Specifically, the fifth movement includes: controlling the first adjustment component 1201 and the fourth adjustment component 1204 to contract, and controlling the second adjustment component 1202 and the third adjustment component 1203 to stretch; the sixth movement includes: controlling the first adjustment component 1201 and the fourth adjustment component 1204 to stretch, and controlling the second adjustment component 1202 and the third adjustment component 1203 to contract.

[0084] In a specific embodiment, the alternation time can be set by the operator as needed and stored in a relevant controller of the vehicle, such as a vehicle controller. The shorter the alternation time, the faster the frequency of the vehicle body and the motion information following the movement.

[0085] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the follow-up movement of the vehicle body and the action information, the controller 130 controls the actuator 120 to perform a third movement, so that the vehicle body and the action information can move together; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0086] In one embodiment of the present invention, when receiving the third action information generated by the recognition module 110, the controller 130 controls the actuator 120 to perform the third movement; wherein, when the limb motion information of the target person in the vehicle is recognized, and it is recognized based on the limb motion information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is not less than the first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is not less than the second threshold, the recognition module 110 generates the third action information; or, when the limb motion information of the target person outside the vehicle is recognized, and it is recognized based on the limb motion information of the target person outside the vehicle that within a set time, the limbs of the target person outside the vehicle present a third motion trajectory, the recognition module 110 generates the third action information; wherein, the movement range of the limbs of the target person in the vehicle is directly proportional to or inversely proportional to the output current, and the movement range of the limbs of the target person outside the vehicle is directly proportional to or inversely proportional to the output current.

[0087] In a specific embodiment, the target person may include a target person in the vehicle. When the recognition module 110 recognizes the body movement information of the target person in the vehicle, and recognizes that the horizontal movement distance of the target person in the vehicle is not less than the first threshold value and the vertical movement distance of the target person in the vehicle is not less than the second threshold value within the set time according to the body movement information of the target person in the vehicle, it is determined that the target user in the vehicle makes a movement corresponding to the vehicle body and the movement information, and the recognition module 110 generates third movement information. Specifically, the set time, the first threshold value and the second threshold value can be set by the operator and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0088] In a specific embodiment, the target person may include a target person outside the vehicle. When the recognition module 110 recognizes the body motion information of the target person outside the vehicle, and recognizes that the body of the target person outside the vehicle presents a third motion trajectory within a set time according to the body motion information of the target person outside the vehicle, it is determined that the target user outside the vehicle makes a motion corresponding to the vehicle body and the motion information, and the recognition module 110 generates the third motion information. Specifically, the third motion trajectory is, for example, arm circling, etc. The set time and the third motion trajectory can be set by the operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0089] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the follow-up movement of the vehicle body and the action information, the third action information is generated. When the controller 130 receives the third action information generated by the recognition module 110, it controls the actuator 120 to perform the third movement, so that the vehicle body and the action information can move together; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0090] At the same time, the movement range of the target person's limbs inside the vehicle is directly or inversely proportional to the output current, and the movement range of the target person's limbs outside the vehicle is directly or inversely proportional to the output current, for example, directly proportional, that is, the longer the movement range of the target person's limbs, the larger the corresponding output current, and the larger the stretching / contraction range of the corresponding adjustment component. Therefore, the amplitude of the follow-up movement of the vehicle body and the motion information can be controlled according to the movement amplitude of the target person's limbs, thereby further improving the entertainment of the vehicle, as well as further improving the interactivity and intelligence of the vehicle.

[0091] In one embodiment of the present invention, the controller 130 is used to control the actuator 120 to perform the fourth movement so that the vehicle body jumps on the spot; wherein, the controller 130 controls the actuator 120 to perform the fourth movement, including: alternatingly performing the seventh action and the eighth action; wherein the seventh action includes: controlling the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204 to contract; the eighth action includes: controlling the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204 to stretch.

