Ceiling control method and device and storage medium

Abstract

The invention provides a ceiling control method and device and a storage medium, and relates to the technical field of automobile control. The ceiling control method is applied to a target vehicle, the target vehicle comprises a ceiling and a moving mechanism, and the ceiling is configured to be capable of moving or rotating relative to a vehicle body of the target vehicle through the moving mechanism. Safety boundary parameters are determined on the basis of the obtained scene information of the position where the target vehicle is located, and the safety boundary parameters are the maximum control parameters of a moving mechanism when the ceiling is in the safety state; determining a control parameter of a moving mechanism based on the obtained object information of the target object to obtain a first parameter; the target parameter is determined according to the first parameter and the safety boundary parameter, the moving mechanism is controlled to act according to the target parameter so as to control the ceiling to be opened, and the convenience and comfort of getting on and off are improved while safety is guaranteed.

Description

Technical Field

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

[0002] In modern society, cars have become an important means of daily travel for people. The design of a car needs to consider many factors such as overall shape, aerodynamics and safety standards. These design factors work together to limit the height of the vehicle interior.

[0003] Due to the height limitation inside the vehicle, the target object will have inconvenience when entering the vehicle. For example, passengers must bend over to enter the back seat of the vehicle. Especially for taller passengers, this bending action may affect the passenger's riding experience.

[0004] Therefore, how to improve the convenience and comfort of getting on and off the bus has become an urgent problem to be solved. Summary of the invention

[0005] The problem solved by the invention is how to improve the convenience and comfort of getting on and off the vehicle.

[0006] In order to solve the above problems, the present invention provides a canopy control method, device and storage medium.

[0007] In a first aspect, the present invention provides a roof control method, which is applied to a target vehicle, wherein the target vehicle includes a roof and a moving mechanism, and the roof is configured to be movable or rotatable relative to a body of the target vehicle via the moving mechanism. The roof control method includes:

[0008] When it is determined that a target object is about to enter or exit the target vehicle, a safety boundary parameter is determined based on the acquired scene information of the location of the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state;

[0009] Determine a control parameter of the mobile mechanism based on the acquired object information of the target object to obtain a first parameter;

[0010] A target parameter is determined according to the first parameter and the safety margin parameter, and the movement of the moving mechanism is controlled according to the target parameter to control the opening of the roof.

[0011] Optionally, the scene information includes obstacle information and environment information, and determining the safety boundary parameter based on the acquired scene information of the position of the target vehicle includes:

[0012] When the environmental information meets a preset condition, the safety boundary parameter is determined according to the obstacle information around the target vehicle.

[0013] Optionally, determining the safety margin parameter according to the obstacle information around the target vehicle includes:

[0014] When the roof is configured to be opened upward relative to the body of the target vehicle, determining the distance between the roof of the target vehicle and the obstacle above the roof according to the obstacle information to obtain a first distance;

[0015] The safety margin parameter is determined according to the first distance.

[0016] Optionally, determining a target parameter according to the first parameter and the safety margin parameter includes:

[0017] When the first parameter is greater than the safety margin parameter, determining the safety margin parameter as the target parameter;

[0018] When the first parameter is less than or equal to the safety margin parameter, the first parameter is determined as the target parameter.

[0019] Optionally, determining a target parameter according to the first parameter and the safety margin parameter includes:

[0020] In response to the target operation of the target person, acquiring a second parameter, wherein the second parameter is a control parameter of the mobile mechanism set in advance or a control parameter of the mobile mechanism set by the target person;

[0021] The target parameter is determined according to the first parameter, the second parameter and the safety margin parameter.

[0022] Optionally, determining the target parameter according to the first parameter, the second parameter and the safety margin parameter includes:

[0023] When the second parameter is less than or equal to the safety margin parameter, determining the second parameter as the target parameter;

[0024] When the second parameter is greater than the safety margin parameter, and the first parameter is less than or equal to the safety margin parameter, determining the first parameter as the target parameter;

[0025] When the second parameter is greater than the safety margin parameter, and the first parameter is greater than the safety margin parameter, the safety margin parameter is determined as the target parameter.

[0026] Optionally, before determining the control parameter of the moving mechanism based on the acquired object information of the target object and obtaining the first parameter, the canopy control method further includes:

[0027] When it is determined that the target object is about to enter the target vehicle, detecting the heights of all the target objects within a preset range outside the target vehicle to obtain a height information set;

[0028] Determine the maximum height value in the height information set as the object information, and store the object information;

[0029] When it is determined that the target object is about to leave the target vehicle, the object information stored last time is acquired.

[0030] Optionally, determining the control parameter of the mobile mechanism based on the acquired object information of the target object to obtain the first parameter includes:

[0031] When the object information is greater than a preset value, determining a difference between the object information and the preset value as a second distance, wherein the preset value is a height value inside the target vehicle;

[0032] The first parameter is determined according to the second distance.

[0033] In a second aspect, the present invention provides a roof control device, applied to a target vehicle, the target vehicle comprising a roof and a moving mechanism, the roof being configured to be movable or rotatable relative to a body of the target vehicle via the moving mechanism, the roof control device comprising:

[0034] A first determination module is used to determine a safety boundary parameter based on the acquired scene information of the location of the target vehicle when it is determined that a target object is about to enter or exit the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state;

[0035] A second determination module is used to determine the control parameter of the mobile mechanism based on the acquired object information to obtain a first parameter;

[0036] A control module is used to determine a target parameter according to the first parameter and the safety boundary parameter, and control the movement of the moving mechanism according to the target parameter to control the opening of the roof.

[0037] In a third aspect, the present invention provides a vehicle, including a memory, a processor,

[0038] The memory is used to store computer programs;

[0039] The processor is used to implement the roof control method as described in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the roof control method as described in the first aspect is implemented.

