Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a computer readable storage medium. According to the technical scheme, control signals can be collected; determining a slapping event according to the control signal; and controlling a target vehicle according to a control instruction corresponding to the slapping event. According to the invention, complex high-order vehicle function control can be realized.

Description

Technical Field

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

[0002] In vehicle applications, the vehicle steering wheel has gradually evolved from controlling the vehicle's driving direction to having more control functions, such as multimedia mode switching, voice reminders, and unexpected operating condition alarms.

[0003] Currently, the interaction between the user and the vehicle steering wheel is based on pressure sensors or acceleration sensors.

[0004] However, the vehicle control functions that can be provided by the above method are very limited. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle and computer-readable storage medium. The user can control the vehicle by applying a slapping event to the steering wheel, thereby realizing complex and high-order vehicle function control and assisting the vehicle's intelligent driving, so as to at least partially solve the above-mentioned technical problems.

[0006] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0007] Collect control signals;

[0008] Determining a tapping event according to the control signal;

[0009] The target vehicle is controlled according to the control instruction corresponding to the slapping event.

[0010] Optionally, determining the tapping event according to the control signal includes:

[0011] Performing data statistics on the control signal to obtain statistical characteristics of the control signal, and determining a change characteristic of the control signal according to the statistical characteristics of the control signal;

[0012] If there is a target change feature that meets the preset condition, a tap event triggered by the target change feature is determined.

[0013] Optionally, the control signal includes multiple groups of periodic control signals collected within a preset period;

[0014] The performing data statistics on the control signal to obtain the statistical characteristics of the control signal, and determining the change characteristics of the control signal according to the statistical characteristics of the control signal, includes:

[0015] For each periodic control signal, data statistics are performed on the periodic control signal to obtain statistical characteristics of the periodic control signal;

[0016] The variation characteristics of the periodic control signals are determined according to the statistical characteristics of each of the periodic control signals.

[0017] Optionally, after determining the variation characteristic of the periodic control signal according to the statistical characteristics of each periodic control signal, the method further comprises:

[0018] Extracting the change amount and change rate in the target change feature;

[0019] The preset condition includes: the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, and if there is a target change feature that meets the preset condition, determining the tap event triggered by the target change feature includes:

[0020] If the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, a tap event triggered by the target change feature is determined.

[0021] Optionally, controlling the target vehicle according to the control instruction corresponding to the slapping event includes:

[0022] Determining a slap feature of the slap event according to the target change feature;

[0023] The target vehicle is controlled according to the control instruction corresponding to the slapping feature.

[0024] Optionally, the slapping feature includes a slapping frequency of the slapping event;

[0025] The determining the slapping feature of the slapping event according to the target change feature includes:

[0026] Determining the tapping frequency and the tapping time interval of the tapping event according to the target change characteristics;

[0027] The tapping frequency of the tapping event is determined according to the tapping frequency and the tapping time interval.

[0028] Optionally, the tapping feature further includes a tapping position;

[0029] The determining the slapping feature of the slapping event according to the target change feature includes:

[0030] The slap position of the slap event is determined according to the target change characteristics of the control signal, wherein the control signal includes multiple groups of control signals applied to different slap areas on the target object.

[0031] Optionally, the tap feature further comprises a tap gesture;

[0032] The determining the slapping feature of the slapping event according to the target change feature includes:

[0033] Determining a contact area corresponding to the slap event according to a change amount and a change rate in the target change feature, wherein the contact area is an area in contact with the target object when the slap event is applied;

[0034] The tap gesture of the tap event is determined according to the contact area.

[0035] Optionally, controlling the target vehicle according to the control instruction corresponding to the tapping feature includes:

[0036] If the tapping frequency in the tapping feature is higher than a preset frequency threshold, determining a corresponding security level according to the tapping gesture in the tapping feature;

[0037] Generate corresponding safety control instructions according to the safety level to control the target vehicle.

[0038] Optionally, filtering abnormal data in the control signal according to preset filtering rules;

[0039] Acquire the ambient temperature information corresponding to the control signal, and determine the target compensation value according to the ambient temperature information and a preset mapping relationship, wherein the preset mapping relationship includes the ambient temperature when the control signal is collected and the corresponding compensation value, which is used to compensate for the control signal error caused by the ambient temperature;

[0040] The filtered control signal is compensated according to the target compensation value to process the compensated control signal.

[0041] Optionally, the acquisition control signal includes:

[0042] A control signal triggered by a steering wheel of the target vehicle is collected to determine a slapping event applied to the steering wheel according to the control signal.

[0043] According to a second aspect of the present application, a vehicle control device is provided, characterized in that the vehicle control device comprises:

[0044] An acquisition module, used for acquiring control signals;

[0045] A processing module, used for determining a tapping event according to the control signal;

[0046] The control module is used to control the target vehicle according to the control instruction corresponding to the slapping event.

[0047] According to a third aspect of the present application, a vehicle is also provided, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above-mentioned vehicle control method.

[0048] According to a fourth aspect of the present application, a computer-readable storage medium is also provided, which includes a computer program. When the computer program is run on a vehicle, the computer program is used to enable the vehicle to execute the steps of the above-mentioned vehicle control method.

[0049] In the vehicle control method, device, vehicle, and storage medium of the embodiment of the present application, the vehicle can collect control signals and process the control signals, so that the vehicle can identify the slapping event and control the vehicle according to the control instructions corresponding to the slapping event. Therefore, in the present application, more complex and higher-level functional control of the vehicle can be directly achieved according to the slapping event, and the driver's safe driving is also guaranteed.

