Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses a vehicle control method and device, a vehicle and a storage medium. The vehicle control method comprises the steps that decoding information of an audio signal is obtained, vehicle actions are obtained according to the decoding information of the audio signal, and the vehicle actions comprise at least one of wing unfolding, light emitting, shaking, jumping, transverse moving and rotating; and controlling an execution system of the vehicle to execute the vehicle action. According to the vehicle control method, the decoding information of the audio signal is acquired, the vehicle action is acquired according to the decoding information of the audio signal, and the execution system of the vehicle is controlled to execute the vehicle action, so that the vehicle can realize interaction between the vehicle and a user according to the audio signal, more requirements of the user are met, and the user experience is improved.

Description

Technical Field

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

[0002] In the related art, intelligent vehicles can realize interaction with users, for example, users can interact with vehicles through gestures and voice. However, these interactions can no longer meet more needs of users. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, a control device, a vehicle and a storage medium to solve at least one of the above-mentioned technical problems.

[0004] The present application provides a vehicle control method including:

[0005] Obtaining decoded information of the audio signal, and obtaining a vehicle action according to the decoded information of the audio signal, wherein the vehicle action includes at least one of spreading wings, bright lights, shaking, jumping, lateral movement, and rotation;

[0006] An execution system of the vehicle is controlled to execute the vehicle action.

[0007] The control method of the above-mentioned vehicle obtains the decoding information of the audio signal, and obtains the vehicle action according to the decoding information of the audio signal, and controls the execution system of the vehicle to execute the vehicle action, so that the vehicle can realize the interaction between the vehicle and the user according to the audio signal, meet more user needs, and improve the user experience.

[0008] In one embodiment, the wing spreading includes at least one of door opening, door waving, door closing, window lifting and rearview mirror action.

[0009] In one embodiment, the bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

[0010] In one embodiment, the shaking includes at least one of vehicle body single wheel lifting, vehicle body pitching, vehicle body rolling, and vehicle body up and down lifting.

[0011] In one embodiment, the rotation includes at least one of rotation in place and rotation of a fixed wheel.

[0012] In one embodiment, the audio signal is determined according to the selected music file.

[0013] In one embodiment, the music file is determined by a vehicle input component according to a selection instruction, and / or the music file is determined by a terminal device in communication connection with the vehicle according to a selection instruction.

[0014] In one embodiment, the decoded information of the audio signal includes the beat of the audio signal.

[0015] In one embodiment, the vehicle motion is determined based on a combination of multiple beats of the audio signal.

[0016] In one embodiment, the vehicle action is determined based on a preset relationship between beat and action and the beat of the audio signal.

[0017] In one embodiment, the vehicle action is determined by a cloud server according to the beat of the audio signal.

[0018] In one embodiment, the vehicle action is set with a duration, and the combination of the multiple beats is determined according to the duration of the vehicle action.

[0019] In one embodiment, the control method further includes:

[0020] Before the vehicle action is performed, controlling the vehicle to lock, and / or;

[0021] Before the vehicle action is executed, a prompt message for confirming the surrounding safety is issued;

[0022] In response to a confirmation instruction for the prompt information, an execution system of the vehicle is controlled to execute the vehicle action.

[0023] In one embodiment, the control method further includes:

[0024] During the execution of the vehicle action, when an abnormal situation occurs in the vehicle, the vehicle is controlled to stop executing the vehicle action.

[0025] In one embodiment, the abnormal condition is determined by the intelligent driving system of the vehicle based on collected environmental parameters.

[0026] In one embodiment, the actuator system includes a door system, a lighting system, an active suspension system, and a wheel steering system.

[0027] A control device for a vehicle according to an embodiment of the present application includes a controller, wherein the controller is configured to be electrically connected to an execution system of the vehicle, and the controller is used to implement the steps of the control method of any of the above embodiments.

[0028] A vehicle according to an embodiment of the present application includes the vehicle control device according to the above embodiment.

[0029] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of any of the above embodiments is implemented.

[0030] The control device, vehicle and computer-readable storage medium of the above-mentioned vehicle obtain the decoding information of the audio signal, and obtain the vehicle action according to the decoding information of the audio signal, and control the execution system of the vehicle to execute the vehicle action, so that the vehicle can realize the interaction between the vehicle and the user according to the audio signal, meet more needs of the user, and improve the user experience.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0034] Figure 2 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0035] Figure 3 is another structural schematic diagram of a vehicle according to an embodiment of the present application;

[0036] Figure 4 is a schematic structural diagram of a shock absorber according to an embodiment of the present application;

[0037] Figure 5 It is a flow chart of a vehicle in-situ steering control method according to an embodiment of the present application;

[0038] Figure 6 It is a schematic diagram of the algorithm flow of fuzzy PID in the implementation mode of the present application;

[0039] Figure 7 is a schematic diagram of the yaw moment and wheel track of a vehicle in an embodiment of the present application;

[0040] Figure 8 is a schematic diagram of a kingpin center offset of a vehicle in an embodiment of the present application;

[0041] Figures 9 and 10 Schematic diagram of the process of rotation and transverse movement of the fixed wheels of a vehicle according to an embodiment of the present application;

[0042] Figure 11 to Figure 12It is a schematic diagram of the force application of the fixed wheel rotation and lateral movement of the vehicle in the embodiment of the present application;

[0043] Fig.13 is another schematic diagram of the process of rotation and transverse movement of the fixed wheel of the vehicle according to the embodiment of the present application;

[0044] Fig.14 It is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present application.

[0045] Description of main component reference numerals:

[0046] Vehicle 100, execution system 12, suspension controller 13, vehicle body 14, wheel 16, suspension structure 18, elastic element 20, shock absorber 24, fluid pump 26, motor 28, outer cylinder assembly 30, piston rod 32, piston assembly 34, upper chamber 36, lower chamber 38, first port 40, second port 42, control device 200, controller 202, processor 204, memory 206. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0048] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0049] The disclosure of this article provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described herein. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or settings discussed in itself. In addition, the various specific processes and examples of materials provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0050] See also Figure 1and Figure 2 , a control method of a vehicle 100 provided in an embodiment of the present application includes:

[0051] 101, obtaining decoded information of the audio signal, and obtaining a vehicle action according to the decoded information of the audio signal, where the vehicle action includes at least one of spreading wings, lighting, shaking, jumping, lateral movement, and rotation;

[0052] 103 , the execution system 12 of the vehicle 100 is controlled to execute vehicle actions.

[0053] The control method of the above-mentioned vehicle 100 obtains the decoding information of the audio signal, and obtains the vehicle action according to the decoding information of the audio signal, and controls the execution system 12 of the vehicle 100 to execute the vehicle action, so that the vehicle 100 can realize the interaction between the vehicle 100 and the user according to the audio signal, meet more user needs, and improve the user experience.

[0054] Specifically, the vehicle 100 includes but is not limited to a pure electric vehicle, a hybrid vehicle, an extended-range electric vehicle, a fuel vehicle, and the like.

[0055] The audio signal may come from the music playing software of the in-vehicle entertainment system, or from the audio played by other devices in the environment of the vehicle 100, or from a terminal device that is connected to the vehicle 100 for communication, and the terminal device includes but is not limited to a mobile phone, a tablet computer, a wearable smart device (smart watch, smart helmet, smart glasses, etc.), a personal computer, etc. The vehicle 100 may be connected to the terminal device via wireless communication. In one embodiment, an audio signal acquisition request may be sent to the music playing software of the in-vehicle entertainment system or the terminal device, and the music playing software or the terminal device determines the audio signal according to the audio signal acquisition request.

[0056] Alternatively, the audio signal may be decoded by a processing component of the vehicle 100 , including but not limited to an electronic control unit (ECU), an in-vehicle entertainment system, and the like.

[0057] Optionally, the audio signal can be decoded by a cloud server. The cloud server can be wirelessly connected to the vehicle 100. After the cloud server decodes the audio signal, it transmits the decoded information of the audio signal to the vehicle 100, so that the vehicle 100 can obtain the decoded information of the audio signal. The wireless communication connection method between the cloud server and the vehicle 100 includes but is not limited to a wireless network (such as WIFI), a mobile communication network, etc.

[0058] Optionally, the audio signal can be decoded by the terminal device. The terminal device can be wirelessly connected to the vehicle 100. After the terminal device decodes the audio signal, it transmits the decoded information of the audio signal to the vehicle 100, so that the vehicle 100 can obtain the decoded information of the audio signal. The wireless communication connection method between the terminal device and the vehicle 100 includes but is not limited to wireless networks (such as WIFI), mobile communication networks, etc. Optionally, the terminal device can be directly wirelessly connected to the vehicle 100. Optionally, the terminal device can be wirelessly connected to the vehicle 100 through a cloud server or other server.