[0041] The beneficial effects of the canopy control method, device and storage medium of the present invention are as follows: when the target object enters or leaves the target vehicle, the maximum control parameter of the mobile mechanism of the canopy in a safe state, i.e., the safety boundary parameter, is determined according to the scene information of the current environment of the target vehicle. The safety boundary parameter can constrain the moving distance or opening angle of the canopy, etc., to avoid damage to the canopy during the opening process of the canopy. At the same time, according to the object information of the target object, a control parameter of a mobile mechanism, i.e., the first parameter, is determined to ensure that the target object can easily enter and exit the target vehicle when the canopy is opened, for example, to ensure that the passenger does not need to bend over or to reduce the degree of bending over of the passenger. The optimal target parameter is determined by the safety boundary parameter and the first parameter, and the canopy opening is controlled according to the target parameter, i.e., the final opening state of the canopy corresponds to the target parameter, so that the canopy can be opened safely while meeting the needs of different target objects, and the convenience and comfort of the target object getting on and off the vehicle are improved on the basis of ensuring the safety of the canopy opening operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of an MVP vehicle model according to an embodiment of the present invention;

[0043] Figure 2 A schematic flow chart of a method for controlling a roof according to an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of a canopy opening method according to an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of another method of opening a canopy according to an embodiment of the present invention;

[0046] Figure 5 A schematic flow chart of a method for controlling a roof according to an embodiment of the present invention;

[0047] Figure 6 is a flow chart of another method for controlling a roof according to an embodiment of the present invention;

[0048] Figure 7 A schematic flow chart of another method for controlling a roof according to an embodiment of the present invention;

[0049] Figure 8 is a structural schematic diagram of a canopy control device according to an embodiment of the present invention;

[0050] Fig. 9 The figure is a schematic structural diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0052] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0053] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0054] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0055] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0056] In the related art, since the interior height of small and medium-sized vehicles is limited, most passengers have to bend over to enter the back seat of the vehicle. Figure 1As shown, especially in MPV (Multi-Purpose Vehicle) models, the rear seats are divided into the second row and the third row, and the rear door is set on both sides of the second row. When entering the third row, passengers need to get on the second row first, and walk from the middle of the second row to the third row. During the walking process, passengers need to bend down due to the height limit inside the vehicle, which makes it difficult for passengers to enter and exit the third row. In addition, for convertibles, the roof space is small, and passengers also need to bend down to enter the car, which makes it difficult for passengers to enter and exit the vehicle.

[0057] In view of the problems existing in the above-mentioned related technologies, the present embodiment provides a roof control method, device and storage medium.

[0058] like Figure 2 As shown, a canopy control method provided by an embodiment of the present invention is applied to a target vehicle, wherein the target vehicle comprises a canopy and a moving mechanism, wherein the canopy is configured to be movable or rotatable relative to a body of the target vehicle via the moving mechanism, and the canopy control method comprises:

[0059] S100: When it is determined that a target object is about to enter or exit the target vehicle, a safety boundary parameter is determined based on the acquired scene information of the location of the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state;

[0060] Specifically, the target vehicle is a vehicle including a roof, which may include a skylight, and the roof can cover at least part of the roof of the target vehicle, and the roof portion covered by the roof at least corresponds vertically to the area formed by the rear seat and the path to the rear seat; the target vehicle can also be a vehicle equipped with gull-wing doors, in which case the roof and the door are an integrated structure, and the target vehicle can also be a convertible.

[0061] The target object can be a passenger who will take the target vehicle or a physical object that will be placed in the vehicle.

[0062] When the roof is opened, a part of the space above the roof will be released. When the roof is not opened, the activity height of the target object entering and exiting the target vehicle can only be the restricted height inside the vehicle (the vertical distance from the floor of the vehicle to the roof in the vertical direction). When the roof is opened, the activity height of the target object entering and exiting the target vehicle is the restricted height inside the vehicle plus the space released above the roof, so the activity height is increased. Therefore, opening the roof increases the activity space of the vehicle. Taking the target object as a passenger as an example, when the target object enters and exits the target vehicle, part of the target object's body can be made higher than the roof to reduce the degree of bending of the target object, thereby improving the convenience and comfort of entering and exiting the target vehicle.

[0063] When the target object is about to enter or leave the rear seat of the vehicle, the roof can be opened to improve convenience and comfort. Before the roof is opened, control parameters are determined, such as Figure 3 and Figure 4 As shown, the opening and closing of the canopy, i.e., the movement of the canopy, is achieved by the movement of a moving mechanism, wherein the moving mechanism may be an electric slide rail, on which the canopy is driven by a motor to move horizontally or up and down; the moving mechanism may also be a telescopic arm mechanism, in which the canopy is pushed or pulled by an electrically or hydraulically driven telescopic arm; in addition, the moving mechanism may be a folding mechanism, in which the canopy composed of multiple parts is folded to reduce the space occupied when it is opened.

[0064] The control parameter of the moving mechanism corresponds to the degree of opening of the roof. The larger the control parameter of the moving mechanism, the higher the corresponding degree of opening of the roof, that is, the greater the movement distance of the roof, the larger the space released above the roof.

[0065] When it is determined that a target object enters or exits the target vehicle, first check the surrounding environment of the vehicle to ensure that the opening of the canopy will not cause safety hazards. For example, in rain, snow or other bad weather, the canopy may not be opened; if the vehicle is parked in a narrow garage or a place with low obstacles, the canopy may not be fully opened. The maximum control parameters of the mobile mechanism of the canopy in a safe state are determined based on the scene information around the vehicle, thereby limiting the maximum opening degree of the canopy, that is, the maximum degree to which the canopy can be opened is determined based on the scene information. For example, when the canopy is opened upward, the maximum distance that the canopy can move upward is determined. If the canopy moves beyond the maximum distance, the canopy may hit an obstacle, causing damage to the canopy. The safe state refers to the state when the canopy does not hit an obstacle when moving. The control parameters of the corresponding mobile mechanism when the canopy is at the maximum distance are recorded as the above-mentioned maximum control parameters.

[0066] S200: determining a control parameter of the mobile mechanism based on the acquired object information of the target object to obtain a first parameter;

[0067] Specifically, the object information is used to characterize the height or size of the target object. Taking the target object as a passenger as an example, the object information may be information such as the height and body shape of the target object; taking the target object as an object as an example, the object information may be information such as the height and length of the object. The control parameters of the mobile mechanism are determined based on the object information to determine the degree of opening of the canopy. Therefore, the degree of opening of the canopy can adapt to different target objects. For example, for shorter target objects, the required space height is smaller and the canopy moves upwards a smaller distance. When the target object is taller, the required space height is larger and the canopy needs to move upwards a little longer. Different target objects have different information, and thus the control parameters (i.e., the first parameters) of the mobile mechanism are determined to be different, and thus the opening state of the canopy is controlled differently. Therefore, when controlling the opening of the canopy, different target objects can be adapted.