[0050] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0052] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0053] Figure 1 It is a schematic diagram of the control signal processing flow provided in the background technology of this application;

[0054] Figure 2-1 It is the first schematic diagram of the steering wheel slapping area provided in the background technology of this application;

[0055] Figure 2-2 It is the second schematic diagram of the steering wheel slapping area provided in the background technology of this application;

[0056] Figure 2-3 It is the third schematic diagram of the steering wheel slapping area provided in the background technology of this application;

[0057] Figure 3 is a first schematic diagram of a vehicle control process provided in an exemplary embodiment of the present application;

[0058] Figure 4-1 is a first schematic diagram of a tapping characteristic curve provided in an exemplary embodiment of the present application;

[0059] Figure 4-2 is a second schematic diagram of a tapping characteristic curve provided in an exemplary embodiment of the present application;

[0060] Figure 4-3 is a third schematic diagram of a tapping characteristic curve provided in an exemplary embodiment of the present application;

[0061] Figure 5-1 is a schematic diagram of the temperature compensation principle provided in an exemplary embodiment of the present application;

[0062] Figure 5-2 It is a schematic diagram of a temperature compensation query provided in an exemplary embodiment of the present application;

[0063] Figure 6 is a second schematic diagram of a vehicle control process provided in an exemplary embodiment of the present application;

[0064] Figure 7 is a schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0065] Figure 8 It is a schematic diagram of the structure of the vehicle provided in the embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0067] According to the background technology description of this application, the vehicle steering wheel has gradually developed from controlling the vehicle's driving direction to having more control functions, such as multimedia mode switching, voice reminders, unexpected operating condition alarms, etc.

[0068] In the prior art, pressure sensors, acceleration sensors, etc. are generally integrated into the steering wheel. Once the sensor detects that the driver operates the steering wheel, it will trigger the corresponding control command to control the corresponding function of the vehicle.

[0069] The types of driver operations that can be detected by the steering wheel tapping sensor in the prior art are limited, and can only realize the control of simple vehicle functions. It is also prone to accidental touches and cannot accurately identify the user's true intentions.

[0070] Therefore, in order to solve the above problems, the present application proposes a vehicle control method based on a HOD (Hands Off Detection) system, a vehicle, a vehicle, a computer-readable storage medium, and a computer program product, such as Figure 1 As shown, the HOD system in the present application includes a HOD sensor acquisition unit and a HOD sensor signal processing unit, wherein the present application can arrange the HOD sensor acquisition unit on the rim of the steering wheel. When the user taps the corresponding area of ​​the steering wheel, the tapping data is obtained through the HOD sensor acquisition unit, and the tapping data is transmitted to the HOD sensor signal processing unit, and the user's tapping intention is identified based on the processed data.

[0071] The steering wheel structure in this application can be as follows Figures 2-1 to 2-3 As shown:

[0072] (1) The HOD system acquisition unit is located on the steering wheel body 100, in a safe area that can be easily touched by the user; 100 is divided into four areas A001 to A004 on the side facing the driver, A001: Area 1, A002: Area 2, A003: Area 3 and A004: Area 4, and is divided into A005: Area 5 on the side facing away from the driver;

[0073] (2) The HOD processing unit is integrated in the steering wheel switch 200 and shares the steering wheel ECU with other functional units of the steering wheel;

[0074] On this basis, if Figure 1 As shown, the clapping signal collected by the HOD system acquisition unit is output by the steering wheel ECU and transmitted to the vehicle functional system via the vehicle CAN bus. The vehicle functional system may include but is not limited to the central control multimedia system, instrument cluster system, window control system, Bluetooth system, etc.

[0075] The HOD system acquisition unit in this embodiment can use a capacitive sensor to detect the user's tapping operation on the above-mentioned area of ​​the steering wheel.

[0076] In the present application, the above-mentioned HOD system is integrated on the steering wheel switch circuit board, and there is no need to hang it on other positions of the steering wheel, which can reduce the occupation of the internal space of the steering wheel. The multiple detection areas can be mainly distributed in the steering wheel rim area, with a wide and flexible coverage area, so that users can enjoy a safe driving environment and easily realize the multi-functional control of the vehicle without leaving the steering wheel.

[0077] In addition to setting the HOD system on the steering wheel, in this embodiment, the HOD system can also be set in other areas in the vehicle, such as seat handles, seat backs, body interior, etc., so that people in the vehicle (passengers or drivers) can control the vehicle by tapping the corresponding area. This embodiment does not specifically limit this.

[0078] On this basis, the vehicle control method in the embodiment of the present application can be applied to a vehicle, which can be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and the present application does not specifically limit this. The vehicle control method in the embodiment of the present application, such as Figure 3 As shown, the following steps may be specifically included:

[0079] S10, collecting control signals;

[0080] In this embodiment, the vehicle may collect control signals through the HOD system collection unit.

[0081] In a specific embodiment, the above S10 may include:

[0082] A control signal triggered by a steering wheel of the target vehicle is collected to determine a slapping event applied to the steering wheel according to the control signal.

[0083] The control signal in this embodiment may be a control signal applied by a user to the steering wheel of the target vehicle.

[0084] Among them, according to the above description, a capacitive sensor can be installed in at least one of the areas A001 to A005 of the steering wheel, so that the vehicle can control the capacitive sensor to collect control information applied by the user to the steering wheel of the target vehicle. For example, the above-mentioned target area can be tapped at a certain frequency and number of times to generate a corresponding control signal. The control signal in this embodiment can be a capacitance change signal (usually manifested as a change in voltage or current).

[0085] It can be understood that the principle of the capacitive sensor identifying the contact area between the steering wheel and the hand is mainly based on the change of capacitance. For example, when the driver's hand touches the steering wheel, a capacitor is formed between the human body and the steering wheel. The size of the capacitance is proportional to the contact area. The larger the contact area, the larger the capacitance value. The capacitive sensor can detect this change in capacitance and thus determine the contact status of the driver's hand and the steering wheel.