[0092] Figure 7 FIG. 1 is a schematic diagram of a vehicle jumping in situ according to a specific embodiment of the present invention. Figure 7 As shown, in a specific embodiment, when the actuator 120 performs the fourth movement, that is, alternately performs the seventh action and the eighth action, the vehicle body can be made to jump in place. Specifically, the seventh action includes: controlling the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204 to contract; the eighth action includes: controlling the first adjustment component 1201, the second adjustment component 1202, the third adjustment component 1203 and the fourth adjustment component 1204 to stretch.

[0093] In a specific embodiment, the alternation time can be set by the operator as needed and stored in a relevant controller of the vehicle, such as a vehicle controller. The shorter the alternation time, the faster the frequency of the vehicle body taking off in situ.

[0094] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the vehicle body jumping on the spot, the controller 130 controls the actuator 120 to perform the fourth movement, so that the vehicle body can jump on the spot; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0095] In one embodiment of the present invention, when receiving the fourth action information generated by the recognition module 110, the controller 130 controls the actuator 120 to perform the fourth movement; wherein, when the limb movement information of the target person outside the vehicle is recognized, and according to the limb movement information of the target person outside the vehicle, it is recognized that within the set time, the limbs of the target person outside the vehicle present a fourth motion trajectory, the recognition module 110 generates the fourth action information; wherein, the movement range of the limbs of the target person outside the vehicle is directly proportional or inversely proportional to the output current.

[0096] In a specific embodiment, the target person may include a target person outside the vehicle. When the recognition module 110 recognizes the body motion information of the target person outside the vehicle, and recognizes that the body of the target person outside the vehicle presents a fourth motion trajectory within a set time according to the body motion information of the target person outside the vehicle, it is determined that the target user outside the vehicle makes an action corresponding to the vehicle body jumping on the spot, and the recognition module 110 generates fourth action information. Specifically, the fourth motion trajectory is, for example, an arm turning up and down, etc. The set time and the fourth motion trajectory can be set by the operator and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0097] Specifically, when the recognition module 110 recognizes that the target user makes an action corresponding to the vehicle body jumping on the spot, the fourth action information is generated. When the controller 130 receives the fourth action information generated by the recognition module 110, it controls the actuator 120 to perform the fourth movement, so that the vehicle body can jump on the spot; this can improve the entertainment of the vehicle, as well as the interactivity and intelligence of the vehicle.

[0098] At the same time, the movement range of the limbs of the target person outside the vehicle is directly proportional or inversely proportional to the output current, for example, directly proportional, that is, the longer the movement range of the limbs of the target person, the larger the corresponding output current, and the larger the stretching / contraction range of the corresponding adjustment component. Therefore, the amplitude of the vehicle body jumping in place can be controlled according to the movement amplitude of the limbs of the target person, thereby further improving the entertainment of the vehicle, as well as further improving the interactivity and intelligence of the vehicle.

[0099] In one embodiment of the present invention, the vehicle control device 100 further includes: a sensor component 140 for detecting the pitch angle and roll angle of the vehicle body; and the controller 130 is further used to limit the magnitude of the output current according to the pitch angle and / or roll angle.

[0100] In a specific embodiment, the sensor assembly 140 is used to detect the pitch angle and roll angle of the vehicle body, and the controller 130 limits the magnitude of the output current according to the pitch angle and / or roll angle, for example: when the pitch angle and / or roll angle of the vehicle body detected by the sensor assembly 140 is greater than a set threshold, the output current is limited to no longer increase, thereby limiting the extension / contraction stroke of the adjustment assembly to no longer increase, thereby avoiding accidents such as rollover of the vehicle, thereby ensuring the safety of the vehicle. Specifically, the set threshold can be set by the operator as needed and stored in the relevant controller of the vehicle, such as the vehicle controller.

[0101] Specifically, the vehicle control device 100 provided in the embodiment of the present invention detects the pitch angle and roll angle of the vehicle body in real time through the sensor component 140; and limits the output current according to the pitch angle and / or roll angle through the controller 130, thereby limiting the stretching / contraction stroke of the adjustment component, thereby avoiding accidents such as vehicle rollover, thereby ensuring the safety of the vehicle.