[0059] The vehicle 100 may include a control device 200 of the vehicle 100 and an execution system 12. The control device 200 of the vehicle 100 is electrically connected to the execution system 12. The execution system 12 includes a door system, a lamp system, an active suspension system, and a wheel steering system. The control device 200 of the vehicle 100 may obtain a vehicle motion according to the decoded information of the audio signal. The vehicle motion includes at least one of wing spreading, bright light, shaking, jumping, lateral movement, and rotation.

[0060] In one embodiment, the door system may include a door controller and an electric door assembly, the electric door assembly includes a door driver and a door, the door controller may be electrically connected to the door driver and the control device 200 of the vehicle 100, and the door driver may be connected to the door. When the control device 200 of the vehicle 100 obtains that the vehicle action includes a wing-spreading action, it may send a wing-spreading action control signal to the door controller, the door controller sends a drive signal to the door driver according to the wing-spreading action control signal, and the door driver drives the door to perform the wing-spreading action according to the drive signal. Optionally, the wing-spreading action control signal may control one or more doors to perform the wing-spreading action. In one embodiment, the vehicle 100 may include a tail wing, and the wing-spreading action control signal may control the action of the tail wing, for example, controlling the tail wing to open, the tail wing to close, the tail wing to wave, and other actions.

[0061] In one embodiment, the vehicle light system may include a vehicle light controller and a vehicle light, and the vehicle light controller may be electrically connected to the vehicle light and the control device 200 of the vehicle 100. When the control device 200 of the vehicle 100 acquires that the vehicle action includes a bright light action, it may send a bright light action control signal to the vehicle light controller, and the vehicle light controller sends a driving signal to the vehicle light according to the bright light action control signal, so that the vehicle light performs the bright light action.

[0062] In one embodiment, see Figure 2 and Figure 3The vehicle 100 includes a vehicle body 14 and a plurality of wheels 16, wherein the wheels 16 are connected to a swing arm and a steering knuckle, and the active suspension system 12 may include a suspension controller 13 and at least one suspension structure 18, wherein the suspension controller 13 is electrically connected to a control device 200 of the vehicle 100, and the suspension structure 18 may be connected to the wheels 16 in a manner of being fixed to a swing arm or a steering knuckle. Each wheel 16 may be connected to the vehicle body 14 via a suspension structure 18. The active suspension system 12 may independently control each suspension structure 18 to perform vehicle actions.

[0063] Please refer to Figure 3 to Figure 4 Each suspension structure 18 includes an elastic element 20, a shock absorber 24, a fluid pump 26 and a motor 28. The suspension controller 13 is electrically connected to the motor. The shock absorber 24 includes an outer cylinder assembly 30, a piston rod 32 and a piston assembly 34. An upper chamber 36 and a lower chamber 38 are provided in the outer cylinder assembly 30. The upper chamber 36 and the lower chamber 38 are filled with fluid. The piston rod 32 connects the piston assembly 34 and the vehicle body 14. The piston assembly 34 separates the upper chamber 36 from the lower chamber 38. The fluid pump 26 can be a bidirectional fluid pump 26. The fluid pump 26 has a first port 40 and a second port 42. The first port 40 and the second port 42 are connected to the upper chamber 36 and the lower chamber 38 respectively. The motor 28 can drive the fluid pump 26 to operate. For example, when the motor 28 rotates in a first direction, the fluid pump 26 is driven to transport the fluid from the lower chamber 38 to the upper chamber 36. When the motor 28 rotates in a second direction, the fluid pump 26 is driven to transport the fluid from the upper chamber 36 to the lower chamber 38. The first direction is opposite to the second direction. The motor 28 may be a three-phase AC motor 28 .

[0064] The upper end of the piston rod 32 and the upper end of the elastic element 20 can be connected to the vehicle body 14, and the lower end of the piston rod 32 and the lower end of the elastic element 20 can be connected to the swing arm or steering knuckle, and then connected to the wheel 16, so that the shock absorber 24 and the elastic element 20 are connected between the vehicle body 14 and the wheel 16.

[0065] When the fluid in the lower chamber 38 is transported to the upper chamber 36, the fluid pressure in the upper chamber 36 presses down the piston assembly 34, and the piston assembly 34 drives the piston rod 32 to move downward, so that the vehicle body 14 presses down the elastic element 20, lowers the height of the vehicle body 14, and realizes the downward pressing action of the vehicle body 14. The elastic element 20 is compressed and stores elastic potential energy. The vehicle body 14 can maintain the current height.

[0066] When the fluid in the upper chamber 36 is transported to the lower chamber 38, the fluid pressure of the lower chamber 38 pushes up the piston assembly 34, and the piston assembly 34 drives the piston rod 32 to move upward. The piston rod 32 accelerates the vehicle body 14 upward, and the elastic potential energy stored in the elastic element 20 is released, and the elastic element 20 accelerates the vehicle body 14 upward. Under the dual acceleration action of the shock absorber 24 and the elastic element 20, the vehicle body 14 is driven upward to increase the height of the vehicle body 14, thereby realizing the lifting action of the vehicle body 14, and when the wheel 16 is not off the ground, the vehicle body 14 can be maintained at the current height.

[0067] The suspension controller 13 can adjust the rotation direction and rotation speed of the motor 28 to operate the shock absorber 24 to realize the active suspension system 12 to perform a shaking or jumping action. The pressing and lifting actions of the vehicle body 14 can realize the shaking or jumping of the vehicle 100. For example, lifting the vehicle body 14 without driving the wheels 16 off the ground can be called lifting, and lifting the vehicle body 14 to drive the wheels 16 off the ground can be called jumping. When the vehicle body 14 is pressed down and / or raised, the shaking of the vehicle 100 can be realized. When the vehicle body 14 drives the four wheels to jump, the jumping of the vehicle 100 can be realized.

[0068] Optionally, a suspension structure 18 is connected between each wheel 16 and the vehicle body 14 , and at each wheel 16 , the vehicle body 14 can achieve both a downward movement and a upward movement.

[0069] When the motor 28 drives the shock absorber 24 at a relatively high rotation speed (rotation speed), the shock absorber 24 can be retracted faster and shorter, or extended longer and faster. The shock absorber 24 retracts faster and shorter, so that the elastic element 20 is compressed shorter and faster, and the elastic element 20 can store more elastic potential energy in a short time, so that the vehicle body 14 can respond to the descent more quickly. The shock absorber 24 extends longer and faster, so that the elastic element 20 is released faster, the elastic potential energy is released faster, and the vehicle body 14 can respond to the lift more quickly.

[0070] The rotation direction and speed of the motor 28 can be adjusted according to the amplitude of the shaking or jumping, and then the height and speed of the vehicle body 14 can be controlled to be lifted, and the height and speed of the vehicle body 14 can be controlled to be lowered, so that the shock absorber 24 can be operated to realize the shaking or jumping action of the active suspension system 12. The shaking or jumping amplitude and the rotation direction and speed of the motor 28 can be pre-calibrated and stored by means including but not limited to simulation, testing, etc., or can be pre-calibrated according to the decoded information of the audio signal.

[0071] It is understandable that in other embodiments, the suspension structure 18 is not limited to the above structure, and may be other suspension structures 18 that can adjust the height of the vehicle body 14 (increase and decrease the height of the vehicle body 14).

[0072] When the control device 200 of the vehicle 100 obtains that the vehicle motion includes a shaking or jumping motion, it can send a shaking or jumping motion control signal to the suspension controller 13. The suspension controller 13 sends a driving signal to the motor 28 according to the shaking or jumping motion control signal, so that the motor 28 drives the shock absorber 24 to perform the shaking or jumping motion. Optionally, the shaking or jumping motion control signal can control one or more suspension structures 18 to perform the shaking or jumping motion.

[0073] In one embodiment, the vehicle 100 is a four-wheel independent drive vehicle 100, also known as a 4WID (Four Wheel Independent Drive) vehicle 100, which is a vehicle 100 using a distributed drive system. Different from the traditional front-wheel or rear-wheel drive mode, the four wheels 16 of the four-wheel independent drive electric vehicle are equipped with independent drive motors, which can control the driving force and steering angle of each wheel 16 respectively, thereby achieving more flexible and efficient movement and control of the vehicle 100.

[0074] Specifically, the wheel steering system includes a steering controller, a front axle motor and a rear axle motor, and the steering controller is electrically connected to the front axle motor and the rear axle motor. The front axle motor includes a left front wheel drive motor and a right front wheel drive motor. The rear axle motor includes a left rear wheel drive motor and a right rear wheel drive motor.