[0086] Specifically, capacitive sensors are usually composed of multiple electrodes that are distributed on the surface or inside of the steering wheel. When the driver's hand touches the steering wheel, capacitance is formed between the human body and these electrodes. By measuring the changes in capacitance on these electrodes, the capacitive sensor can determine whether the driver's hand is on the steering wheel, as well as the location and area of ​​contact. The system analyzes this data to determine whether the driver is holding the steering wheel correctly and whether it is possible to safely let go of his hands in autonomous driving mode.

[0087] In addition, according to the above description, in this embodiment, in addition to setting the HOD system on the steering wheel, the HOD system can also be set in other areas in the car, such as seat handles, seat backs, car body interior, etc., without specific limitation.

[0088] The following describes various embodiments by taking the HOD system disposed on the steering wheel as an example.

[0089] S20, determining a tapping event according to the control signal;

[0090] In this embodiment, the vehicle may process the control signal to obtain a slapping event.

[0091] The slap event in this embodiment may be a slap event applied by the user to the steering wheel. For example, after receiving a control signal triggered by the steering wheel, the vehicle may process the control signal so that the vehicle can identify the slap event applied by the user to the steering wheel. The vehicle may process the control signal by performing statistical analysis on the received control signal and extracting signal features to identify the slap event triggered by the user. The subsequent embodiments will describe this in detail and will not be repeated here.

[0092] It should be noted that, in the present embodiment, the tapping event may be a functional event unrelated to functional safety, such as switching multimedia modes, increasing or decreasing the playback volume, answering a call, etc., or it may be a functional event that transmits information to other users inside or outside the vehicle, such as voice reminders such as "Please fasten your seat belts" and "Please do not stick your hands out of the window", or a low-volume horn reminder function for close-range pedestrians and vehicles, etc. The present embodiment does not limit the type of tapping event, so that the user can control the vehicle by tapping the steering wheel.

[0093] S30: Control the target vehicle according to the control instruction corresponding to the slapping event.

[0094] In this embodiment, after the vehicle processes the control signal and obtains a tap event applied by the user to the steering wheel, it can determine the control instruction corresponding to the tap event and control the vehicle according to the control instruction.

[0095] For example, Figure 1 As shown, after the vehicle collects the control signal through the sensor and processes the control signal, the control signal is output by the steering wheel ECU and transmitted to the whole vehicle functional system via the whole vehicle CAN bus; the whole vehicle functional system, for example, the central control multimedia system, the combination instrument system, the window control system, the Bluetooth system, etc.

[0096] It can be seen that in the embodiment of the present application, the vehicle can collect the control signal applied by the user to the steering wheel of the target vehicle; after receiving the control signal based on the direction trigger, the vehicle can process the control signal so that the vehicle can identify the slap event applied by the user to the steering wheel and obtain the slap feature corresponding to the slap event; after the vehicle processes the control signal and obtains the slap event applied by the user to the steering wheel and the slap feature of the slap event, it can determine the control instruction corresponding to the slap feature and control the vehicle according to the control instruction. Therefore, in the present application, the driver can directly apply the corresponding slap event on the steering wheel to achieve more complex and higher-order functional control of the vehicle, and the driver does not need to take his hands off the steering wheel during driving, which also ensures safe driving.

[0097] In one embodiment, the control signal includes multiple groups of periodic control signals collected within a preset period; on this basis, in the above S20, "determining a tapping event according to the control signal" may include:

[0098] S201, performing data statistics on the control signal to obtain statistical characteristics of the control signal, and determining a change characteristic of the control signal according to the statistical characteristics of the control signal;

[0099] S202: If there is a target change feature that meets a preset condition, determine a tap event triggered by the target change feature.

[0100] In this embodiment, after acquiring the control signal, the vehicle may perform data statistics on the control signal to obtain the statistical characteristics of the control signal, and may determine the change characteristics of the control signal according to the statistical characteristics.

[0101] Furthermore, the vehicle can determine the change characteristics of the control signal based on the statistical characteristics of the periodic control signal.

[0102] Among them, it is understandable that Figure 4-1 , 4-1 and the tapping characteristic curve constructed according to the above statistical characteristics as shown in 4-3 (the curve represents the linear relationship between the control signal and the acquisition time), Figure 4-1 In the tap event shown, the user tapped the steering wheel once; Figure 4-2 In the tap event shown, the user tapped the steering wheel twice; Figure 4-3 In the tapping event shown, the user tapped the steering wheel three times in a "two fast and one slow" manner. After constructing the tapping characteristic curve, the vehicle can determine the change characteristics of the control signal according to the tapping characteristic curve.

[0103] Specifically, for example, the change characteristics of the control signal in this embodiment may include a change amount △i and a change rate, wherein the change amount △i is the ordinate characterization data of the slap characteristic curve, and the change rate is the slope of the slap characteristic curve. As can be seen from the figure, the change amount of the slap event is much smaller than the change amount of the control signal when the user normally holds the steering wheel, and the change rate of the slap event is much greater than the change rate when the user normally holds the steering wheel at the same acquisition time.

[0104] In this way, after obtaining the change characteristics, the vehicle can detect whether the change characteristics meet the corresponding preset conditions. If it is judged that the change characteristics meet the preset conditions, it can determine the presence of a slapping event within the preset period in response to the change characteristics meeting the preset conditions, so that the slapping characteristics of the slapping event can be determined subsequently based on the change characteristics.

[0105] The above-mentioned preset conditions may include that the change amount of the control signal in the change characteristic is less than a preset first threshold and the change rate of the control signal in the change characteristic is greater than a preset second threshold.

[0106] Among them, when the user holds the steering wheel normally, the vehicle can collect the triggered control signal and perform data statistics on the control signal, determine the change amount of the control signal when the user holds the steering wheel normally as the first threshold, and the change rate of the control signal when the user holds the steering wheel normally as the second threshold.