[0068] S300: determining a target parameter according to the first parameter and the safety margin parameter, and controlling the movement of the moving mechanism according to the target parameter to control the opening of the roof.

[0069] Specifically, the safety boundary parameter is a parameter determined based on basic safety considerations, and the first parameter is a parameter determined to adapt to different target objects. The safety boundary parameter and the first parameter are combined to determine an optimal parameter (i.e., the target parameter) to control whether the canopy is opened and the degree of opening, i.e., the opening state of the canopy is controlled according to the target parameter. The target parameter determines the position to which the canopy needs to be moved in the end, and the opening of the canopy will be controlled according to the target parameter, so as to ensure safety while facilitating the entry and exit of the target object.

[0070] For example, the opening method of the canopy can be as follows: Figure 3 As shown, when the roof is opened, the roof moves vertically upward relative to the body of the target vehicle; the opening method of the roof can be as follows Figure 4 As shown, the canopy is divided into two parts, left and right. When opening the canopy, the left and right parts of the canopy are respectively rotated upward around the longitudinal beams on the left and right sides of the roof to open, or, for a vehicle with gull-wing doors, the part of the canopy corresponding to the gull-wing doors is rotated upward to open. In addition, the canopy can also be slid open toward the front of the target vehicle or the parking space. For example, for a convertible, the canopy is opened by folding backward.

[0071] In this embodiment, when the target object enters or leaves the target vehicle, the maximum control parameter of the mobile mechanism of the canopy in a safe state, i.e., the safety boundary parameter, is determined based on the scene information of the current environment of the target vehicle, so as to avoid damage to the canopy during the opening process of the canopy. At the same time, based on the object information, a control parameter of the mobile mechanism, i.e., the first parameter, is determined to ensure that the target object can easily enter and exit the target vehicle when the canopy is opened without bending over or reducing the degree of bending over of the target object. The optimal target parameter is determined through the safety boundary parameter and the first parameter, and the opening state of the canopy is controlled according to the target parameter, i.e., the final opening state of the canopy corresponds to the target parameter, so that the canopy can be opened safely while meeting the needs of different target objects, thereby improving the convenience and comfort of the target object getting on and off the vehicle on the basis of ensuring the safety of the canopy opening operation.

[0072] Optionally, the scene information includes obstacle information and environmental information, and determining the safety boundary parameters based on the acquired scene information of the target vehicle's location includes: when the environmental information meets a preset condition, determining the safety boundary parameters according to the obstacle information around the target vehicle.

[0073] Specifically, whether the roof can be opened is related to the environmental information of the target vehicle's environment, and whether the vehicle's current environmental information meets the preset conditions for opening the roof is evaluated. If the environmental information is good (such as sunny, no wind, no rain, etc.), it means that the roof can be opened at present. However, if the environmental information is bad (such as rain, snow, strong wind, etc.), opening the roof will damage the environment inside the vehicle, and it is not suitable to open the roof.

[0074] Environmental information can be detected by sensors installed on the roof. The sensors include at least one of the following: light sensor, rain sensor, wind speed sensor, etc. Environmental information includes at least one of the following: rainfall, rainfall, light, wind speed around the vehicle body. Environmental information can also include information of other measurable weather factors. The sensor is installed on the roof to minimize the impact of the vehicle body on the sensor reading and provide accurate data.

[0075] For example, when the environmental information includes the light value measured by the light sensor, the rainfall value measured by the wind volume sensor, and the wind speed value measured by the wind speed sensor, the above preset conditions may be: the rainfall value is less than the second threshold and the wind speed value is less than the third threshold, and may also include the light value being greater than the first threshold.

[0076] like Figure 5As shown in FIG. 1 , when the environmental information meets the preset conditions, the obstacle information around the target vehicle will be further analyzed to determine the maximum range within which the mobile mechanism can move safely, i.e., the safety boundary parameter. Such obstacle information may include, but is not limited to, whether there is an obstacle above the roof, whether the space height is sufficient, etc.

[0077] When the environmental information does not meet the preset conditions, for example, when the weather conditions are bad (such as rain, snow, strong wind, etc.), the safety boundary parameter is determined as the parameter of the mobile mechanism corresponding to the closed state of the roof. When the safety boundary parameter is the parameter of the mobile mechanism corresponding to the closed state of the roof, the roof is directly controlled to remain in the closed state to prevent the opening of the roof from affecting the interior environment of the vehicle (such as water ingress, etc.) or other safety hazards. At this time, there is no need to further determine the first parameter based on the object information, and the safety boundary parameter at this time is directly determined as the target parameter.

[0078] The sensor can also be installed above the front windshield to better capture changes in the external environment, especially lighting and rainfall conditions. In addition, small sensors can be installed in the rearview mirror position to accurately measure temperature and humidity while ensuring the appearance of the vehicle.

[0079] In this optional embodiment, by real-time monitoring of environmental information, it can be ensured that the canopy is allowed to open only when the weather conditions or the surrounding environment are good. This can avoid the risks of opening the canopy in rain, strong winds or other extreme weather conditions or in dark conditions, such as rain entering the vehicle or the canopy being damaged by strong winds, thereby protecting the safety of the vehicle and the target object. When the weather conditions are good, the safety boundary parameters for opening the canopy are further determined based on the obstacle information around the roof. This can ensure that the canopy will not collide with surrounding obstacles when it is opened, avoid damage to the canopy and other equipment, and at the same time ensure that the target object can smoothly enter and exit the vehicle, improving the convenience and comfort of riding.

[0080] Optionally, determining the safety boundary parameters based on the obstacle information around the target vehicle includes: when the roof is configured to open upward relative to the body of the target vehicle, determining the distance between the roof of the target vehicle and the obstacle above the roof based on the obstacle information to obtain a first distance; and determining the safety boundary parameters based on the first distance.