[0075] The steering controller can control the driving torque of the left front wheel drive motor, the driving torque of the right front wheel drive motor, the driving torque of the left rear wheel drive motor and the driving torque of the right rear wheel drive motor to realize in-situ rotation, fixed wheel rotation and lateral movement.

[0076] Regarding rotation in situ, the present application embodiment provides a method for turning in situ of a vehicle 100, such as Figure 5 As shown, the method includes the following S1100 and S1200:

[0077] S1100 , when the vehicle 100 is in an in-place steering mode, determine a target yaw moment of the vehicle 100 according to state information of the vehicle 100 .

[0078] The state information of the vehicle 100 includes a difference and a rate of change of the difference, and the difference is the difference between the target yaw rate and the current yaw rate;

[0079] The rate of change of the difference is the amount by which the difference changes over time.

[0080] Specifically, when the vehicle action includes an in-situ rotation action, the control device 200 of the vehicle 100 can control the vehicle 100 to be in an in-situ steering mode, and in the in-situ steering mode, the vehicle 100 can perform an in-situ rotation action. The target yaw rate can be set to the desired yaw rate when the vehicle 100 performs an in-situ steering action. Different vehicles 100 can set the same or different target yaw rates, or the target yaw rate can be set according to the model of the vehicle 100. This application does not specifically limit this.

[0081] In the embodiment of the present application, a yaw rate sensor may be provided on the vehicle body 14, and the current yaw rate of the vehicle 100 may be obtained based on the yaw rate sensor. Of course, the current yaw rate may also be calculated by other parameters of the vehicle 100. This application does not make any specific limitation on this.

[0082] In the implementation manner of the present application, the above difference can be obtained by the following formula 1.

[0083] e ωr (t) = ω rd -ω r (Formula 1);

[0084] Among them, e ωr (t) represents the difference between the target yaw rate and the current yaw rate. rd It represents the target yaw rate. r It represents the current yaw rate.

[0085] In the embodiment of the present application, the above difference change rate Δe can be obtained according to the following formula 2: ωr (t):

[0086]

[0087] In the embodiment of the present application, when the vehicle 100 is turning in place, the change rate of the yaw angular velocity under different adhesion coefficients is different for the same yaw moment. Therefore, the present application uses the difference change rate as one of the parameters for determining the required target yaw moment, so that the target yaw moment of the present application can be matched with the adhesion coefficient of the current ground where the vehicle 100 is located.

[0088] On the basis of the above, when the state information of the vehicle 100 includes the difference and the rate of change of the difference, a target yaw moment matching the adhesion coefficient of the current ground where the vehicle 100 is located can be determined according to the state information of the vehicle 100 .

[0089] In one embodiment of the present application, the above S1100 may be implemented by the following S1110 and S1111:

[0090] S1110. Determine the control parameters at the current moment according to the difference and the rate of change of the difference.

[0091] In one embodiment of the present application, the control parameters include: a proportional coefficient, a differential coefficient and an integral coefficient. On this basis, the control parameters at the current moment include: a proportional coefficient at the current moment, a differential coefficient at the current moment and an integral coefficient at the current moment.

[0092] In one embodiment of the present application, the difference, the rate of change of the difference and the change amount of the control parameter have a corresponding relationship. On this basis, the above S1110 can be implemented by the following S1110-1 and S1110-2:

[0093] S1110-1. Determine the change amount of the control parameter at the current moment according to the corresponding relationship.

[0094] In an embodiment of the present application, when the control parameters at the current moment include the proportional coefficient at the current moment, the differential coefficient at the current moment and the integral coefficient at the current moment, the change in the control parameters at the current moment in the above S1110-1 is specifically: the change in the proportional coefficient at the current moment, the change in the differential coefficient at the current moment and the change in the integral coefficient at the current moment.

[0095] In the implementation manner of the present application, the corresponding relationship in the above S1110-1 can be obtained by the vehicle 100 developer based on simulation experiments. In one implementation manner, the corresponding relationship in the above S1110-1 obtained by the vehicle 100 developer based on simulation experiments is shown in the following Table 1:

[0096] Table 1

[0097]

[0098] Among them, △Kp in Table 1 is the change amount of the proportional coefficient in the control parameter, △Ki is the change amount of the integral coefficient in the control parameter, and △Kd is the change amount of the differential coefficient in the control parameter;

[0099] like Figure 6 As shown in Table 1, △Kp, △Ki, and △Kd can be obtained by converting Δe ωr (t) and e ωr (t) is input into the fuzzy controller.

[0100] NB, NS, ZE, PS, and PB are the fuzzy subsets corresponding to the fuzzy controller, representing negative large, negative small, zero, positive small, and positive large, respectively.

[0101] Based on the corresponding relationship shown in Table 1, the specific values ​​of ΔKP, ΔKi, and ΔKd are determined according to the fuzzy rules and membership functions. ωr (t), Δeωr (t) uses the same membership function, and similarly ΔKP, ΔKi, and ΔKd also use the same membership function.

[0102] S1110-2. Determine the control parameter at the current moment according to the control parameter at the previous moment and the change in the control parameter at the current moment.

[0103] In the implementation manner of the present application, when the control parameters include: a proportional coefficient, an integral coefficient, and a differential coefficient, the specific implementation of the above S1110-2 is: taking the sum of the proportional coefficient at the previous moment and the change amount of the proportional coefficient at the current moment as the proportional coefficient at the current moment;

[0104] The sum of the integral coefficient at the previous moment and the integral coefficient change at the current moment is taken as the integral coefficient at the current moment;

[0105] The sum of the differential coefficient at the previous moment and the change in the differential coefficient at the current moment is taken as the differential coefficient at the current moment.

[0106] It is understandable that at the initial moment when the vehicle 100 turns in place, the control parameter of the previous moment does not exist. Therefore, in this embodiment, the control parameter at the initial moment when the vehicle 100 turns in place is set to a preset value. That is, the control parameter at the initial moment when the vehicle 100 enters the turning in place mode is a preset value. Among them, the preset value is the control parameter when the vehicle 100 is on the ground with the maximum adhesion coefficient or the control parameter when the vehicle 100 is on the ground with the minimum adhesion coefficient, which can be obtained based on experience. When the preset value is the control parameter when the vehicle 100 is on the ground with the maximum adhesion coefficient, the control parameter at the current moment is reduced on the basis of the preset value, and when the preset value is the control parameter when the vehicle 100 is on the ground with the minimum adhesion coefficient, the control parameter at the current moment is increased on the basis of the preset value.

[0107] S1111. Determine the target yaw moment according to the difference and the control parameters at the current moment.

[0108] In one embodiment of the present application, the above S1111 may be implemented by the following S1111-1:

[0109] S1111-1. Determine the target yaw moment using a PID controller based on the difference and the control parameters at the current moment.

[0110] In this embodiment, if Figure 6 As shown, the difference, the rate of change of the difference and the control parameters at the current moment can be input into the PID controller to determine the target yaw moment. The calculation process of the PID controller can be shown in the following formula 3:

[0111]

[0112] Among them, Kp is the proportional coefficient at the current moment, Ki is the integral coefficient at the current moment, and Kd is the differential coefficient at the current moment.

[0113] S1200 , controlling the vehicle 100 to achieve on-the-spot steering according to the target yaw moment.

[0114] In this embodiment, since the target yaw moment matches the adhesion coefficient of the ground on which the vehicle 100 is currently located, when the vehicle 100 is controlled to achieve on-the-spot steering according to the target yaw moment, on-the-spot steering can be completed. This ensures that the vehicle 100 can complete on-the-spot steering on grounds with different adhesion coefficients. In other words, the embodiment of the present application provides an on-the-spot steering method that is adaptive to the adhesion coefficient of the ground on which the vehicle 100 is currently located.

[0115] In the implementation of the present application, when the vehicle 100 is turning in place, the change rate of the yaw angular velocity under different adhesion coefficients of the same yaw moment is different. Therefore, the present application uses the difference change rate as one of the parameters to determine the required target yaw moment, so that the target yaw moment of the present application can be matched with the adhesion coefficient of the current ground of the vehicle 100, thereby realizing adaptive turning in place. That is to say, the control method for turning in place of the vehicle 100 provided by the implementation of the present application can realize the vehicle 100 turning in place under different adhesion coefficients. It can ensure that the vehicle 100 can turn in place on the ground with different adhesion coefficients. In addition, the control method takes into account the influence of the difference change rate and adjusts the target yaw moment in real time, thereby improving the response speed of the yaw angular velocity, reducing the fluctuation, and improving the technical defect of large fluctuation of the yaw angular velocity change caused by the rough control method.