[0107] Further, the control signal includes multiple groups of periodic control signals collected within a preset period; in S201 above, "performing data statistics on the control signal to obtain statistical characteristics of the control signal, and determining the change characteristics of the control signal according to the statistical characteristics of the control signal" may include:

[0108] S2011, for each periodic control signal, performing data statistics on the periodic control signal to obtain statistical features of the periodic control signal;

[0109] S2012: Determine a variation characteristic of the periodic control signal according to statistical characteristics of each of the periodic control signals.

[0110] It should be noted that, in this embodiment, when the user applies a tapping event to the steering wheel, the vehicle can use the complete duration required to apply a tapping event as a set of preset periods, and generate a corresponding periodic control signal in the period.

[0111] On this basis, for each periodic control signal, the vehicle can perform data statistics on the periodic control signal to obtain statistical characteristics of the periodic control signal.

[0112] Specifically, for example, the control signal may be a set of current values ​​or voltage values, so that the vehicle can calculate statistical features such as the mean and variance (or standard deviation) of a set of data, and then determine the change features of the control signal based on the statistical features.

[0113] Furthermore, after the above S2012, “determining the variation characteristics of the periodic control signal according to the statistical characteristics of each of the periodic control signals”, the following may be included:

[0114] S2013, extracting the change amount and change rate in the target change feature;

[0115] On this basis, the preset conditions include: the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold. In the above S202, "if there is a target change feature that meets the preset conditions, determining the tap event triggered by the target change feature" includes:

[0116] S2021: If the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, determining a tap event triggered by the target change feature.

[0117] It should be noted that, in this embodiment, Figure 4-1 As shown in the tapping event (the user taps the steering wheel once), if one cycle of the control signal contains 10 groups of data, the data is processed by mean and variance to obtain a linear relationship between the collected value of the control signal (i.e., the change in the control signal in this embodiment) and the collection time, wherein the collection value △2 of one tapping characteristic shows a smaller change (△1>△2) relative to the data △2 when the hand is holding normally, and the slope value of the collection value is larger at the same collection time. In addition, the duration T2 of the tapping event is shorter than the duration T1 of the event when the hand is holding the steering wheel normally (T1>T2).

[0118] like Figure 4-2 As shown in the tapping event (the user taps the steering wheel twice in succession), if a control signal of one cycle contains 10 sets of data, the data is processed by mean and variance to obtain a linear relationship between the acquisition value of the control signal and the acquisition time. Among them, the acquisition value of the two consecutive tapping characteristics is smaller in change and larger in slope value than that of normal hand holding. In addition, the change time is short and the number of changes is large: △1>△2≈△2′. In addition, the duration of the two taps is basically the same (T2a≈T2b) and is shorter than the duration T1 when the hand is holding the steering wheel normally: T2a≈T2b <T1。

[0119] like Figure 4-3The tapping event shown in FIG. 1 (the user taps the steering wheel three times with a tapping frequency of two fast and one slow), assuming that a control signal of one cycle contains 10 groups of data, the data are processed by mean and variance to obtain a linear relationship between the acquisition value of the control signal (i.e., the change of the control signal in this embodiment) and the acquisition time, wherein the acquisition value of the "2 fast + 1 slow" continuous tapping characteristic is characterized by a small change, a short change time, and a large number of changes relative to normal hand holding. A comprehensive comparison shows that the data slope value of the "2 fast + 1 slow" tapping is larger and the number of changes is large: △1>△2≈△2′≈△2″; in addition, the duration of the two taps is basically the same (T2a≈T2b≈T2c) and is shorter than the duration T1 when the steering wheel is held normally: T2a≈T2b≈T2c <T1。

[0120] According to the above description, when the vehicle judges whether the force exerted by the user on the steering wheel is a slapping event or other events (such as normal holding of the steering wheel), it can at least judge from two aspects: the change amount of the control signal and the rate of change of the change amount (that is, the slope of the above-mentioned slapping characteristic curve). The change amount of a slapping event is smaller and the rate of change is higher.

[0121] In this way, if the vehicle determines that the change amount is less than the preset first threshold and the change rate is greater than the preset second threshold, it can be determined that there is a slapping event within the preset period. The method for determining the first threshold and the second threshold can refer to the above description and will not be repeated here.

[0122] Therefore, in this embodiment, the vehicle can perform data statistics on the control signal, calculate the change characteristics of the control signal according to the statistical characteristics of the control signal, and identify the slapping event and the slapping characteristics of the slapping event based on the change characteristics and preset conditions. In this way, this embodiment can expand the recognition of slapping events by HOD to more abundant slapping events, and realize more complex and higher-level vehicle function control, rather than just simple function control such as audio control and Bluetooth control. In addition, it will only be determined as a slapping event when the change characteristics meet the preset conditions, otherwise it can be classified as other events, thereby avoiding the incorrect start and stop of the corresponding function of the vehicle caused by the user accidentally touching the steering wheel.

[0123] In one embodiment, in the above S30, “controlling the target vehicle according to the control instruction corresponding to the slapping event” may include:

[0124] S301, determining a slap feature of the slap event according to the target change feature;

[0125] S302: Control the target vehicle according to the control instruction corresponding to the tapping feature.

[0126] In this embodiment, according to the above description, when the vehicle obtains the target change characteristic, it can detect whether the target change characteristic satisfies the corresponding preset condition. If it is judged that the target change characteristic satisfies the preset condition, it can determine the presence of a slapping event within a preset period in response to the target change characteristic satisfying the preset condition. Then, the vehicle can determine the slapping feature of the slapping event based on the target change characteristic, and control the target vehicle according to the control instruction corresponding to the slapping feature.

[0127] It should be noted that, in this embodiment, the tapping features corresponding to the tapping event include but are not limited to the tapping frequency when the user taps the steering wheel, the tapping gesture used by the user (such as single finger, half palm, etc.), and the tapping position (at least one of the above-mentioned A001, A002, A003, A004, and A005 areas). The above only lists some of the tapping features. In addition to the above-mentioned tapping features, other tapping features may also be included, which are not listed one by one.