[0081] Specifically, when the roof is opened upward relative to the vehicle body, the safety boundary parameters are determined based on obstacle information such as whether there is an obstacle above the roof and whether the space height is sufficient, wherein the obstacle information includes data measured by sensors or pictures taken by visual cameras. The distance between the roof and the obstacle above the roof, i.e., the first distance, is determined based on the obstacle information.

[0082] Exemplarily, the first distance can be determined by ultrasonic ranging technology, Light Detection And Ranging (LiDAR) technology, or visual ranging technology.

[0083] Further, a safety margin parameter is determined according to the first distance.

[0084] Specifically, the parameters of the moving mechanism corresponding to when the canopy is in a first state are determined to obtain the safety boundary parameters, wherein the canopy being in the first state indicates that the distance between the highest point of the canopy and the vehicle roof is the first distance.

[0085] Based on the first distance, the safety critical state of the canopy (i.e., the first state) can be determined, that is, the highest position that the canopy can reach when opened. At this time, the distance between the highest point of the canopy and the roof is the first distance. If the distance between the canopy position and the roof is greater than the first distance, there will be a risk of the canopy colliding with an obstacle. For example, the first distance is 50 cm. When the distance between the highest point of the canopy and the roof is 50 cm, the canopy is determined to be in the first state. At this time, the control parameters of the corresponding moving mechanism are determined as safety boundary parameters.

[0086] In another embodiment, the state when the distance between the highest point of the canopy and the vehicle roof is a third distance is determined as the first state, wherein the third distance is less than the first distance, and the difference between the third distance and the first distance is a first preset distance threshold. For example, the first distance is 50 cm, and the first preset distance threshold is set to 2 cm, that is, when the distance between the highest point of the canopy and the vehicle roof is 48 cm, the canopy is determined to be in the first state, and the control parameter of the corresponding moving mechanism is determined as the safety boundary parameter.

[0087] Since the position of the canopy corresponds one-to-one to the control parameters of the moving mechanism, the corresponding parameters of the moving mechanism when the canopy is in the first state are determined as safety boundary parameters to ensure that the canopy will not collide with obstacles above when opened, while ensuring that the opening degree of the canopy is maximized.

[0088] In this optional embodiment, by real-time monitoring of obstacle information above the vehicle, the distance between the roof and the obstacle above, i.e., the first distance, can be accurately obtained, thereby ensuring that the canopy will not collide with any obstacle during the opening process. This not only protects the canopy itself, but also avoids damage to the surrounding environment, thereby improving the overall safety of the canopy opening. Then, the control parameters of the moving mechanism of the canopy in a safe state, i.e., the safety boundary parameters, are determined based on the first distance to ensure that the canopy does not exceed the safety range when opened, thereby protecting the overall structure of the canopy and the vehicle, while ensuring that the canopy is opened to a maximum extent, so that the target object can enter and exit the vehicle more conveniently.

[0089] Optionally, determining the target parameter according to the first parameter and the safety margin parameter includes:

[0090] When the first parameter is greater than the safety margin parameter, determining the safety margin parameter as the target parameter;

[0091] When the first parameter is less than or equal to the safety margin parameter, the first parameter is determined as the target parameter.

[0092] Specifically, the first parameter determined according to the object information and the safety boundary parameter determined according to the scene information are compared to determine the final target parameter. The safety boundary parameter has a higher priority than the first parameter to avoid any potential safety hazards and ensure the safety of the canopy opening operation. Figure 5 As shown, when the first parameter exceeds the safety boundary parameter, the safety boundary parameter is used as the target parameter; when the first parameter does not exceed the safety boundary parameter, the first parameter is used as the target parameter. While ensuring the safety of the roof opening operation, the convenience and comfort of the target object getting on and off the vehicle are improved, and the target object can enter the target vehicle without bending over.

[0093] In this optional embodiment, when the first parameter is greater than the safety boundary parameter, the safety boundary parameter is used as the target parameter to prevent safety hazards caused by excessive opening of the roof and protect the safety of the vehicle and the target object. When the first parameter is less than or equal to the safety boundary parameter, the first parameter is used as the target parameter to improve the convenience and comfort of the target object getting on and off the vehicle while ensuring the safe opening of the roof.

[0094] Optionally, determining the target parameter according to the first parameter and the safety margin parameter includes:

[0095] In response to the target operation of the target person, a second parameter is acquired, wherein the second parameter is a parameter of the mobile mechanism set in advance or a parameter of the mobile mechanism set by the target person;

[0096] A target parameter is determined according to the first parameter, the second parameter and the safety margin parameter.

[0097] Specifically, in addition to the above control system automatically determining the control parameters and controlling the opening of the canopy, the canopy opening can also be controlled in response to the operation of a person in the system, that is, when a target person (such as a driver or a target object) sets the opening degree of the canopy through the vehicle system interface or voice commands, the target person performs a target operation, and the system responds to the target operation and obtains the corresponding second parameter, which is the control parameter of the mobile mechanism corresponding to the opening degree of the canopy set by the target person. Subsequently, the system comprehensively considers the second parameter with the first parameter determined according to the object information and the safety boundary parameter determined according to the scene information, and finally determines an optimal target parameter, so as to ensure that the canopy meets the needs of the target object when it is opened, and does not exceed the safety range.

[0098] The second parameter can be a fixed parameter of the mobile mechanism that is pre-set, which is applicable to normal situations; or it can be a parameter of the mobile mechanism that the target person sets immediately according to the actual situation, which is applicable to special situations or personalized needs. The second parameter not only reflects the specific degree or position that the target person wants the canopy to be opened, but also provides a variety of options, increasing the flexibility of the system.

[0099] In this optional embodiment, by obtaining the second parameter in response to the operation of the target person (such as the driver or the target object), higher flexibility and personalized settings can be achieved. This means that the target object can instantly adjust the degree of opening of the canopy according to current specific needs (such as different weather conditions, personal preferences or special needs). This instant feedback improves the user experience and makes the opening of the canopy more in line with the actual needs of the target object. By comprehensively considering the first parameter, the second parameter and the safety boundary parameter, the opening state of the canopy can be intelligently adjusted, which not only ensures the safety of the canopy opening operation, but also improves the convenience and comfort of the target object getting on and off the vehicle, while meeting the personalized needs of the target object.