[0102] In one embodiment of the present invention, when the pitch angle and / or the roll angle reaches a preset angle threshold, the controller 130 controls the first to fourth regulating components to no longer increase the output current.

[0103] Specifically, the preset angle threshold can be set by the operator as needed and stored in a relevant controller of the vehicle, such as a vehicle controller.

[0104] Specifically, the vehicle control device 100 provided in the embodiment of the present invention detects the pitch angle and roll angle of the vehicle body in real time through the sensor component 140; and limits the output current according to the pitch angle and / or roll angle through the controller 130. When the pitch angle and / or roll angle reaches a preset angle threshold, the controller 130 controls the first to fourth adjustment components to no longer increase the output current, thereby limiting the stretching / contraction stroke of the adjustment component to no longer increase, thereby avoiding accidents such as vehicle rollover, thereby ensuring the safety of the vehicle.

[0105] In one embodiment of the present invention, the first regulating component 1201 includes a first linear current driver, the second regulating component 1202 includes a second linear current driver, the third regulating component 1203 includes a third linear current driver, and the fourth regulating component 1204 includes a fourth linear current driver.

[0106] Specifically, the four adjustment mechanisms are all linear current drivers. The vehicle control device 100 provided in the embodiment of the present invention can quickly respond to the controller 130, quickly retract and retract, and quickly adjust the ground clearance of the vehicle body at different wheels, thereby realizing flexible control of different vehicle body postures by the actuator 120, by setting a linear current driver between each of the four wheels and the vehicle frame.

[0107] In one embodiment of the present invention, the recognition module 110 includes a first camera, which is used to obtain images inside the vehicle and use a first target person inside the vehicle as the target person; wherein the first target person is a person taking action within a first target area inside the vehicle.

[0108] In a specific embodiment, the first target person is a person who takes action in a first target area in the vehicle, and the first target area in the vehicle may be a camera area of ​​the first camera.

[0109] Specifically, the vehicle control device 100 provided by the embodiment of the present invention, the recognition module 110 includes a first camera, the first camera is used to obtain images inside the vehicle, and regards persons performing actions in a first target area inside the vehicle as target persons; thereby, the motion information of the target persons in the vehicle can be accurately identified, making it convenient for the controller 130 to perform corresponding control of the vehicle body according to the motion information.

[0110] In one embodiment of the present invention, the first target person is a person who carries the first target object and performs actions in the first target area in the vehicle.

[0111] In a specific embodiment, the first target person is a person who carries a first target item and performs actions in a first target area in the vehicle. The first target area in the vehicle may be the camera area of ​​the first camera. The first target item may be, for example, a first identification glove provided in the vehicle. That is, when a person in the camera area in the vehicle wears the first identification glove and moves, the first camera can determine the motion information of the target person by identifying the motion information of the first identification glove, thereby improving the accuracy of recognition.

[0112] Specifically, the vehicle control device 100 provided by the embodiment of the present invention, the recognition module 110 includes a first camera, the first camera is used to obtain images inside the vehicle, and a person who carries a first target object and performs an action in a first target area inside the vehicle is regarded as a target person; thereby, the motion information of the target person in the vehicle can be further accurately identified, making it convenient for the controller 130 to perform corresponding control of the vehicle body according to the motion information.

[0113] In one embodiment of the present invention, the recognition module 110 includes a second camera, which is used to obtain images outside the vehicle and use a second target person outside the vehicle as the target person; wherein the second target person is a person taking action in a second target area outside the vehicle.

[0114] In a specific embodiment, the second target person is a person who takes action in a second target area outside the vehicle, and the second target area outside the vehicle may be a camera area of ​​the second camera.