[0128] Further, the tapping feature includes the tapping frequency of the tapping event; on this basis, in the above S301, "determining the tapping feature of the tapping event according to the target change feature" may include:

[0129] S3011, determining the tapping frequency and the tapping time interval of the tapping event according to the target change characteristics;

[0130] S3012: Determine the tapping frequency of the tapping event according to the tapping frequency and the tapping time interval.

[0131] In this embodiment, according to the above description, the vehicle can construct a corresponding statistical feature of the control signal. Figures 4-1 to 4-3 Furthermore, the slapping frequency and slapping time interval of the slapping event can be determined according to the change characteristics of the control signal in the slapping characteristic curve.

[0132] by Figure 4-3 For example, the vehicle can determine that the slapping frequency of the slapping event is 3 times (△2, △2′, △2″) based on the slapping characteristic curve, and the slapping time intervals between the three slaps are T2d and T2e, where T2d<T2e, that is, the user has applied a "two fast and one slow" slapping event to the steering wheel.

[0133] Furthermore, the vehicle may determine the slapping frequency of the slapping event according to the slapping frequency and the slapping time interval. For example, the slapping frequency and the slapping time interval may be directly used as the slapping frequency of the slapping event.

[0134] Furthermore, the tapping feature further includes a tapping position and a tapping gesture; on this basis, in the above S301, "determining the tapping feature of the tapping event according to the target change feature" may also include:

[0135] S3013, determining the tapping position of the tapping event according to the target change feature of the control signal, wherein the control signal includes a plurality of groups of control signals applied to different tapping areas on the target object;

[0136] S3014, determining a contact area corresponding to the tap event according to the change characteristics, wherein the contact area is an area in contact with the target object when the tap event is applied;

[0137] S3015: Determine the tap gesture of the tap event according to the contact area.

[0138] After the vehicle recognizes the slap event applied by the user through the changing characteristics of the control signal generated by the user applying a slap event to the steering wheel (i.e., the target object in this embodiment), in addition to identifying the slap frequency of the slap event based on the slap characteristic curve, the vehicle can also determine the slap position and slap gesture of the slap event based on the changing characteristics of the control signal.

[0139] It should be noted that, in this embodiment, according to the above description, the HOD system may use a capacitive sensor to collect control signals triggered by the user. In this embodiment, a capacitive sensor may be set in at least one of the tapping areas A001 to A005.

[0140] If a capacitive sensor is only set in one area, the hand-off detection at this time is single-area recognition. In this scenario, the user can tap the tapping area where the capacitive sensor is set using gestures such as single finger, double finger, multi-finger, and half palm. The signal processing unit can recognize the user's different tapping intentions, and when the number of taps per unit time is different, the corresponding tapping frequency is also different, which can be used to distinguish more tapping intentions.

[0141] If capacitive sensors are set in multiple areas, the hand-off detection at this time is multi-area recognition. In this scenario, the signal processing unit supports multi-channel processing, and the control signal processing collected by each capacitive sensor is independent of each other and is not affected. Functions can be executed according to the set priority to avoid false triggering or function failure. At the same time, under specific conditions, multi-channel composite response time is also supported.

[0142] On this basis, the vehicle can identify the tapping position of the tapping event according to the changing characteristics of the control signal, wherein the control signal can be a plurality of control signals applied by the user to different tapping areas on the steering wheel. It can be understood that, according to the above description, since the steering wheel is pre-divided into multiple tapping areas A001 to A005, the tapping position can be determined by which tapping area triggers the control signal.

[0143] In addition, according to the above description, the capacitive sensor is usually composed of a plurality of electrodes, which are distributed on the surface or inside of the steering wheel. When the driver's hand touches the steering wheel, a capacitance is formed between the human body and these electrodes. The capacitive sensor can determine whether the driver's hand is on the steering wheel, as well as the position and area of ​​contact by measuring the capacitance change on these electrodes. Therefore, in this embodiment, the vehicle can calculate the contact area of ​​the steering wheel when the user applies a slap event to the steering wheel based on the change amount and change rate of the control signal.

[0144] Specifically, for example, in this embodiment, the slapping events applied by the user on the steering wheel include but are not limited to two-finger low-frequency slapping, two-finger high-frequency slapping, half-palm low-frequency slapping, half-palm high-frequency slapping, and half-palm or more high-frequency slapping, etc. This embodiment does not specifically limit the types of slapping events and can be flexibly customized and developed according to user needs.

[0145] Furthermore, in the above S302, “controlling the target vehicle according to the control instruction corresponding to the tapping feature” may include:

[0146] S3021, if the tapping frequency in the tapping feature is higher than a preset frequency threshold, determining a corresponding security level according to the tapping gesture in the tapping feature;

[0147] S3022, generating corresponding safety control instructions according to the safety level to control the target vehicle.

[0148] It should be noted that, in this embodiment, the tapping method and the triggered vehicle function event can be customized and developed, for example:

[0149] (1) Using a two-finger low-frequency tapping acquisition unit can be used to process some functional events that are not related to functional safety, such as multimedia mode switching, volume increase and decrease, and phone call answering;

[0150] (2) Using a two-finger high-frequency tapping acquisition unit, it can be used to process some functional events that need to convey information to other users inside and outside the car, such as voice reminders such as "Please fasten your seat belts" and "Do not stick your hands out of the window", or low-volume horn reminders for nearby pedestrians and vehicles;

[0151] (3) Using a half-palm low-frequency tapping acquisition unit can be used for some interactions outside of the vehicle system and functional events that need to be considered for execution, such as online car-hailing users accepting orders with one click, without having to touch the phone;

[0152] (4) The half-palm high-frequency tapping acquisition unit can be used for some urgent functional events that need to be executed without much consideration, such as issuing a high-volume horn reminder for emergency avoidance, or emergency parking required due to vehicle failure.