[0100] Optionally, determining the target parameter according to the first parameter, the second parameter and the safety margin parameter includes:

[0101] When the second parameter is less than or equal to the safety margin parameter, determining the second parameter as the target parameter;

[0102] When the second parameter is greater than the safety margin parameter and the first parameter is less than or equal to the safety margin parameter, determining the first parameter as the target parameter;

[0103] When the second parameter is greater than the safety margin parameter and the first parameter is greater than the safety margin parameter, the safety margin parameter is determined as the target parameter.

[0104] Specifically, the first parameter determined according to the object information, the second parameter set according to the target person, and the safety boundary parameter determined according to the scene information are compared to determine the final target parameter. Among them, the safety boundary parameter has the highest priority, followed by the second parameter, and finally the first parameter. Therefore, when both the first parameter and the second parameter exceed the safety boundary parameter, the safety boundary parameter is used as the target parameter; when both the first parameter and the second parameter do not exceed the safety boundary parameter, the second parameter is used as the target parameter; when the first parameter does not exceed the safety boundary parameter and the second parameter exceeds the safety boundary parameter, the first parameter is used as the target parameter. In this way, on the premise of ensuring the safe opening of the canopy, the personalized needs of the target object are met to the greatest extent, and the convenience and comfort of the target object getting on and off the vehicle are improved.

[0105] In this optional embodiment, when the second parameter is less than or equal to the safety boundary parameter, the second parameter is determined as the target parameter, which not only ensures the safety of the canopy opening operation, but also improves the convenience and comfort of the target object getting on and off the vehicle, and meets the personalized needs of the target object. When the second parameter is greater than the safety boundary parameter, and the first parameter is less than or equal to the safety boundary parameter, the first parameter is determined as the target parameter, which improves the convenience and comfort of the target object getting on and off the vehicle while ensuring the safe opening of the canopy. When the second parameter is greater than the safety boundary parameter, and the first parameter is greater than the safety boundary parameter, the safety boundary parameter is determined as the target parameter, avoiding potential dangers caused by excessive opening of the canopy, and protecting the safety of the vehicle and the target object.

[0106] Optionally, before determining the control parameter of the moving mechanism based on the acquired object information of the target object and obtaining the first parameter, the canopy control method further includes:

[0107] When it is determined that the target object is about to enter the target vehicle, detecting the heights of all the target objects within a preset range outside the target vehicle to obtain a height information set;

[0108] Determine the maximum height value in the height information set as the object information, and store the object information;

[0109] When it is determined that the target object is about to leave the target vehicle, the object information stored last time is acquired.

[0110] Specifically, in order to ensure that each target object can enter or leave the rear seat of the vehicle without bending down, the system will detect the height of all target objects within a preset range around the vehicle through LiDAR (Light Detection And Ranging), ultrasonic measurement technology or infrared measurement technology, and form a height information set with these height values. Then, the system will find the maximum height value from this height information set and use it as the object information. The object information helps determine how much the canopy should be opened or how far it should be moved to ensure that the target object can enter the vehicle comfortably.

[0111] Among them, the preset range is a specific area set by the system when detecting object information, which can be set to 2m-5m. This can cover most target objects that are about to enter the vehicle while avoiding unnecessary false detections. If the preset range is too small (such as 1m), object information may be missed, resulting in insufficient opening height of the roof, affecting the convenience and comfort of the target object. If the preset range is too large (such as 10m), it may include many non-target objects, resulting in increased consumption of computing resources and affecting the response speed and accuracy of the system. Therefore, the reasonable setting of the preset range is crucial to ensure that the system accurately detects the height of all relevant target objects.

[0112] After determining that the target object is about to enter the target vehicle, the information of all target objects outside the target vehicle is determined. After obtaining the object information, the object information is stored so that the last stored object information can be directly obtained the next time the target object leaves the target vehicle, and the first parameter corresponding to the target object leaving is determined based on the object information.

[0113] In this optional embodiment, by detecting the height of all target objects within a preset range outside the target vehicle, the system can obtain a height information set to provide accurate data support for the subsequent adjustment of the control parameters of the mobile mechanism. The maximum value in the height information set is used as the object information to ensure that the height of the canopy opening meets the needs of the highest target object, thereby avoiding the inconvenience caused by insufficient canopy opening height and improving the convenience and comfort of the target object getting on and off the vehicle.

[0114] Optionally, determining the control parameter of the mobile mechanism based on the acquired object information of the target object to obtain the first parameter includes:

[0115] When the object information is greater than a preset value, determining a difference between the object information and the preset value as a second distance, wherein the preset value is a height value inside the target vehicle;

[0116] The first parameter is determined according to the second distance.

[0117] Specifically, taking the target object as a passenger and the object information as the height of the passenger as an example, if the object information is less than the preset value, that is, the height of the target object is lower than the height value inside the vehicle, the target object can pass freely without opening the roof. Then, the parameter of the moving mechanism when the roof is closed will be used as the first parameter, and the roof will remain closed to ensure energy saving and maintain the sealing of the vehicle when no additional head space is needed. Figure 5 As shown, if the object information is greater than the preset value, that is, the height of the target object is higher than the height value inside the vehicle, the difference between the object information and the preset value is determined as the second distance. The first parameter is determined according to the second distance.

[0118] Determining the first parameter according to the second distance may include: determining a parameter of the moving mechanism corresponding to when the canopy is in the second state to obtain the first parameter.

[0119] The fact that the canopy is in the second state indicates that the distance between the highest point of the canopy and the vehicle roof is the second distance.

[0120] Based on the second distance, the second state of the canopy can be determined, that is, the highest position that the canopy can reach when opened. At this time, the distance between the highest point of the canopy and the roof is the second distance. If the distance between the canopy position and the roof is less than the second distance, the passenger still cannot stand completely upright and needs to bend over to move. For example, the second distance is 50 cm. When the distance between the highest point of the canopy and the roof is 50 cm, the canopy is determined to be in the second state. At this time, the control parameter of the corresponding moving mechanism is determined to be the first parameter, ensuring that the height of the canopy opening can meet the needs of the highest target object and provide sufficient head space.