[0116] In one embodiment of the present application, the above S1200 may be implemented by the following S1210-S1212:

[0117] S1210. Determine a front axle distribution parameter and a rear axle distribution parameter according to the front axle load and the rear axle load.

[0118] In the embodiment of the present application, the front axle load includes the left front wheel vertical load and the right front wheel vertical load. The rear axle load includes the left rear wheel vertical load and the right rear wheel vertical load.

[0119] The front axle distribution parameter may be the proportion of the front axle load in the total load, and the rear axle distribution parameter may be the proportion of the rear axle load in the total load, wherein the total load is the sum of the front axle load and the rear axle load.

[0120] In combination with the above content, the above S1210 can be implemented by the following formula 4 and formula 5:

[0121]

[0122]

[0123] Among them, F Zfl is the vertical axle load of the left front wheel;

[0124] F Zfr is the vertical axle load of the right front wheel;

[0125] F Zrl is the vertical load on the left rear wheel;

[0126] F Zrr is the vertical load on the right rear wheel;

[0127] n1 is the proportion of the front axle load in the total load, i.e., the front axle distribution parameter;

[0128] n2 is the proportion of the rear axle load in the total load, that is, the rear axle distribution parameter.

[0129] S1211. Determine the driving torque of the front axle motor according to the front axle distribution parameter and the target yaw moment to control the front axle motor.

[0130] In this embodiment, the front axle motor includes a left front wheel drive motor and a right front wheel drive motor. That is to say, the driving torque of the front axle motor includes the driving torque of the left front wheel drive motor and the driving torque of the right front wheel drive motor. On this basis, the above S1211 can be implemented by the following formula 6:

[0131]

[0132] Among them, T fr is the right front wheel drive torque, T fl is the left front wheel driving torque, B is the wheel track, and R is the wheel rolling radius. It should be noted that the wheel track B and the wheel rolling radius R are fixed parameters of the vehicle 100. The positive and negative of the driving torque of the driving motor indicates the direction of the driving force. When the driving torque of the driving motor is positive, the driving force is forward, and when the driving torque of the driving motor is negative, the driving force is backward.

[0133] Among them, the wheel track B is as follows Figure 7 shown.

[0134] After the left front wheel driving torque and the right front wheel driving torque are obtained, the left front wheel driving motor is controlled to drive according to the left front wheel driving torque, and the right front wheel driving motor is controlled to drive according to the right front wheel driving torque.

[0135] S1212: Determine the driving torque of the rear axle motor according to the rear axle distribution parameter and the target yaw moment to control the rear axle motor.

[0136] In this embodiment, the rear axle motor includes a left rear wheel drive motor and a right rear wheel drive motor. That is to say, the driving torque of the rear axle motor includes the driving torque of the left rear wheel drive motor and the driving torque of the right rear wheel drive motor. On this basis, the above S1211 can be implemented by the following formula 7:

[0137]

[0138] Among them, T rr is the right rear wheel driving torque, T rl is the left rear wheel driving torque, B is the wheel track, and R is the wheel rolling radius.

[0139] After the left rear wheel driving torque and the right rear wheel driving torque are obtained, the left rear wheel driving motor is controlled to drive according to the left rear wheel driving torque, and the right rear wheel driving motor is controlled to drive according to the right rear wheel driving torque.

[0140] In the embodiment of the present application, the driving torque of each driving motor in the vehicle 100 is determined by the front axle load and the rear axle load, which conforms to the motion characteristics of the vehicle 100 .

[0141] In one embodiment of the present application, the method for controlling the vehicle 100 to turn in situ provided by the embodiment of the present application further includes the following steps S1300 and S1400:

[0142] S1300: Obtain an on-site turning instruction.

[0143] In this embodiment, the on-site turning instruction is used to indicate the turning direction of the vehicle 100 when turning on the spot. Specifically, when the vehicle action includes an on-site rotation action, the control device 200 of the vehicle 100 can send an on-site turning instruction to the steering controller, and the steering controller performs the on-site rotation action according to the on-site turning instruction. The on-site turning instruction can specifically indicate that the vehicle 100 turns in a clockwise direction when turning on the spot, or indicates that the vehicle 100 turns in a counterclockwise direction when turning on the spot.

[0144] In the implementation manner of the present application, the specific implementation of the above S1300 is similar to the specific implementation of the method for obtaining the on-the-spot turning mode in the above S1100, and will not be repeated here.

[0145] S1400. Determine a target yaw moment direction according to the on-the-spot steering direction indicated by the on-the-spot steering instruction.

[0146] In this embodiment, if Figure 7 As shown, when the on-site turning direction instruction instructs the vehicle 100 to turn counterclockwise when turning on the spot, the direction of the target yaw moment ΔM is determined to be counterclockwise, represented by a positive value; Figure 7As shown, when the on-site turning instruction instructs the vehicle 100 to turn in the clockwise direction when turning on the spot, the direction of the yaw moment ΔM is determined to be clockwise, which is represented by a negative value.

[0147] On the basis of the above contents, when ΔM is a positive value, the driving torque of the front axle motor in the above S1210 is achieved by the above formula six, and the driving torque of the rear axle motor is achieved by the above formula seven.

[0148] When ΔM is a negative value, the driving torque of the front axle motor in the above-mentioned S1210 is achieved by the following formula eight, and the driving torque of the rear axle motor is achieved by the following formula nine.

[0149]

[0150]

[0151] Based on the above formulas 6 to 9, it can be achieved that the on-site turning direction of the vehicle 100 when turning on the spot is consistent with the on-site turning direction indicated by the on-site turning instruction.

[0152] In one embodiment of the present application, the method for controlling on-site steering of the vehicle 100 provided in the embodiment of the present application further includes the following S1500-S1700:

[0153] S1500: Lock the steering wheel according to the on-the-spot steering instruction.

[0154] In the implementation of the present application, the above S1500 is specifically implemented as follows: when an in-situ steering instruction is obtained, the steering wheel is locked. In one embodiment, the manner of locking the steering wheel is specifically as follows: locking the steering wheel back to the center.

[0155] S1600: Determine the resultant torque of the steering motor according to the target yaw torque. The resultant torque of the steering motor is used to balance the torque of the left and right wheels rotating around the kingpin due to different driving forces, thereby avoiding the on-site steering deviation caused by the rotation of the wheels.

[0156] In this embodiment, the steering motor includes at least one of a front axle steering motor and a rear axle steering motor. On this basis, the vehicle 100 in-situ steering control method provided in the embodiment of the present application also includes the following S1610:

[0157] S1610. Determine at least one of a front axle steering motor adjustment parameter and a rear axle steering motor adjustment parameter according to the front axle load and the rear axle load.

[0158] In this embodiment, the front axle steering motor adjustment parameter is consistent with the above-mentioned front axle distribution parameter. The rear axle steering motor adjustment parameter is consistent with the above-mentioned rear axle distribution parameter.

[0159] Based on the above S1610, the above S1600 is implemented through the following S1620 and S1621:

[0160] S1620: Determine the resultant torque of the front axle steering motor according to the target yaw torque and the front axle steering motor adjustment parameter.

[0161] S1621. Determine the resultant torque of the rear axle steering motor according to the target yaw torque and the rear axle steering motor adjustment parameter.

[0162] The resultant torque of the front axle steering motor in the above S1620 can be realized by the following formula 10:

[0163]

[0164] Furthermore, the resultant torque of the rear axle steering motor in the above S1621 can be realized by the following formula 11:

[0165]

[0166] Wherein, Tmf is the resultant torque of the front axle steering motor in the vehicle 100, d is the kingpin center offset, Tmr is the resultant torque of the rear axle steering motor in the vehicle 100, and d is as follows: Figure 8 as shown in .

[0167] S1700: Control the steering motor according to the resultant torque.

[0168] During the on-site steering process of the vehicle 100, the wheels will turn due to the different directions of the left and right driving forces, thereby causing the wheels to rotate around the kingpin, and then causing the on-site steering deviation of the vehicle 100. The present application uses the steering motor to perform real-time compensation according to the target yaw moment, thereby reducing the impact of wheel steering on the on-site steering.

[0169] The resultant torque of the front axle steering motor or the rear axle steering motor can make the direction of the torque generated by the wheel opposite to the wheel steering direction caused by the different directions of the left and right wheel driving forces. When the vehicle 100 turns counterclockwise on the spot, the wheel tends to rotate counterclockwise around the kingpin. At this time, the resultant torque of the front axle steering motor or the rear axle steering motor can make the wheel rotate clockwise, thereby reducing the wheel steering caused by the different directions of the driving torque.