[0153] (5) Using more than half of the palm to slap a specific acquisition unit at high frequency can be used to process some emergency functional events related to the user's personal safety, such as alarming or calling for help in unexpected working conditions.

[0154] In this way, this embodiment can define high-frequency tapping as an event related to safety events (in line with user behavior habits), different gestures (i.e., the contact area with the steering wheel) reflect different levels of urgency of the event (two fingers for voice reminder to fasten seat belts, half palm for emergency avoidance, and above for alarm), and low-frequency tapping are all non-safety events.

[0155] Specifically, for example, after the vehicle recognizes a slap event, it can determine whether the slap frequency of the slap event is higher than a preset frequency threshold. If it is determined that the slap frequency is higher than the preset frequency threshold, the corresponding safety level can be determined based on the slap gesture in the slap feature.

[0156] Then, according to the slapping gesture in the slapping feature, a corresponding safety level is determined, and a corresponding safety control instruction is generated according to the safety level, and the vehicle is controlled according to the safety control instruction.

[0157] In addition, this embodiment can also construct a mapping table between tapping events and safety control instructions in advance. In this mapping table, each tapping event has a corresponding control instruction. For example, high-frequency tapping with two fingers is mapped to a control instruction generated to remind the user to fasten the seat belt.

[0158] Therefore, this embodiment can identify the slapping frequency, slapping position, and slapping gesture of the slapping event through the changing characteristics of the control signal. Compared with the traditional steering wheel-based vehicle control, the slapping sensing based on the HOD system in this embodiment can not only distinguish the slapping intention through the slapping position and slapping frequency, but also expand the gesture definition through HOD's recognition of gestures, so that the user can achieve more complex and high-level control of the vehicle without taking his hands off the steering wheel.

[0159] In one embodiment, after S10, “collecting control signals”, the following may also be included:

[0160] S40, filtering abnormal data in the control signal according to a preset filtering rule;

[0161] S50, obtaining ambient temperature information corresponding to the control signal, and determining a target compensation value according to the ambient temperature information and a preset mapping relationship, wherein the preset mapping relationship includes the ambient temperature when the control signal is collected and the corresponding compensation value, which is used to compensate for the control signal error caused by the ambient temperature;

[0162] S60, compensating the filtered control signal according to the target compensation value to process the compensated control signal.

[0163] It should be noted that, in this embodiment, considering that the user may accidentally touch the steering wheel, in order to improve the control accuracy, the control signal can be filtered in advance before being processed. Moreover, according to the above description, the control signal collected by the capacitive sensor is actually a capacitive signal, and the change in the capacitive signal is greatly correlated with the ambient temperature and humidity. Therefore, this embodiment can also control the ambient temperature during signal collection and compensate the control signal to eliminate the influence of the environment, the differences in the hardware itself, etc. on the control signal, thereby further improving the control accuracy of the steering wheel and the control accuracy of the vehicle.

[0164] Specifically, for example, the vehicle may filter abnormal data in the control signal according to a preset filtering rule, thereby filtering out abnormal control signals.

[0165] Among them, the preset filtering rules in this embodiment may include: if the data in the control signal are within the preset filtering range, the filtering range can be determined based on the mean or median of the control signal. For example, a range is first determined based on the mean or median of the control signal, and the data in the control signal within the range is retained, and the data outside the range is discarded to obtain a filtered control signal.

[0166] Then, the ambient temperature information may be collected, and the target compensation value may be determined according to the ambient temperature information and a preset mapping relationship.

[0167] The mapping relationship in this embodiment may specifically be a temperature compensation query table, which may include the ambient temperature when the control signal is collected and the corresponding compensation value, so as to compensate for the control signal error caused by the ambient temperature.

[0168] Specifically, for example, according to Figure 5-1 According to the table shown in the table, the table contains the average value of the control signal at each temperature, and the difference with the average value of the control signal calibrated at 20°C. The difference can be used as the compensation value of the control signal. On this basis, the following can be used: Figure 5-2The temperature compensation lookup table shown includes the ambient temperature range of the control signal and the target compensation value ΔRef corresponding to the ambient temperature range.

[0169] For example, Figure 5-2 As shown, if the ambient temperature of the control signal is collected between -10° and 10°, then by querying the temperature compensation query table, it can be determined that the target compensation value ΔRef at this time is specifically -9.

[0170] Then, the filtered control signal can be compensated according to the queried target compensation value.

[0171] For example, the target compensation value may be added to each data in the collected control signal to obtain a compensated control signal.

[0172] In another embodiment, after compensating the filtered control signal, the compensated control signal can be first imported into a preset cache space, and it can be determined whether the data storage capacity of the preset cache space reaches a preset threshold. When the data storage capacity of the preset cache space reaches the preset threshold, the compensated control signal can be statistically analyzed to determine the change characteristics of the control signal. Conversely, when the data storage capacity of the preset cache space does not reach the preset threshold, the control signal can be re-collected for filtering and compensation, and the above-mentioned preset cache space can be created until the data storage capacity of the preset cache space reaches the preset threshold.

[0173] It can be understood that in this embodiment, the data cache space serves as a buffer for the data storage location. When the data is full, an event judgment is performed to reduce the processing power consumption of the system. If the data is processed in real time, there is a problem of high system power consumption, and there is no way to filter out some abnormal conditions, such as occasional unconscious touches, light touches, etc. The buffer is full as a standard for whether the event is processed, which can filter out some abnormal conditions and reduce the processing power consumption of the system.

[0174] Therefore, in this embodiment, through data filtering strategy and data compensation strategy, the interference caused by user's accidental touch is eliminated, and the influence of ambient temperature, hardware conditions, etc. on the control signal is eliminated, thereby avoiding the misrecognition of tapping events caused by the above interference, significantly improving the control accuracy of the steering wheel, and effectively improving the control accuracy of the vehicle.