[0115] Specifically, in the vehicle control device 100 provided by an embodiment of the present invention, the recognition module 110 includes a second camera, which is used to obtain images outside the vehicle and regard persons performing actions in a second target area outside the vehicle as target persons; thereby, the motion information of the target persons outside the vehicle can be accurately identified, making it convenient for the controller 130 to perform corresponding control of the vehicle body according to the motion information.

[0116] In one embodiment of the present invention, the second target person is a person who carries the second target object and performs actions in the second target area outside the vehicle.

[0117] In a specific embodiment, the second target person is a person who carries a second target item and performs actions in a second target area outside the vehicle. The second target area outside the vehicle may be the camera area of ​​the second camera. The second target item may be, for example, a second identification glove provided outside the vehicle. That is, when a person in the camera area outside the vehicle wears the second identification glove and moves, the second camera can determine the motion information of the target person by identifying the motion information of the second identification glove, thereby improving the accuracy of recognition.

[0118] Specifically, in the vehicle control device 100 provided by an embodiment of the present invention, the recognition module 110 includes a second camera, which is used to obtain images outside the vehicle and to identify persons who are carrying a second target object and performing actions in a second target area outside the vehicle as target persons; thereby, the motion information of the target person outside the vehicle can be further accurately identified, making it convenient for the controller 130 to perform corresponding control of the vehicle body according to the motion information.

[0119] In one embodiment of the present invention, the identification module 110 is configured to be activated upon receiving a command signal for instructing to activate the vehicle dancing function.

[0120] In a specific embodiment, the command signal is used to instruct to turn on the vehicle dancing function. The command signal can be sent, for example, via a switch in the vehicle, a mobile device such as a mobile phone, etc.

[0121] Specifically, when a command signal for instructing to start the vehicle dancing function is received, the identification module 110 is turned on to determine whether to control the vehicle body; in this way, the operator can actively indicate the timing to start the vehicle dancing function, and it can also avoid the identification module 110 being in standby mode all the time, causing energy waste.

[0122] In one embodiment of the present invention, the command signal is issued when a preset function switch on the vehicle is turned on.

[0123] Specifically, when the operator turns on the preset function switch on the vehicle, a command signal is sent out to instruct to turn on the vehicle dancing function, so that the recognition module 110 can be turned on when the command signal is received, and then determine whether to control the vehicle body; in this way, the operator can actively indicate the timing to turn on the vehicle dancing function, the operation is simple and direct, and it can also avoid the recognition module 110 being in standby mode all the time, causing energy waste.

[0124] In one embodiment of the present invention, the command signal is sent by a terminal, and the terminal includes a vehicle-mounted terminal and / or a user handheld terminal.

[0125] Specifically, when the operator operates the vehicle-mounted terminal and / or the user's handheld terminal, a command signal for instructing to start the vehicle dancing function can be issued, so that the identification module 110 can be turned on when the command signal is received, and then determine whether to control the vehicle body; in this way, the operator can actively indicate the timing to turn on the vehicle dancing function, which can not only enrich the operation form, but also avoid the identification module 110 being in standby state all the time, causing energy waste.

[0126] In one embodiment of the present invention, the command signal includes a command signal for turning on the first camera and / or the second camera.

[0127] Specifically, when the operator sends a command signal for turning on the first camera and / or the second camera, a command signal for instructing to turn on the vehicle dancing function is automatically sent at the same time, so that the recognition module 110 turns on the recognition module 110 when receiving the command signal, and then determines whether to control the vehicle body; in this way, only one command is required to turn on the camera and the dancing function at the same time, avoiding complicated operations.

[0128] To summarize, the vehicle control device 100 provided in the embodiment of the present invention first identifies the motion information of the target user through the identification module 110 after being turned on; then obtains the motion information through the controller 130, and controls the actuator 120 to perform the movement corresponding to the motion information, driving the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; through the vehicle control device 100 provided in the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, which can not only improve the entertainment of the vehicle, but also improve the interactivity and intelligence of the vehicle.

[0129] Figure 8 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 8As shown, a further embodiment of the present invention further discloses a vehicle control method implemented by the vehicle control device 100 according to the above embodiment of the present invention, and the vehicle control method comprises the following steps: S1: Identify the action information of the target user.