[0121] In another embodiment, the state when the distance between the highest point of the canopy and the vehicle roof is a fourth distance is determined as the second state, wherein the fourth distance is greater than the second distance, and the difference between the fourth distance and the second distance is the second preset distance threshold. For example, the second distance is 50 cm, and the second preset distance threshold is set to 2 cm, that is, when the distance between the highest point of the canopy and the vehicle roof is 52 cm, the canopy is determined to be in the second state, and the corresponding control parameter of the moving mechanism is determined as the first parameter, ensuring that the height of the canopy opening can meet the needs of the highest target object and provide sufficient head space.

[0122] In this optional embodiment, by comparing the object information (the maximum value in the height information set) with the preset value (the height value inside the target vehicle), the required additional head space is calculated as the second distance, ensuring that the heads of all target objects will not collide with the roof when they enter or leave the rear seat of the vehicle upright. Then, the second state of the roof is determined according to the second distance, and the parameters of the moving mechanism corresponding to the second state of the roof are determined, that is, the first parameters, to ensure that the height of the roof opening can meet the needs of the highest target object, thereby improving the convenience and comfort of the target object getting on and off the vehicle.

[0123] Optionally, the sunroof control method further includes:

[0124] When it is detected that the door of the target vehicle is opened from the outside, it is determined that the target object is ready to enter the target vehicle;

[0125] When it is detected that the seat load of the target vehicle is reduced and / or the door of the target vehicle is opened from the inside, it is determined that the target object is ready to leave the target vehicle.

[0126] Specifically, in order to more accurately determine the target object's intention to enter or exit the vehicle, the system can detect the state of the door through a sensor installed on the vehicle. Once it detects that the door is opened from outside the vehicle, the system will determine that the target object is preparing to enter the vehicle.

[0127] Preferably, in an MPV model, the opening control of the roof can be performed only when a passenger is about to enter the rear seat, and when the rear door of the MPV model is detected to be opened from the outside, it is determined that a passenger is about to enter the rear seat. In a convertible, the opening control of the roof can be performed as long as a passenger enters the vehicle, regardless of the front and rear seats, and when the convertible door is detected to be opened from the outside, it is determined that a passenger is about to enter the vehicle.

[0128] In addition, the system can also detect changes in the load on the seat by installing a pressure sensor or other weight detection device. Once a decrease in the load is detected, the system will determine that a target object is about to leave the vehicle. Or the system can detect the state of the door through the sensor on the vehicle, and when the door is detected to be opened from the inside, it is determined that a passenger is about to leave the target vehicle. Through the real-time monitoring of these sensors, the system can promptly identify the entry and exit movements of the target object, and adjust the opening or closing state of the canopy accordingly, ensuring the convenience and comfort of the target object getting on and off the vehicle.

[0129] In an optional embodiment, the on-board video surveillance system can be used to identify the behavior of the target object through human detection and tracking algorithms, and the roof can be opened when the target object is about to enter or exit the vehicle. The machine learning model can also be trained to identify the specific behavior patterns of the target object, such as movement trajectory and dwell time in the vehicle, so as to determine the target object's intention to enter or exit the target vehicle and open the roof.

[0130] In this optional embodiment, the target object's action is determined by detecting the opening state of the vehicle's rear door and the change in the load-bearing of the rear seats, which can more accurately determine the target object's entry and exit behavior, and adjust the state of the roof in time to ensure the target object's convenience and comfort when entering and leaving the vehicle. This not only improves the target object's experience, but also enhances the intelligence level of the roof opening.

[0131] Optionally, the present invention also provides another optional canopy control method, such as Figure 6 As shown. When it is detected that a target object is about to enter or leave the rear seat of the vehicle, the environmental information of the vehicle's location will be obtained first. The environmental information is used to determine the weather conditions. In the case of severe weather conditions (such as rain, snow, strong wind, etc.), the canopy will be kept closed. The safety boundary parameter at this time is the parameter of the moving mechanism when the canopy is closed to prevent damage or other safety hazards that may be caused by the opening of the canopy. In the case of good weather conditions (such as clear, windless, no rain, etc.), the first parameter, the second parameter and the safety boundary parameter will be obtained at the same time to determine the target parameter. When both the first parameter and the second parameter exceed the safety boundary parameter, the safety boundary parameter is used as the target parameter; when both the first parameter and the second parameter do not exceed the safety boundary parameter, the second parameter is used as the target parameter; when the first parameter does not exceed the safety boundary parameter and the second parameter exceeds the safety boundary parameter, the first parameter is used as the target parameter. In this way, on the premise of ensuring the safe opening of the canopy, the personalized needs of the target object are met to the greatest extent, and the convenience and comfort of the target object getting on and off the vehicle are improved.

[0132] The first parameter is obtained as follows: first, the highest height of the detected target object is used as the object information. Then, when the object information is greater than a preset value (i.e., the height of the target object is higher than the height value inside the vehicle), the difference between the two is used as the second distance. Finally, the first parameter is determined based on the second distance.

[0133] The process of obtaining the second parameter is as follows: when the target person (such as the driver or the target object) sets the opening degree of the roof through the vehicle system interface or voice command, the system responds to this operation and obtains the second parameter.

[0134] The process of obtaining the safety boundary parameters is as follows: when the roof is opened upward relative to the vehicle body, firstly, according to obstacle information such as whether there is an obstacle above the roof and whether the space height is sufficient, the distance between the roof and the obstacle above, i.e., the first distance, is obtained by means of ultrasonic ranging technology, laser radar (LiDAR) technology, and visual ranging technology. Then, the safety boundary parameters are determined based on the first distance.

[0135] When the target person (such as the driver or the target object) sets the opening degree of the roof through the vehicle system interface or voice commands, that is, the target person performs the target operation, the system will respond to the target operation and obtain the corresponding second parameter.