[0175] Therefore, in this embodiment, the slapping frequency, slapping position, and slapping gesture of the user's slapping events on the steering wheel can be identified, and each type of slapping event has corresponding safety control instructions, so that the user can achieve more complex and advanced control of the vehicle only by operating the steering wheel, assisting the user in intelligent driving and ensuring safety during driving.

[0176] In general, if Figure 6As shown, the vehicle control method in this embodiment may at least include the following contents:

[0177] (1) The HOD sensor acquisition unit periodically scans the change value in the system, generates raw data, and then transmits it to the signal processing unit;

[0178] (2) The HOD sensor signal processing unit filters the raw data and removes abnormal data;

[0179] (3) The HOD signal processing unit collects environmental signals and determines whether the original data needs to be compensated. The temperature and humidity signals come from the vehicle input or the temperature and humidity sensor built into the steering wheel, and the compensated data comes from historical calibration;

[0180] (4) After the original data is compensated, it will be loaded into the data buffer of the processing unit. When the data stored in the buffer is full, the HOD processing unit will recognize it as an event;

[0181] (5) The HOD processing unit analyzes the characteristics of this group of data, calculates its mean, variance (standard deviation), identifies the data change characteristics, fits them into linear changes, and calculates their slope value (i.e., rate of change);

[0182] (6) The HOD processing unit compares the change characteristics of the data with the calibrated threshold to determine the specific slapping event;

[0183] (7) The HOD processing unit transmits the corresponding time information to the steering wheel ECU, and then to the corresponding functional system of the vehicle to realize function triggering.

[0184] In this way, the steering wheel slapping sensing function of this embodiment is based on the HOD system, so that the user can conveniently realize multi-function control without leaving the steering wheel while enjoying a safe driving environment; compared with the traditional steering wheel slapping sensing, the slapping sensing based on the HOD system can not only distinguish the slapping intention by the slapping position and slapping frequency, but also expand the richer gesture definition through the recognition of gestures by HOD, and realize more complex and higher-level control; the slapping sensing based on the HOD system has a more accurate anti-mistouch feature, and the software can effectively filter out invalid signals and more accurately identify the user's slapping intention; in addition, the HOD system is integrated on the steering wheel switch circuit board, and there is no need to hang other positions of the steering wheel, which can reduce the occupation of the internal space of the steering wheel. The detection positions are mainly distributed in the steering wheel rim area, covering a wide and flexible area.

[0185] This embodiment also provides a vehicle control device, which can be integrated into a terminal medical device, for example, Figure 7 As shown, the vehicle control device may include:

[0186] The acquisition module 1001 is used to acquire control signals;

[0187] A processing module 1002, configured to determine a tapping event according to the control signal;

[0188] The control module 1003 is used to control the target vehicle according to the control instruction corresponding to the slapping event.

[0189] Optionally, the processing module 1002 is further configured to:

[0190] Performing data statistics on the control signal to obtain statistical characteristics of the control signal, and determining a change characteristic of the control signal according to the statistical characteristics of the control signal;

[0191] If there is a target change feature that meets the preset condition, a tap event triggered by the target change feature is determined.

[0192] Optionally, the control signal includes multiple groups of periodic control signals collected within a preset period;

[0193] The processing module 1002 is further used for:

[0194] For each periodic control signal, data statistics are performed on the periodic control signal to obtain statistical characteristics of the periodic control signal;

[0195] The variation characteristics of the periodic control signals are determined according to the statistical characteristics of each of the periodic control signals.

[0196] Optionally, the processing module 1002 is further configured to:

[0197] Extracting the change amount and change rate in the target change feature;

[0198] The preset conditions include: the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold;

[0199] If the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, a tap event triggered by the target change feature is determined.

[0200] Optionally, the control module 1003 is further used to:

[0201] Determining a slap feature of the slap event according to the target change feature;

[0202] The target vehicle is controlled according to the control instruction corresponding to the slapping feature.

[0203] Optionally, the slapping feature includes a slapping frequency of the slapping event;

[0204] The control module 1003 is further used for:

[0205] Determining the tapping frequency and the tapping time interval of the tapping event according to the target change characteristics;

[0206] The tapping frequency of the tapping event is determined according to the tapping frequency and the tapping time interval.

[0207] Optionally, the tapping feature further includes a tapping position;

[0208] The control module 1003 is further used for:

[0209] The slap position of the slap event is determined according to the target change characteristics of the control signal, wherein the control signal includes multiple groups of control signals applied to different slap areas on the target object.

[0210] Optionally, the tap feature further comprises a tap gesture;

[0211] The control module 1003 is further used for:

[0212] Determining a contact area corresponding to the slap event according to a change amount and a change rate in the target change feature, wherein the contact area is an area in contact with the target object when the slap event is applied;

[0213] The tap gesture of the tap event is determined according to the contact area.

[0214] Optionally, the control module 1003 is further used to:

[0215] If the tapping frequency in the tapping feature is higher than a preset frequency threshold, determining a corresponding safety level according to the tapping gesture in the tapping feature;

[0216] Generate corresponding safety control instructions according to the safety level to control the target vehicle.

[0217] Optionally, the vehicle control device in this embodiment further includes:

[0218] A filtering module, used to filter abnormal data in the control signal according to preset filtering rules;

[0219] An environmental information acquisition module, used to acquire the environmental temperature information corresponding to the control signal, and determine the target compensation value according to the environmental temperature information and a preset mapping relationship, wherein the preset mapping relationship includes the environmental temperature when the control signal is collected and the corresponding compensation value, which is used to compensate for the control signal error caused by the environmental temperature;

[0220] The compensation module is used to compensate the filtered control signal according to the target compensation value to process the compensated control signal.