[0130] S2: Based on the motion information, the actuator is controlled to perform corresponding movements to drive the vehicle body to move, thereby controlling the vehicle body posture, wherein different motion information corresponds to different movements, and the actuator is connected to the vehicle body to control the vehicle body posture.

[0131] According to the vehicle control method of the embodiment of the present invention, it is implemented based on the vehicle control device 100 of the above-mentioned embodiment of the present invention. First, the motion information of the target user is identified through the identification module 110 after it is turned on; then the motion information is obtained through the controller 130, and the actuator 120 is controlled to perform the movement corresponding to the motion information, so as to drive the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; through the vehicle control method provided by the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0132] A further embodiment of the present invention also discloses a vehicle, which includes: a vehicle control device 100 as described in the above embodiment of the present invention; or a processor, a memory, and a vehicle control program stored in the memory and executable on the processor, wherein when the vehicle control program is executed by the processor, a vehicle control method as described in the above embodiment of the present invention is implemented.

[0133] According to the vehicle of the embodiment of the present invention, the vehicle method of the above embodiment of the present invention is implemented based on the vehicle control device 100 of the above embodiment of the present invention, firstly, the motion information of the target user is identified through the identification module 110 after being turned on; then the motion information is obtained through the controller 130, and the actuator 120 is controlled to perform the movement corresponding to the motion information, so as to drive the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; the vehicle provided by the embodiment of the present invention can control the vehicle speed according to the action of the target user to perform corresponding movements, show different vehicle body postures, and thus produce different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0134] A further embodiment of the present invention further discloses a computer-readable storage medium on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the vehicle control method as described in the above embodiment of the present invention is implemented.

[0135] According to the computer-readable storage medium of the embodiment of the present invention, when the vehicle control program stored thereon is executed by the processor, the vehicle method of the above embodiment of the present invention is implemented based on the vehicle control device 100 of the above embodiment of the present invention, firstly, the motion information of the target user is identified through the identification module 110 after being turned on; then the motion information is obtained through the controller 130, and the actuator 120 is controlled to perform the movement corresponding to the motion information, so as to drive the vehicle body to move with the motion information of the target user, thereby controlling the vehicle body posture; through the computer-readable storage medium provided by the embodiment of the present invention, the vehicle speed can be controlled by the action of the target user to perform corresponding movements, showing different vehicle body postures, thereby producing different vehicle body dancing effects, thereby not only improving the entertainment of the vehicle, but also improving the interactivity and intelligence of the vehicle.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0137] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control device, characterized in that: include: The recognition module is used to recognize the action information of the target user after being turned on; An actuator, the actuator is connected to the body of the vehicle, and the actuator is used to control the posture of the vehicle body; A controller is connected to the recognition module and the actuator, and is used to obtain the motion information and control the actuator to perform corresponding movements based on the motion information to drive the vehicle body to move, thereby controlling the vehicle body posture, wherein different motion information corresponds to different movements.

2. The vehicle control device according to claim 1, characterized in that: The vehicle body posture includes at least one of: front and rear pitching, left and right tilting, following movement with action information, and jumping on the spot.

3. The vehicle control device according to claim 2, characterized in that: The executive mechanism comprises: a first adjusting component, disposed between the vehicle frame and the left front wheel, the first adjusting component being capable of telescopic movement, and adjusting the height of the vehicle body above the left front wheel from the ground through the telescopic movement of the first adjusting component; a second adjusting component, disposed between the vehicle frame and the right front wheel, the second adjusting component being capable of telescopic movement, and adjusting the height of the vehicle body from the ground at the right front wheel through the telescopic movement of the second adjusting component; a third adjusting assembly, disposed between the vehicle frame and the left rear wheel, the third adjusting assembly being capable of telescopic movement, and adjusting the height of the vehicle body above the right front wheel from the ground through the telescopic movement of the third adjusting assembly; The fourth adjusting component is arranged between the frame of the vehicle and the right rear wheel. The fourth adjusting component can be telescopically moved to adjust the ground clearance of the vehicle body at the right rear wheel through the telescopic movement of the fourth adjusting component.