[0170] When the vehicle 100 turns clockwise on the spot, the wheels tend to rotate counterclockwise around the kingpin. At this time, the combined torque of the front axle steering motor or the rear axle steering motor can cause the wheels to rotate counterclockwise, thereby reducing the wheel steering caused by the different directions of the driving torque.

[0171] In the embodiment of the present application, on the one hand, the resultant torque of the steering motor in the vehicle 100 is determined by the front axle load and the rear axle load, which conforms to the motion characteristics of the vehicle 100. On the other hand, in the in-situ steering mode, the steering wheel of the vehicle 100 is controlled to be locked, and the steering compensation of the vehicle 100 is performed by controlling the steering motor according to the resultant torque. This can prevent the lateral force of the wheel caused by the friction between the wheel and the ground from driving the steering wheel to rotate when the wheel is turning in-situ, and further, it can prevent the wheel from running off, which makes it impossible to achieve in-situ steering of the vehicle 100.

[0172] In one embodiment of the present application, in combination with the above content, such as Figure 6 As shown, when the front axle motor is controlled according to the driving torque of the front axle motor, the rear axle motor is controlled according to the driving torque of the rear axle motor, the front axle steering motor is controlled according to the combined torque of the front axle steering motor, and the rear axle steering motor is controlled according to the combined torque of the rear axle steering motor, the current yaw rate of the vehicle 100 changes. At this time, the process returns to the above step S1100, and the vehicle 100 will continue to turn in place.

[0173] Regarding fixed wheel rotation, fixed wheel rotation may refer to the vehicle 100 rotating around one of the wheels 16. Specifically, fixed wheel rotation may include at least one of the vehicle 100 rotating around the right front wheel, the vehicle 100 rotating around the left front wheel, the vehicle 100 rotating around the right rear wheel, and the vehicle 100 rotating around the left rear wheel.

[0174] Please combine Fig. 9 , when the vehicle 100 switches from state 1 to state 2, the vehicle 100 rotates counterclockwise around the right front wheel. Fig.10 When switching from state 2 to state 3, the vehicle 100 rotates clockwise around the right rear wheel.

[0175] like Fig.11 As shown, to achieve the transformation from state 1 to state 2, it is necessary to apply driving force to the right rear wheel and the left rear wheel. The vector directions are equal in magnitude and opposite in direction. The driving force of the right rear wheel is F f1 , direction is the front direction of the vehicle; the left rear wheel is F f2 , the direction is the rear direction. The right front wheel is locked, the left front wheel does not apply driving force and the brake is released, then:

[0176] |F f1 |=|F f2 |;

[0177] Among them: F f1 , F f2 They are the driving forces for the right rear wheel and the left rear wheel respectively.

[0178] Assuming that the wheelbase of the vehicle 100 is L, the torque Δω1 generated by the driving force on the rotation process is calculated as:

[0179] Δω1=F f2 L. The torque Δω1 can cause the vehicle 100 to rotate counterclockwise around the right front wheel.

[0180] like Fig.12 As shown, to achieve the transformation from state 2 to state 3, it is necessary to apply driving force to the left front wheel and the right front wheel. The vector directions are equal in magnitude and opposite in direction. The driving force of the left front wheel is F f3 , direction is the front direction of the vehicle; the right front wheel is F f4 , the direction is the rear direction of the vehicle. The right rear wheel is locked, the left rear wheel does not apply driving force and the brake is released, then:

[0181] |F f3 |=|F f4 |;

[0182] Among them: F f3 , F f4 are the driving forces of the left front wheel and the right front wheel respectively;

[0183] The torque Δω2 generated by the driving force on the rotation process:

[0184] Δω2=F f3 L. The moment Δω2 causes the vehicle 100 to rotate clockwise about the right rear wheel.

[0185] The explanation of the embodiments of the vehicle 100 rotating around the left front wheel and the vehicle 100 rotating around the left rear wheel can refer to the explanation of the embodiments of the vehicle 100 rotating around the right rear wheel and the vehicle 100 rotating around the right front wheel, which will not be elaborated here.

[0186] Regarding the lateral movement, the lateral movement (left-right lateral movement) may include at least one of the vehicle 100 lateral movement to the left and the vehicle 100 lateral movement to the right.

[0187] In one embodiment, the vehicle 100 may move sideways to the right including a phase 1 and a phase 2. Phase 1 is when the vehicle 100 switches from state 1 to state 2 and then switches from state 2 to state 3. Phase 1 may refer to Fig.10 Phase 2 is when the vehicle 100 switches from state 4 to state 5 and then switches from state 5 to state 6. Fig.13 The lateral displacement distance is correlated (positively correlated) with the rotation angle of the vehicle 100, and the forward displacement distance is also positively correlated with the rotation angle. The posture of the vehicle 100 in state 4 is consistent with that in state 3.

[0188] The second stage of the lateral movement is similar to the first stage, and the first stage and the second stage can be a cycle. After the first stage, the positive displacement in the longitudinal axis direction of the vehicle 100 (along the front direction of the vehicle) and the negative displacement generated in the second stage offset each other, thereby achieving the effect of the translation of the vehicle 100, so as to realize the lateral movement of the vehicle 100 from left to right.

[0189] In one embodiment, the traverse may include phase one or phase two.

[0190] As can be seen from the above, the lateral movement may include a combination of several fixed wheel rotation actions. The explanation of the embodiment of the lateral movement of the vehicle body 14 from right to left can refer to the explanation of the embodiment of the lateral movement of the vehicle body 14 from left to right, which will not be elaborated in detail here.

[0191] The vehicle motion includes at least one of wing spreading, bright light, shaking, jumping, lateral movement and rotation. In one embodiment, the vehicle motion includes wing spreading, bright light, shaking, jumping, lateral movement or rotation. In one embodiment, the vehicle motion includes a combination of two or more of wing spreading, bright light, shaking, jumping, lateral movement and rotation.

[0192] In one embodiment, the wing spreading includes at least one of door opening, door waving, door closing, window lifting and rearview mirror action.

[0193] Thus, the wing spreading action can be achieved by the door action.

[0194] Specifically, the vehicle door includes a door body and a rearview mirror arranged on the door body, and the rearview mirror is an electric rearview mirror. The electric rearview mirror includes a rearview mirror and a rearview mirror driver, and the rearview mirror driver can control the folding and opening of the rearview mirror. The rearview mirror action includes the folding and opening of the rearview mirror.

[0195] In one embodiment, when the wing-spreading motion control signal includes a door opening signal, the door controller may control the corresponding door driver to drive the corresponding door to open. Optionally, the door opening may be a slow door opening, which means that the speed of the door opening is less than the speed of the door opening in normal vehicle use.

[0196] In one embodiment, when the wing-spreading motion control signal includes a door waving signal, the door controller may control a corresponding door driver to drive the corresponding door to swing back and forth to achieve the waving motion.

[0197] In one embodiment, when the wing-spreading motion control signal includes a door closing signal, the door controller may control the corresponding door driver to drive the corresponding door to close.

[0198] In one embodiment, when the wing-spreading motion control signal includes a window lifting signal, the door controller may control a corresponding window driver to drive the corresponding window to lift.

[0199] In one embodiment, when the wing-spreading motion control signal includes a rearview mirror motion signal, the door controller may control a corresponding rearview mirror driver to drive a corresponding rearview mirror to perform a rearview mirror motion.

[0200] In one embodiment, when the wing-spanning motion control signal includes a combination of two or more of the above motion control signals, the motion control signals may be executed in a certain order, or simultaneously when the motions do not conflict. The order may include but is not limited to a randomly determined order, a default order, an order set by a user, etc.

[0201] For example, when the wing-spreading action control signal includes a door opening signal and a door waving signal, when the door is initially closed, the door opening action may be performed first, and then the door waving action may be performed.

[0202] For another example, when the wing-spreading action control signal includes a door opening signal and a rearview mirror action signal, when the door is initially closed, the door opening action and the rearview mirror action can be executed simultaneously, or the door opening action can be executed first and then the rearview mirror action, or the rearview mirror action can be executed first and then the door opening action.

[0203] For another example, when the wing-spreading action control signal includes a door opening signal and a door closing signal, when the door is initially closed, the door opening action is performed first, and then the door closing action is performed. When the door is initially open, the door closing action is performed first, and then the door opening action is performed.

[0204] In one embodiment, the bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

[0205] Thus, the bright light action can be realized by the car light action.

[0206] Specifically, the vehicle 100 includes vehicle lights, which may include headlights, turn signals, taillights, and ambient lights. The headlights may include, but are not limited to, front lights and daytime running lights. The turn signals include front turn signals, side turn signals, and rear turn signals. The ambient lights include at least one of a center console ambient light, a door ambient light, and a roof ambient light.