[0136] like Figure 7 As shown, an embodiment of the present invention provides another method flow for controlling a canopy, including: obtaining control parameters (corresponding to the above-mentioned second parameters) of a moving mechanism set by a target person's target operation, for example, the control parameters include parameters such as angle and position.

[0137] Parameters actively sensed by sensors installed on the target vehicle, namely, environmental information and object information, are obtained. The environmental information includes relevant data of sensors such as light sensors, rain sensors, and wind speed sensors. The object information includes the maximum height information of passengers detected by the vehicle visual sensor. The first parameter is determined according to the object information. The environmental information determines whether the current target vehicle is in an emergency condition or a non-emergency condition (i.e., whether the environmental information satisfies the preset conditions for opening the canopy). Under non-emergency conditions, the safety distance is detected by a safety distance detector, and the maximum control parameter of the mobile mechanism of the canopy in a safe state, namely, the safety boundary parameter, is further determined. The final control parameter (corresponding to the above-mentioned target parameter) is determined according to the safety boundary parameter, the first parameter, and the second parameter, and the opening of the canopy is controlled by the target parameter.

[0138] Under emergency conditions, the final control parameters are determined to be the initial parameters, that is, the parameters of the corresponding moving mechanism when the canopy is in the closed state, that is, the canopy is controlled to remain in the closed state.

[0139] For example, the emergency conditions may be: ① when the relevant environmental sensor outputs an instantaneous snowfall intensity that reaches the moderate snow level, i.e., a snowfall amount of 2.5 to 5.0 mm or a snow accumulation depth of 3 CM within 24 hours; ② when the relevant environmental sensor outputs an instantaneous rainfall intensity that reaches the moderate rain level, i.e., a rainfall amount of 10 to 25 mm within 24 hours; ③ when the relevant environmental sensor output detects falling hail.

[0140] When controlling the opening of the canopy according to the target parameters, human-computer interaction is achieved through voice broadcast. Specifically, under emergency conditions, the canopy remains closed and cannot be opened, and the execution status at this time is announced through voice broadcast, such as playing the voice "the canopy cannot be opened due to environmental restrictions"; under non-emergency conditions, the canopy opening action is executed according to the target parameters, and the execution status at this time is announced through voice broadcast, such as playing the voice "execute the canopy opening action, please pay attention to the opening angle".

[0141] In addition, when the roof is only partially opened, the voice "Partial opening action is being performed, please pay attention to the opening angle" is played; when the roof is fully opened, the voice "The roof is about to be fully opened, please pay attention to the opening angle" is played; when the roof is opened according to the parameters (second parameters) set by the driver (target person), the voice "The opening action is about to be performed according to the set status, please pay attention to the opening angle" is played.

[0142] like Figure 8 As shown, a canopy control device 800 provided in an embodiment of the present invention is applied to a target vehicle, the target vehicle includes a canopy and a moving mechanism, the canopy is configured to be movable or rotatable relative to a body of the target vehicle through the moving mechanism, and the canopy control device includes:

[0143] A first determination module 810 is used to determine a safety boundary parameter based on the acquired scene information of the location of the target vehicle when it is determined that a target object is about to enter or exit the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the moving mechanism of the canopy in a safe state;

[0144] A second determination module 820 is used to determine the control parameter of the mobile mechanism based on the acquired object information to obtain a first parameter;

[0145] The control module 830 is used to determine the target parameter according to the first parameter and the safety margin parameter, and control the movement of the moving mechanism according to the target parameter to control the opening of the roof.

[0146] Optionally, the scene information includes obstacle information and environmental information. The above-mentioned first determination module 810 is also used to determine the safety boundary parameters based on the acquired scene information of the target vehicle's location in the following manner: when the environmental information meets preset conditions, the safety boundary parameters are determined according to the obstacle information around the target vehicle.

[0147] Optionally, the above-mentioned first determination module 810 is also used to determine the safety boundary parameters according to the obstacle information around the target vehicle in the following manner: when the roof is configured to open upward relative to the body of the target vehicle, the distance between the roof of the target vehicle and the obstacle above the roof is determined according to the obstacle information to obtain a first distance; the safety boundary parameters are determined according to the first distance.

[0148] Optionally, the above-mentioned control module 830 is also used to determine the target parameter according to the first parameter and the safety boundary parameter in the following manner: when the first parameter is greater than the safety boundary parameter, the safety boundary parameter is determined as the target parameter; when the first parameter is less than or equal to the safety boundary parameter, the first parameter is determined as the target parameter.

[0149] Optionally, the above-mentioned control module 830 is also used to determine the target parameter based on the first parameter and the safety boundary parameter in the following manner: in response to the target operation of the target person, obtain the second parameter, wherein the second parameter is a pre-set control parameter of the mobile mechanism or a control parameter of the mobile mechanism set by the target person; determine the target parameter based on the first parameter, the second parameter and the safety boundary parameter.

[0150] Optionally, the above-mentioned control module 830 is also used to determine the target parameter according to the first parameter, the second parameter and the safety boundary parameter in the following manner: when the second parameter is less than or equal to the safety boundary parameter, the second parameter is determined as the target parameter; when the second parameter is greater than the safety boundary parameter and the first parameter is less than or equal to the safety boundary parameter, the first parameter is determined as the target parameter; when the second parameter is greater than the safety boundary parameter and the first parameter is greater than the safety boundary parameter, the safety boundary parameter is determined as the target parameter.

[0151] Optionally, the above-mentioned roof control device 800 is also used to determine the control parameters of the moving mechanism based on the acquired object information, before obtaining the first parameter: when it is determined that the target object is about to enter the target vehicle, detect the heights of all target objects within a preset range outside the target vehicle to obtain a height information set; determine the maximum value in the height information set as the object information, and store the object information; when it is determined that the target object is about to leave the target vehicle, obtain the last stored object information.

[0152] Optionally, the second determination module 820 is also used to determine the control parameters of the mobile mechanism based on the acquired object information of the target object to obtain the first parameter in the following manner: when the object information is greater than a preset value, the difference between the object information and the preset value is determined as the second distance, wherein the preset value is the height value inside the target vehicle; and the first parameter is determined based on the second distance.