4. The vehicle control device according to claim 3, characterized in that: The controller is used to control the output current of the first adjustment component, the second adjustment component, the third adjustment component and the fourth adjustment component to respectively control the stretching / contraction stroke of the first adjustment component, the second adjustment component, the third adjustment component and the fourth adjustment component, wherein the relationship between the stretching / contraction stroke and the output current is pre-calibrated.

5. The vehicle control device according to claim 4, characterized in that: The output current is proportional to the stretching / contracting stroke.

6. The vehicle control device according to claim 3 or 4, characterized in that: The controller is used to control the actuator to perform a first motion so as to make the vehicle body pitch forward and backward; Wherein, the controller controls the actuator to perform the first motion, including: alternately performing the first action and the second action; Wherein, the first action includes: controlling the first adjustment component and the second adjustment component to contract, and controlling the third adjustment component and the fourth adjustment component to stretch; The second action includes: controlling the first adjustment component and the second adjustment component to stretch, and controlling the third adjustment component and the fourth adjustment component to contract.

7. The vehicle control device according to claim 6, characterized in that: When receiving the first motion information generated by the recognition module, the controller controls the actuator to perform the first motion; wherein, when the body movement information of the target person in the vehicle is identified, and it is identified based on the body movement information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is less than a first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is not less than a second threshold, the identification module generates the first action information; or, When the body movement information of the target person outside the vehicle is identified, and it is identified based on the body movement information of the target person outside the vehicle that the body of the target person outside the vehicle presents a first motion trajectory within a set time, the identification module generates the first motion information.

8. The vehicle control device according to claim 3 or 4, characterized in that: The controller is used to control the actuator to perform a second motion so as to cause the vehicle body to tilt left or right; Wherein, the controller controls the actuator to perform the second motion, including: alternately performing the third action and the fourth action; Wherein, the third action includes: controlling the first adjustment component and the third adjustment component to contract, and controlling the second adjustment component and the fourth adjustment component to stretch; The fourth action includes: controlling the first adjustment component and the third adjustment component to stretch, and controlling the second adjustment component and the fourth adjustment component to contract.

9. The vehicle control device according to claim 8, characterized in that: When receiving the second motion information generated by the recognition module, the controller controls the actuator to perform the second motion; wherein, when the body movement information of the target person in the vehicle is identified, and it is identified based on the body movement information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is not less than a first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is less than a second threshold, the identification module generates the second movement information; or, When the body movement information of the target person outside the vehicle is identified, and it is identified based on the body movement information of the target person outside the vehicle that the body of the target person outside the vehicle presents a second motion trajectory within a set time, the identification module generates the second motion information.

10. The vehicle control device according to claim 3 or 4, characterized in that: The controller is used to control the actuator to perform a third motion so that the vehicle body and the motion information move with the actuator; Wherein, the controller controls the actuator to perform the third motion, including: alternately performing the fifth motion and the sixth motion; Wherein, the fifth action includes: controlling the first adjustment component and the fourth adjustment component to contract, and controlling the second adjustment component and the third adjustment component to stretch; The sixth action includes: controlling the first adjustment component and the fourth adjustment component to stretch, and controlling the second adjustment component and the third adjustment component to contract.

11. The vehicle control device according to claim 10, characterized in that: When receiving the third motion information generated by the recognition module, the controller controls the actuator to perform the third motion; wherein, when the body movement information of the target person in the vehicle is identified, and it is identified based on the body movement information of the target person in the vehicle that within a set time, the horizontal movement distance of the limbs of the target person in the vehicle is not less than a first threshold, and the vertical movement distance of the limbs of the target person in the vehicle is not less than a second threshold, the identification module generates the third action information; or, When the body movement information of the target person outside the vehicle is identified, and it is identified based on the body movement information of the target person outside the vehicle that the body of the target person outside the vehicle presents a third motion trajectory within a set time, the identification module generates the third motion information.