[0207] In one embodiment, when the bright light action control signal includes a headlight change signal, the vehicle light controller can control the headlight to perform a headlight change action, including but not limited to turning on the headlight, turning off the headlight, flashing the headlight, the pattern formed when the headlight is illuminated, the color of the headlight, the light flow effect formed when the headlight is illuminated, etc.

[0208] In one embodiment, when the bright light action control signal includes a turn signal change signal, the vehicle light controller can control the turn signal to perform a turn signal change action, and the turn signal change action includes but is not limited to turning the turn signal on, turning the turn signal off, flashing the turn signal, the pattern formed when the turn signal is illuminated, the color of the turn signal, the light flow effect formed when the turn signal is illuminated, etc.

[0209] In one embodiment, when the bright light action control signal includes a taillight change signal, the vehicle light controller can control the taillight to perform a taillight change action, including but not limited to turning on the taillight, turning off the taillight, flashing the taillight, the pattern formed when the taillight is illuminated, the color of the taillight, the light flow effect formed when the taillight is illuminated, etc.

[0210] In one embodiment, when the bright light action control signal includes an ambient light change signal, the vehicle light controller can control the ambient light to perform an ambient light change action, including but not limited to turning on the ambient light, turning off the ambient light, flashing the ambient light, the pattern formed when the ambient light is illuminated, the color of the ambient light, the light flow effect formed when the ambient light is illuminated, etc.

[0211] In one embodiment, when the light action control signal includes a combination of two or more of the above action control signals, the actions may be executed in a certain order or simultaneously when the actions do not conflict. The order may include but is not limited to a randomly determined order, a predetermined order, an order set by a user, etc.

[0212] For example, when the bright light action control signal includes a headlight on signal and a taillight on signal, when the headlights and taillights are initially off, the headlight and taillight on actions can be executed simultaneously, or the headlight on action can be executed first and then the taillight on action, or the taillight on action can be executed first and then the headlight on action.

[0213] In one embodiment, the shaking includes at least one of lifting of a single wheel of the vehicle body, pitching of the vehicle body, and lifting of the vehicle body up and down.

[0214] Thus, the shaking motion can be achieved by the motion of the vehicle body 14 .

[0215] Specifically, in one embodiment, when the shaking action control signal includes a vehicle body single wheel lifting signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform the vehicle body single wheel lifting action. For example, the vehicle body single wheel lifting is the left front wheel lifting, and the suspension controller 13 can control the rotation direction and rotation speed of the motor of the suspension structure 18 of the left front wheel to control the vehicle body 14 to lift at the left front wheel, and the suspension structures 18 of the other wheels 16 maintain the current state.

[0216] In one embodiment, when the shaking action control signal includes a body roll signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform a body roll action. Specifically, the body roll can include at least one of a left body roll and a right body roll.

[0217] The left tilt of the vehicle body refers to the vehicle body 14 tilting to the left, that is, the right side of the vehicle body 14 is higher than the left side of the vehicle body 14. When the vehicle body tilt signal is a left tilt signal of the vehicle body, in one embodiment, the suspension controller 13 can control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to maintain the current height of the right side of the vehicle body 14, and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to perform the vehicle body 14 downward movement, thereby causing the vehicle body 14 to tilt to the left. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to maintain the current height of the left side of the vehicle body 14, and control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to perform the vehicle body 14 lifting movement, thereby causing the vehicle body 14 to tilt to the left. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to perform a downward action on the vehicle body 14, and control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to perform a lifting action on the vehicle body 14, thereby causing the vehicle body 14 to tilt to the left.

[0218] The amplitudes of the two suspension structures 18 being lowered may be the same or different. The amplitudes of the two suspension structures 18 being raised may be the same or different.

[0219] For the explanation of the implementation method of the right side tilt of the vehicle body, please refer to the explanation of the implementation method of the left side tilt of the vehicle body, which will not be elaborated in detail here.

[0220] In one embodiment, when the shaking motion control signal includes a vehicle body pitching signal, the suspension controller 13 may control the corresponding suspension structure 18 to perform a vehicle body pitching motion. The vehicle body pitching motion may include at least one of a vehicle body front pitching motion and a vehicle body rear pitching motion.

[0221] The front pitching action of the vehicle body refers to the front side (front of the vehicle) of the vehicle body 14 descending and lifting upward. When the vehicle body pitching signal is the front pitching signal of the vehicle body, in one embodiment, the suspension controller 13 can control the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to maintain the current height of the rear side (rear of the vehicle body), and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to perform the downward movement of the vehicle body 14, thereby allowing the front of the vehicle to descend. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to perform the upward movement of the vehicle body 14, and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to maintain the current height of the vehicle body 14, thereby allowing the front of the vehicle to descend. In one embodiment, the suspension controller 13 controls the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to press the vehicle body 14 downward, and controls the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to lift the vehicle body 14, thereby causing the front of the vehicle to drop downward.

[0222] The amplitudes of the two suspension structures 18 being lowered may be the same or different. The amplitudes of the two suspension structures 18 being raised may be the same or different.

[0223] The explanation of the embodiment of lifting the front of the vehicle upward can refer to the explanation of the embodiment of lowering the front of the vehicle, which will not be elaborated in detail here. The explanation of the embodiment of the rear pitching action of the vehicle body 14 can refer to the explanation of the embodiment of the front pitching action of the vehicle body 14, which will not be elaborated in detail here.

[0224] In one embodiment, when the shaking action control signal includes a vehicle body up and down lifting signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform the vehicle body up and down lifting action. The vehicle body up and down lifting refers to the vehicle body 14 rising as a whole, and the vehicle body 14 falling as a whole.

[0225] The vehicle body 14 may be raised as a whole by the suspension controller 13 controlling the suspension structures 18 of the four wheels 16 to perform a lifting action on the vehicle body 14, so that the vehicle body 14 rises to the same height (relative to the ground). The vehicle body 14 may be lowered as a whole by the suspension controller 13 controlling the suspension structures 18 of the four wheels 16 to perform a pressing action on the vehicle body 14, so that the vehicle body 14 falls to the same height (relative to the ground). The explanation of the implementation method of the vehicle body 14 being raised as a whole can refer to the explanation of the above-mentioned implementation method, and will not be elaborated in detail here.

[0226] In one embodiment, the rotation includes at least one of rotation in place and rotation of a fixed wheel.

[0227] Thus, a rotational motion can be achieved by the movement of the wheel 16 .

[0228] Specifically, the rotation in place may include at least one of a clockwise rotation in place and a counterclockwise rotation in place. The explanation of the implementation of the rotation in place may refer to the above explanation of the rotation in place action, which will not be elaborated in detail here.

[0229] Fixed wheel rotation may refer to the vehicle 100 rotating around one of the wheels 16. Specifically, the fixed wheel rotation may include at least one of the vehicle 100 rotating around the right front wheel, the vehicle 100 rotating around the left front wheel, the vehicle 100 rotating around the right rear wheel, and the vehicle 100 rotating around the left rear wheel. The explanation of the implementation of the fixed wheel rotation can refer to the above explanation of the fixed wheel rotation action, which will not be elaborated in detail here.

[0230] In one embodiment, the audio signal is determined based on the selected music file.

[0231] Thereby, the audio signal may be determined using the music file.

[0232] Specifically, the music file can be stored in the vehicle 100, in a terminal device, in a cloud server, or in any two or three of the above three. One or more music files can be selected from multiple music files. If multiple music files are selected, the selected multiple music files can be sorted, and the selected multiple music files can be decoded to obtain the decoding information of each music file. According to the order of sorting, the corresponding vehicle action is obtained, and according to the order of sorting, the execution system 12 of the vehicle 100 is controlled to execute the vehicle action in sequence. The sorting method may include but is not limited to random method, sorting by the length of music file playback, sorting by the first letter of the music file name, sorting by the file size of the music file, sorting by user settings, etc.

[0233] In one embodiment, the music file is determined by an input component of the vehicle 100 according to a selection instruction, and / or the music file is determined by a terminal device that is communicatively connected to the vehicle 100 according to a selection instruction.

[0234] Thus, the music file can be determined by the vehicle 100 input component and / or the terminal device according to the selection instruction.