[0153] like Fig. 9 As shown, a vehicle 900 provided by an embodiment of the present invention includes a memory 910 and a processor 920;

[0154] The memory 910 is used to store computer programs;

[0155] The processor 920 is configured to implement the roof control method as described above when executing the computer program.

[0156] In other words, a vehicle 900 includes a memory 910 and a processor 920 coupled to the memory 910; the memory 910 is configured to store a computer program; and the processor 920 is configured to perform the following operations when executing the computer program:

[0157] When it is determined that a target object is about to enter or exit the target vehicle, a safety boundary parameter is determined based on the scene information of the target vehicle's location, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state;

[0158] Determine a control parameter of the mobile mechanism based on the acquired object information of the target object to obtain a first parameter;

[0159] The target parameter is determined according to the first parameter and the safety margin parameter, and the movement of the moving mechanism is controlled according to the target parameter to control the opening of the roof.

[0160] The vehicle of this embodiment can be used to implement the above-mentioned canopy control method, and its advantages over the prior art are the same as the advantages of the above-mentioned canopy control method over the prior art, which will not be repeated here.

[0161] An embodiment of the present invention provides a computer-readable storage medium, wherein a computer program is stored on the storage medium. When the computer program is executed by a processor, the roof control method as described above is implemented.

[0162] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0163] When it is determined that a target object is about to enter or exit the target vehicle, a safety boundary parameter is determined based on the scene information of the target vehicle's location, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state;

[0164] Determine a control parameter of the mobile mechanism based on the acquired object information of the target object to obtain a first parameter;

[0165] The target parameter is determined according to the first parameter and the safety margin parameter, and the movement of the moving mechanism is controlled according to the target parameter to control the opening of the roof.

[0166] The technical solution of the embodiment of the present invention, in essence or in other words, the part that contributes to the prior art, or the whole or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, server, or network device, etc.) or a processor perform all or part of the steps of the method of the embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0167] The computer-readable storage medium of this embodiment can be used to implement the above-mentioned motor control method. Its advantages over the prior art are the same as the advantages of the above-mentioned motor control method over the prior art, which will not be repeated here.

[0168] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for controlling a roof, applied to a target vehicle, the target vehicle comprising a roof and a moving mechanism, the roof being configured to be movable or rotatable relative to a body of the target vehicle via the moving mechanism, characterized in that: The roof control method comprises: When it is determined that a target object is about to enter or exit the target vehicle, a safety boundary parameter is determined based on the acquired scene information of the location of the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state; Determine a control parameter of the mobile mechanism based on the acquired object information of the target object to obtain a first parameter; A target parameter is determined according to the first parameter and the safety margin parameter, and the movement of the moving mechanism is controlled according to the target parameter to control the opening of the roof.

2. The method for controlling the canopy according to claim 1, characterized in that: The scene information includes obstacle information and environment information, and the determining of the safety boundary parameter based on the acquired scene information of the position of the target vehicle includes: When the environmental information meets a preset condition, the safety boundary parameter is determined according to the obstacle information around the target vehicle.

3. The method for controlling the canopy according to claim 2, characterized in that: The determining the safety boundary parameter according to the obstacle information around the target vehicle includes: When the roof is configured to be opened upward relative to the body of the target vehicle, determining the distance between the roof of the target vehicle and the obstacle above the roof according to the obstacle information to obtain a first distance; The safety margin parameter is determined according to the first distance.

4. The method for controlling the canopy according to claim 1, characterized in that: The determining of the target parameter according to the first parameter and the safety margin parameter includes: When the first parameter is greater than the safety margin parameter, determining the safety margin parameter as the target parameter; When the first parameter is less than or equal to the safety margin parameter, the first parameter is determined as the target parameter.

5. The method for controlling the canopy according to claim 1, characterized in that: The determining of the target parameter according to the first parameter and the safety margin parameter includes: In response to the target operation of the target person, acquiring a second parameter, wherein the second parameter is a control parameter of the mobile mechanism set in advance or a control parameter of the mobile mechanism set by the target person; The target parameter is determined according to the first parameter, the second parameter and the safety margin parameter.

6. The method for controlling the canopy according to claim 5, characterized in that: The determining the target parameter according to the first parameter, the second parameter and the safety margin parameter comprises: When the second parameter is less than or equal to the safety margin parameter, determining the second parameter as the target parameter; When the second parameter is greater than the safety margin parameter, and the first parameter is less than or equal to the safety margin parameter, determining the first parameter as the target parameter; When the second parameter is greater than the safety margin parameter, and the first parameter is greater than the safety margin parameter, the safety margin parameter is determined as the target parameter.

7. The method for controlling a roof according to any one of claims 1 to 6, characterized in that: Before determining the control parameter of the moving mechanism based on the acquired object information of the target object and obtaining the first parameter, the canopy control method further includes: When it is determined that the target object is about to enter the target vehicle, detecting the heights of all the target objects within a preset range outside the target vehicle to obtain a height information set; Determine the maximum height value in the height information set as the object information, and store the object information; When it is determined that the target object is about to leave the target vehicle, the object information stored last time is acquired.

8. The method for controlling the canopy according to claim 7, characterized in that: The step of determining the control parameter of the mobile mechanism based on the acquired object information of the target object to obtain the first parameter includes: When the object information is greater than a preset value, determining a difference between the object information and the preset value as a second distance, wherein the preset value is a height value inside the target vehicle; The first parameter is determined according to the second distance.

9. A roof control device, applied to a target vehicle, the target vehicle comprising a roof and a moving mechanism, the roof being configured to be movable or rotatable relative to a body of the target vehicle via the moving mechanism, characterized in that: The roof control device comprises: A first determination module is used to determine a safety boundary parameter based on the acquired scene information of the location of the target vehicle when it is determined that a target object is about to enter or exit the target vehicle, wherein the safety boundary parameter is a maximum control parameter of the mobile mechanism of the canopy in a safe state; A second determination module is used to determine the control parameter of the mobile mechanism based on the acquired object information to obtain a first parameter; A control module is used to determine a target parameter according to the first parameter and the safety boundary parameter, and control the movement of the moving mechanism according to the target parameter to control the opening of the roof.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the roof control method according to any one of claims 1 to 8 is implemented.

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