12. The vehicle control device according to claim 3 or 4, characterized in that: The controller is used to control the actuator to perform a fourth motion so as to make the vehicle body jump in situ; Wherein, the controller controls the actuator to perform the fourth motion, including: alternately performing the seventh motion and the eighth motion; Wherein, the seventh action includes: controlling the first adjustment component, the second adjustment component, the third adjustment component and the fourth adjustment component to contract; The eighth action includes: controlling the first adjustment component, the second adjustment component, the third adjustment component and the fourth adjustment component to stretch.

13. The vehicle control device according to claim 12, characterized in that: When receiving the fourth motion information generated by the recognition module, the controller controls the actuator to perform the fourth motion; Among them, when the body movement information of the target person outside the vehicle is identified, and according to the body movement information of the target person outside the vehicle, it is identified that the limbs of the target person outside the vehicle present a fourth motion trajectory within a set time, the recognition module generates the fourth motion information.

14. The vehicle control device according to any one of claims 7 to 13, characterized in that: The movement stroke is directly proportional or inversely proportional to the magnitude of the output current.

15. The vehicle control device according to claim 4, characterized in that: Also includes: A sensor assembly for detecting the pitch angle and roll angle of the vehicle body; The controller is further configured to limit the magnitude of the output current according to the pitch angle and / or the roll angle.

16. The vehicle control device according to claim 15, characterized in that: When the pitch angle and / or the roll angle reaches a preset angle threshold, the controller controls the first to fourth regulating components to no longer increase the output current.

17. The vehicle control device according to claim 3, characterized in that: The first regulating component includes a first linear current driver, the second regulating component includes a second linear current driver, the third regulating component includes a third linear current driver, and the fourth regulating component includes a fourth linear current driver.

18. The vehicle control device according to claim 1, characterized in that: The recognition module includes a first camera, the first camera is used to obtain an image inside the vehicle, and a first target person in the vehicle is used as the target person; The first target person is a person who takes action in the first target area in the car.

19. The vehicle control device according to claim 18, characterized in that: The first target person is a person who carries a first target object and performs actions in a first target area in the vehicle.

20. The vehicle control device according to claim 8, characterized in that: The recognition module includes a second camera, the second camera is used to obtain an image outside the vehicle, and a second target person outside the vehicle is used as the target person; The second target person is a person who takes action in a second target area outside the vehicle.

21. The vehicle control device according to claim 20, characterized in that: The second target person is a person who carries a second target object and performs actions in a second target area outside the vehicle.

22. The vehicle control device according to claim 20, characterized in that: The identification module is used to be turned on when receiving a command signal for instructing to turn on the vehicle dancing function.

23. The vehicle control device according to claim 22, characterized in that: The command signal is issued when a preset function switch on the vehicle is turned on.

24. The vehicle control device according to claim 22, characterized in that: The command signal is sent by a terminal, and the terminal includes a vehicle-mounted terminal and / or a user handheld terminal.

25. The vehicle control device according to claim 22, characterized in that: The command signal includes a command signal for turning on the first camera and / or the second camera.

26. A vehicle control method, characterized in that: For a vehicle control device according to any one of claims 1 to 25, the vehicle control method comprises the following steps: Identify the target user’s action information; Based on the action information, the actuator is controlled to perform corresponding movements to drive the vehicle body to move, thereby controlling the vehicle body posture, wherein different action information corresponds to different movements, and the actuator is connected to the vehicle body to control the vehicle body posture.

27. A vehicle, characterized in that: include: The vehicle control device according to any one of claims 1 to 25; or, A processor, a memory, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program implements the vehicle control method as claimed in claim 26 when executed by the processor.

28. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle control program, and when the vehicle control program is executed by the processor, the vehicle control method as described in claim 26 is implemented.

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