[0235] Optionally, the input components of the vehicle 100 include, but are not limited to, a touch display screen of the vehicle 100 (such as a central control screen, a co-pilot screen, a roof display screen, a headrest display screen, a sun visor display screen, etc.), buttons, knobs, voice components, etc. in the vehicle. For example, the central control screen can display the graphical user interface of the vehicle 100, and the graphical user interface of the vehicle 100 is provided with an icon of "vehicle 100 dancing". The user can click the "vehicle 100 dancing" icon to trigger the dancing function of the vehicle 100. In response to the user's triggering instruction for the dancing function of the vehicle 100, the control device 200 of the vehicle 100 can display a dancing interface on the central control screen or a pop-up window interface on the graphical user interface of the vehicle 100. The dancing interface or pop-up window interface displays a list of music files, and the user can browse the music files by sliding up or down on the central control screen and clicking on one of the music files. In response to the user's clicking operation on the music file, the control device 200 of the vehicle 100 can generate a selection instruction, select the music file clicked by the user, and then obtain the corresponding decoding information.

[0236] The terminal device can directly establish a wireless communication connection with the vehicle 100, or the terminal device can establish a wireless communication connection with the vehicle 100 through a cloud server. In one embodiment, the terminal device can be installed with a control application (APP) for the vehicle 100. The graphical user interface of the APP can display an icon of "vehicle 100 dancing". The user can click on the "vehicle 100 dancing" icon to trigger the dancing function of the vehicle 100. In response to the user's triggering instruction for the dancing function of the vehicle 100, the terminal device can display a dancing interface on the touch display screen of the terminal device or a pop-up interface on the graphical user interface of the APP. The dancing interface or pop-up interface displays a list of music files, and the user can browse the music files by sliding on or off the touch display screen of the terminal device and clicking on one of the music files. In response to the user's clicking operation on the music file, the terminal device can generate a selection instruction, select the music file clicked by the user, and then obtain the corresponding decoding information.

[0237] In one embodiment, the decoded information of the audio signal includes the beat of the audio signal.

[0238] Thus, the vehicle movement can be acquired through the beat of the audio signal.

[0239] Specifically, the decoding information of the audio signal may include at least one beat. The audio signal is decoded to obtain the decoding information, and the decoding information includes the beat of the audio signal. A music file may be composed of multiple beats, and these beats are encoded to form an audio signal. The audio signal can be decoded to obtain the beat of the audio signal.

[0240] In one example, a music file may include Track 1 (Track#1), Track 2, Track 3, etc. The decoding information corresponding to each track may include at least one of Beat 1, Beat 2, Beat 3, etc., which is determined according to actual conditions. In addition to the beat, the decoding information of the audio signal may also include information such as the beat type, beat time, and duration. In one implementation, please refer to Table 2, which shows the decoding information of multiple tracks (the gray area represents the decoding information of the audio signal).

[0241] Table 2 - Decoding information of audio tracks

[0242]

[0243] In one embodiment, the vehicle motion is determined based on a combination of multiple beats of the audio signal.

[0244] For example, when track 1 is selected, track 1 can be decoded to obtain the decoding information of track 1, and the decoding information of track 1 includes beat 1, beat 2, beat 3, beat 4, beat 5, beat 6 and beat 7. Beats 1 to 4 can be used for the door system. Beats 2 and beats 5 to 7 can be used for the light system. More specifically, please refer to Table 3 below. The door opening action is determined based on the combination of beat 1, beat 2, and beats 5 to 7. The door closing action is determined based on the combination of beat 3 and beat 4. The headlight change action is determined based on the combination of beats 1 to 3 and beat 7. The turn signal change action is determined based on the combination of beat 2, beat 4 and beat 5.

[0245] Therefore, the control device 200 of the vehicle 100 can determine that the vehicle action includes the door opening action and the headlight changing action according to beat 1. During the playback of track 1, when beat 1 is played, the control device 200 of the vehicle 100 can control the door system to perform the door opening action and control the light system to perform the headlight changing action. When beat 2 is played, the control device 200 of the vehicle 100 can control the door system to perform the door opening action, control the light system to perform the headlight changing action and the turn signal changing action. When beat 3 is played, the control device 200 of the vehicle 100 can control the door system to perform the door closing action and control the light system to perform the headlight changing action, and so on. In Table 3, "√" indicates that an action is executed, and "×" indicates that an action is not executed.

[0246] Table 3 - Arrangement of vehicle actions based on the decoded information of track 1

[0247]

[0248]

[0249] It will be appreciated that in other embodiments, vehicle motion may be determined based on a single beat.

[0250] It can be understood that in other implementations, the decoded information of the audio signal may also include other information arranged with the vehicle action, and is not limited to the beat.

[0251] In one embodiment, the vehicle motion is determined based on a preset relationship between the beat and the motion and the beat of the audio signal.

[0252] Specifically, the preset relationship between the beat and the action can be pre-calibrated and stored in at least one of the vehicle 100, the cloud server and the terminal device. The preset relationship between the beat and the action is a preset mapping relationship between the beat and the action. For example, the action corresponding to beat 1 can be preset as a headlight change action, and a mapping relationship between beat 1 and the headlight change action is formed. The decoded information of track 1 includes beat 1, and the control device 200 of the vehicle 100 can determine that the vehicle action is a headlight change action based on the above preset relationship and beat 1 of track 1. During the playback of track 1, when beat 1 of track 1 is played, the control device 200 of the vehicle 100 can control the vehicle light system to perform the headlight change action.

[0253] The vehicle action is determined based on the preset relationship between the beat and the action and the beat of the audio signal, and the vehicle action can be quickly determined. Table 4 shows the preset relationship between the beat and the action in one implementation (the gray area indicates the content of the action arrangement based on the decoded information of the audio signal). As an example, if the vehicle action corresponding to the beat is executed, "√" can be filled in the box, and if the vehicle action corresponding to the beat is not executed, "×" can be filled in the box. "TT" in Table 4 represents the value of the duration. The value of the duration can be specifically set according to the actual situation.

[0254] Table 4 - Relationship between movement and beat

[0255]

[0256] In one embodiment, the vehicle action is determined by the cloud server according to the beat of the audio signal. Specifically, the cloud server can input the beat of the audio signal into an artificial intelligence model (AI model), and the AI ​​model performs action arrangement according to the beat of the audio signal to form the vehicle action. The cloud server sends the vehicle action to the vehicle 100, and the control device 200 of the vehicle 100 controls the execution system 12 to execute the vehicle action. The AI ​​model can be a pre-trained model.

[0257] In one embodiment, the vehicle action is set to a duration, and the combination of multiple beats is determined according to the duration of the vehicle action. The duration of a beat may be short, and the execution system 12 may need a longer duration to execute the vehicle action. In order to ensure that the execution system 12 can respond to the beat to execute the vehicle action to a certain extent, the required combination of beats is determined by the duration of the vehicle action.

[0258] For example, for track 1, the duration of beats 1 to 4 is 0.5 seconds, and the duration of the door opening action is set to 2 seconds. Therefore, the multiple beat combinations required for the door opening action can be a combination of beats 1 to 4.

[0259] For example, for audio track 1, the duration of beats 1 to 4 is 0.5 seconds, and the duration of the headlight change action is set to 1.5 seconds. Therefore, the multiple beat combinations required for the headlight change action are a combination of any three consecutive beats from beats 1 to 4, such as beats 1 to beat 3, and beats 2 to beat 4.

[0260] For different vehicles 100 , the duration of the same vehicle action may be set to be the same or different, which is not specifically limited here.

[0261] In one embodiment, the control method further includes: before the vehicle action is executed, controlling the vehicle 100 to lock the vehicle. Thus, the safety during the execution of the vehicle action can be improved to a certain extent.

[0262] Specifically, before the vehicle action is executed, it may include but is not limited to during the process of obtaining the decoded signal of the audio signal, before the decoded signal of the audio signal is obtained, or after the decoded signal of the audio signal is obtained, or it may be during the process of obtaining the vehicle action, before the vehicle action is obtained, or after the vehicle action is obtained. In short, before the vehicle action is executed, the control device 200 of the vehicle 100 may control the vehicle 100 to lock. Controlling the vehicle 100 to lock may include controlling the door of the vehicle 100 to lock.

[0263] Optionally, before locking the vehicle, the control device 200 of the vehicle 100 may control the vehicle 100 to send a prompt message, for example, play a corresponding prompt audio through a speaker in the vehicle, and / or display a corresponding prompt text, pattern, etc. through a display screen in the vehicle, so that the user leaves the vehicle 100. Optionally, the control device 200 of the vehicle 100 may also send a prompt message to the terminal device through the vehicle 100, and after receiving the prompt message, the terminal device may prompt the user by pushing or pop-up window.

[0264] After the vehicle 100 is locked, the control device 200 of the vehicle 100 may control the execution system 12 to execute a vehicle action.

[0265] In one embodiment, the control method further comprises:

[0266] Before the vehicle takes action, a prompt message is issued to confirm the surrounding safety;

[0267] In response to the confirmation instruction of the prompt information, the execution system 12 of the vehicle 100 is controlled to execute the vehicle action.