[0221] Optionally, the acquisition module 1001 is further used for:

[0222] A control signal triggered by a steering wheel of the target vehicle is collected to determine a slapping event applied to the steering wheel according to the control signal.

[0223] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0224] Correspondingly, an embodiment of the present application also provides a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., without specific limitation.

[0225] like Figure 8 As shown, Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0226] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0227] In the embodiment of the present application, the processor 1101 in the vehicle 1100 will load instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as:

[0228] Collect control signals;

[0229] Determining a tapping event according to the control signal;

[0230] The target vehicle is controlled according to the control instruction corresponding to the slapping event.

[0231] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0232] Optional, such as Figure 8 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 8 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0233] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode) and the like. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0234] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0235] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earplug jack to provide communication between an external headset and the vehicle.

[0236] The input unit 1106 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0237] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0238] although Figure 8 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0239] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0240] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0241] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored. The computer program can be loaded by a processor to execute any vehicle control method provided in the embodiment of the present application. The computer program can execute the following steps of the vehicle control method:

[0242] Collect control signals;

[0243] Determining a tapping event according to the control signal;

[0244] The target vehicle is controlled according to the control instruction corresponding to the slapping event.

[0245] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0246] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0247] Since the computer program stored in the computer-readable storage medium can execute any one of the vehicle control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0248] In the above-mentioned vehicle control device, computer-readable storage medium, and vehicle, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned vehicle control device, computer-readable storage medium, computer program product, vehicle and its corresponding units can refer to the description of the vehicle control method in the above embodiment, and will not be repeated here.

[0249] The above is a detailed introduction to a vehicle control method, device, vehicle, and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

[0250] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0251] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0252] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0253] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: include: Collect control signals; Determining a tapping event according to the control signal; The target vehicle is controlled according to the control instruction corresponding to the slapping event.

2. The vehicle control method according to claim 1, characterized in that: The step of determining a tapping event according to the control signal includes: Performing data statistics on the control signal to obtain statistical characteristics of the control signal, and determining a change characteristic of the control signal according to the statistical characteristics of the control signal; If there is a target change feature that meets the preset condition, a tap event triggered by the target change feature is determined.

3. The vehicle control method according to claim 2, characterized in that: The control signal includes multiple groups of periodic control signals collected within a preset period; The performing data statistics on the control signal to obtain the statistical characteristics of the control signal, and determining the change characteristics of the control signal according to the statistical characteristics of the control signal, includes: For each periodic control signal, data statistics are performed on the periodic control signal to obtain statistical characteristics of the periodic control signal; The variation characteristics of the periodic control signals are determined according to the statistical characteristics of each of the periodic control signals.

4. The vehicle control method according to claim 3, characterized in that: After determining the variation characteristics of the periodic control signal according to the statistical characteristics of each periodic control signal, the method further comprises: Extracting the change amount and change rate in the target change feature; The preset condition includes: the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, and if there is a target change feature that meets the preset condition, determining the tap event triggered by the target change feature includes: If the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold, a tap event triggered by the target change feature is determined.

5. The vehicle control method according to any one of claims 2 to 4, characterized in that: The controlling the target vehicle according to the control instruction corresponding to the slapping event includes: Determining a slap feature of the slap event according to the target change feature; The target vehicle is controlled according to the control instruction corresponding to the slapping feature.

6. The vehicle control method according to claim 5, characterized in that: The slapping feature includes the slapping frequency of the slapping event; The determining the slapping feature of the slapping event according to the target change feature includes: Determining the tapping frequency and the tapping time interval of the tapping event according to the target change characteristics; The tapping frequency of the tapping event is determined according to the tapping frequency and the tapping time interval.

7. The vehicle control method according to claim 5, characterized in that: The slapping characteristics also include a slapping position; The determining the slapping feature of the slapping event according to the target change feature includes: The slap position of the slap event is determined according to the target change characteristics of the control signal, wherein the control signal includes multiple groups of control signals applied to different slap areas on the target object.

8. The vehicle control method according to claim 5, characterized in that: The tap feature also includes a tap gesture; The determining the slapping feature of the slapping event according to the target change feature includes: Determining a contact area corresponding to the slap event according to a change amount and a change rate in the target change feature, wherein the contact area is an area in contact with the target object when the slap event is applied; The tap gesture of the tap event is determined according to the contact area.

9. The vehicle control method according to claim 5, characterized in that: The controlling the target vehicle according to the control instruction corresponding to the slapping feature includes: If the tapping frequency in the tapping feature is higher than a preset frequency threshold, determining a corresponding security level according to the tapping gesture in the tapping feature; Generate corresponding safety control instructions according to the safety level to control the target vehicle.

10. The vehicle control method according to claim 1, characterized in that: After the acquisition control signal, the method further comprises: Filtering abnormal data in the control signal according to preset filtering rules; Acquire the ambient temperature information corresponding to the control signal, and determine the target compensation value according to the ambient temperature information and a preset mapping relationship, wherein the preset mapping relationship includes the ambient temperature when the control signal is collected and the corresponding compensation value, which is used to compensate for the control signal error caused by the ambient temperature; The filtered control signal is compensated according to the target compensation value to process the compensated control signal.

11. The vehicle control method according to claim 1, characterized in that: The acquisition control signal includes: A control signal triggered by a steering wheel of the target vehicle is collected to determine a slapping event applied to the steering wheel according to the control signal.

12. A vehicle control device, characterized in that: The vehicle control device comprises: An acquisition module, used for acquiring control signals; A processing module, used for determining a tapping event according to the control signal; The control module is used to control the target vehicle according to the control instruction corresponding to the slapping event.

13. A vehicle, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the methods of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: It comprises a computer program, and when the computer program is run on a vehicle, the computer program is used to make the vehicle execute the steps of any one of the methods of claims 1 to 11.

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