[0268] In this way, the safety of vehicle actions can be improved to a certain extent.

[0269] Specifically, since the vehicle 100 will move during the execution of the vehicle action. In order to improve the safety during the execution of the vehicle action to a certain extent, before the vehicle action is executed, the control device 200 of the vehicle 100 can send a prompt message for confirming the surrounding safety. For example, the control device 200 of the vehicle 100 can control the speaker to play the corresponding prompt audio, and / or display the corresponding prompt text, pattern, etc. through the display screen in the car, so that the user can confirm the safety situation around the vehicle 100. Optionally, the control device 200 of the vehicle 100 can also send a prompt message to the terminal device through the vehicle 100. After receiving the prompt message, the terminal device can prompt the user by pushing or pop-up window, so that the user can confirm the safety situation around the vehicle 100.

[0270] The user can confirm the prompt of surrounding safety confirmation by clicking a physical button, a virtual button or voice input. In response to the confirmation instruction of the prompt information, the control device 200 of the vehicle 100 can control the execution system 12 of the vehicle 100 to execute the vehicle action.

[0271] The user can cancel the reminder of the surrounding safety confirmation by clicking a physical button, a virtual button or voice input. In response to the cancellation instruction of the prompt information, the control device 200 of the vehicle 100 can send the reminder of the surrounding safety confirmation again after a certain delay, or exit the execution process of the vehicle action.

[0272] Optionally, after the music file is selected, a prompt for confirming the surrounding safety may be issued. In response to the confirmation instruction of the prompt information, it is equivalent to completing the preparation and activating the dancing function of the vehicle 100. Then, the music file is decoded to obtain the decoding information of the music file, and the vehicle action is obtained according to the decoding information of the audio signal, and the execution system 12 of the vehicle 100 is controlled to execute the vehicle action.

[0273] In one embodiment, the control method further includes: when an abnormal situation occurs in the vehicle 100 during the execution of the vehicle action, controlling the vehicle 100 to stop executing the vehicle action. In this way, the safety during the execution of the vehicle action can be improved to a certain extent.

[0274] Specifically, the vehicle 100 also includes an intelligent driving system, which may include sensors (such as laser radar, millimeter wave radar, camera, etc.), and the intelligent driving system may collect environmental parameters of the vehicle 100 through the sensors. In one embodiment, the abnormal situation is determined by the intelligent driving system of the vehicle 100 based on the collected environmental parameters.

[0275] In one embodiment, a safety range centered on the vehicle 100 may be set. The intelligent driving system uses sensors to sense in real time whether there are obstacles within the safety range of the vehicle 100. When an obstacle enters the safety range, the intelligent driving system may issue an alarm signal indicating an abnormal situation. After receiving the alarm signal, the control device 200 of the vehicle 100 determines that an abnormal situation has occurred in the vehicle 100, and may control the corresponding execution system 12 to stop executing the vehicle action. The size of the safety range may be specifically set according to actual conditions, and this application does not specifically limit it.

[0276] Controlling the corresponding execution system 12 to stop executing the vehicle action may be controlling all the execution systems 12 to stop executing the vehicle action, or controlling some execution systems 12 to stop executing a part of the vehicle action, while another part of the execution system 12 continues to execute another part of the vehicle action. The vehicle action that continues to be executed will not bring danger to the vehicle 100 or obstacles. For example, when the vehicle action includes a door waving action and a headlight change action. During the vehicle action execution process, after receiving the alarm signal, the control device 200 of the vehicle 100 can control the door system to stop executing the door waving action, while the light system continues to execute the headlight change action.

[0277] Please refer to Figure 2 A control device 200 of a vehicle 100 according to an embodiment of the present application includes a controller 202, and the controller 202 is configured to be electrically connected to the execution system 12 of the vehicle 100, and the controller 202 is used to implement the steps of the control method of any of the above embodiments.

[0278] The control device 200 of the above-mentioned vehicle 100 can obtain the decoding information of the audio signal, and obtain the vehicle action according to the decoding information of the audio signal, and control the execution system 12 of the vehicle 100 to execute the vehicle action, so that the vehicle 100 can realize the interaction between the vehicle 100 and the user according to the audio signal, meet more needs of the user, and improve the user experience.

[0279] Specifically, the controller 202 can communicate with other controllers via a CAN bus (Controller Area Network), thereby controlling the operation of the vehicle 100 .

[0280] A vehicle 100 according to an embodiment of the present application includes the control device 200 of the vehicle 100 according to the above-mentioned embodiment.

[0281] Specifically, the controller 202 may be electrically connected to the implementation system 12. The implementation system 12 includes an active suspension system, a vehicle light system, a vehicle door system, and a wheel steering system.

[0282] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the processor 204, the control method of any of the above embodiments is implemented.

[0283] In one embodiment, see Fig.14 The control device 200 of the vehicle 100 may include a processor 204 and a memory 206 , wherein the memory 206 stores a computer program, and when the computer program is executed by the processor 204 , the control method of any of the above-mentioned embodiments is implemented.

[0284] For example, the control method implemented by the computer program when executed by the processor 204 includes:

[0285] 101, obtaining decoded information of the audio signal, and obtaining a vehicle action according to the decoded information of the audio signal, where the vehicle action includes at least one of spreading wings, lighting, shaking, jumping, lateral movement, and rotation;

[0286] 103 , the execution system 12 of the vehicle 100 is controlled to execute vehicle actions.

[0287] It should be noted that the above explanations of the implementation methods and beneficial effects of the control method are also applicable to the control device 200, vehicle 100 and computer-readable storage medium of the vehicle 100 of this embodiment, and will not be elaborated here in order to avoid redundancy.

[0288] It is understood that a computer program includes computer program code. The computer program code may be in source code form, object code form, executable file or some intermediate form, etc. Computer readable storage media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution medium, etc. The processor may be a central processing unit, or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0289] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0290] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: include: Obtaining decoded information of the audio signal, and obtaining a vehicle action according to the decoded information of the audio signal, wherein the vehicle action includes at least one of spreading wings, bright lights, shaking, jumping, lateral movement, and rotation; An execution system of the vehicle is controlled to execute the vehicle action.

2. The control method according to claim 1, characterized in that: The wing spreading includes at least one of the actions of door opening, door waving, door closing, window lifting and rearview mirror lifting.

3. The control method according to claim 1, characterized in that: The bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

4. The control method according to claim 1, characterized in that: The shaking includes at least one of the lifting of a single wheel of the vehicle body, the pitching of the vehicle body, the rolling of the vehicle body and the lifting and lowering of the vehicle body.

5. The control method according to claim 1, characterized in that: The rotation includes at least one of rotation in place and rotation of a fixed wheel.

6. The control method according to claim 1, characterized in that: The audio signal is determined according to the selected music file.

7. The control method according to claim 6, characterized in that: The music file is determined by a vehicle input component according to a selection instruction, and / or the music file is determined by a terminal device in communication connection with the vehicle according to a selection instruction.

8. The control method according to claim 1, characterized in that: The decoded information of the audio signal includes the beat of the audio signal.

9. The control method according to claim 8, characterized in that: The vehicle motion is determined based on a combination of a plurality of beats of the audio signal.

10. The control method according to claim 8, characterized in that: The vehicle action is determined based on a preset relationship between the beat and the action and the beat of the audio signal.

11. The control method according to claim 8, characterized in that: The vehicle action is determined by the cloud server according to the beat of the audio signal.

12. The control method according to claim 9, characterized in that: The vehicle action is set with a duration, and the combination of the multiple beats is determined according to the duration of the vehicle action.

13. The control method according to claim 1, characterized in that: The control method further comprises: Before the vehicle action is performed, controlling the vehicle to lock, and / or; Before the vehicle action is executed, a prompt message for confirming the surrounding safety is issued; In response to a confirmation instruction for the prompt information, an execution system of the vehicle is controlled to execute the vehicle action.

14. The control method according to claim 1, characterized in that: The control method further comprises: During the execution of the vehicle action, when an abnormal situation occurs in the vehicle, the vehicle is controlled to stop executing the vehicle action.

15. The control method according to claim 14, characterized in that: The abnormal situation is determined by the intelligent driving system of the vehicle based on the collected environmental parameters.

16. The control method according to any one of claims 1 to 15, characterized in that: The execution system includes a door system, a lamp system, an active suspension system and a wheel steering system.

17. A vehicle control device, characterized in that: The invention comprises a controller, wherein the controller is configured to be electrically connected to an execution system of a vehicle, and the controller is used to implement the steps of the control method according to any one of claims 1 to 16.

18. A vehicle, characterized in that: A control device for a vehicle comprising the vehicle described in claim 17.

19. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 16 is implemented.

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