Suspension control method, device, equipment and medium

Abstract

The invention provides a suspension control method, a suspension control device, suspension control equipment and a medium, and aims to provide a method for performing high-precision control on a suspension when a user is outside a vehicle. The method comprises the steps of obtaining user data in response to received wake-up information; based on user information in the user data, determining a suspension to be adjusted in a plurality of suspensions, and determining motion information of the suspension to be adjusted; and controlling the to-be-adjusted suspension to move based on the motion information.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a suspension control method, device, equipment and medium. Background Art

[0002] Compared with traditional driving methods, in technologies related to intelligent driving, multiple modules are usually integrated in the vehicle cockpit to respectively collect multi-modal information of users, so as to perceive the needs of the people in the vehicle in real time and make timely responses to improve the safety and user experience during driving. For example, the facial images of passengers or drivers in the vehicle are collected by an image acquisition device mounted in the vehicle. Another example is that the voice information in the vehicle is collected by a voice acquisition device.

[0003] With the development of suspension control technology, semi-active suspensions and active suspensions have been gradually popularized. In more and more vehicles, the suspension is controlled through the multiple modules integrated in the aforementioned vehicle cockpit. In related technologies, during the driving process of the vehicle, the left and right cameras in the binocular camera mounted on the vehicle are used to collect the road image in front, so as to judge the driving posture of the vehicle based on the road surface information in the road image in front of the vehicle, and accordingly control the suspension to make the vehicle adapt to the road surface conditions. It can be seen that in related technologies, the control of the suspension when the person is in the cockpit is mainly considered to improve the user experience. Summary of the Invention

[0004] Based on this, it is necessary to provide a suspension control method, device, equipment and medium for the above technical problems, so as to provide a method for accurately controlling the suspension when the user is outside the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a suspension control method, including:

[0006] Upon receiving a wake-up message, obtain user data;

[0007] Based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted;

[0008] Based on the motion information, control the motion of the suspension to be adjusted.

[0009] In one embodiment, the user information includes the position information of the first pose feature point and the reference point in the user pose; determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted based on the user information in the user data includes: selecting a first suspension to be adjusted among the multiple suspensions based on a first rule; wherein, the first rule indicates that the suspension on the same side as the position of the first pose feature point relative to the user and closest to the first pose feature point is the first suspension to be adjusted; determining the motion information of the first suspension to be adjusted based on the relative position relationship between the first pose feature point and the reference point.

[0010] In one embodiment, the user information includes the specified number of the suspensions to be adjusted and the spatial angle of the first pose feature point in the user pose, and the spatial angle indicates the amplitude of the angle change of the user's gesture and / or arm; determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted based on the user information in the user data includes: in response to the specified number of the suspensions to be adjusted being 2, determining a first target rule among multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold; determining a second suspension to be adjusted based on the first target rule; determining the motion information of the first suspension to be adjusted as the motion information of the second suspension to be adjusted.

[0011] In one embodiment, determining a first target rule among multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold includes: in response to the spatial angle being greater than the first angle threshold, determining the second rule among the multiple preset rules as the first target rule; wherein, the second rule indicates that among the multiple suspensions, the suspension not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or,

[0012] in response to the spatial angle being less than or equal to the first angle threshold, determining the third rule among the multiple preset rules as the first target rule; wherein, the third rule indicates that among the multiple suspensions, the suspension on the same side as the position of the first pose feature point relative to the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0013] In one embodiment, the spatial angle is determined by the following method: in a preset spatial coordinate system, determine a first vector between the coordinate origin and a median reference point corresponding to the middle region of the user posture, and determine a second vector between the median reference point and the first posture feature point; wherein, the spatial coordinate system takes the position of the acquisition device of the user data as the coordinate origin; determine the vector angle between the first vector and the second vector as the spatial angle.

[0014] In one embodiment, determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted based on the user information in the user data includes: in response to the specified number of the suspensions to be adjusted being greater than 2, based on the user information, determine the number of the first suspensions corresponding to the first posture feature point and the number of the second suspensions corresponding to the second posture feature point; wherein, the sum of the number of the first suspensions and the number of the second suspensions is equal to the specified number; among the multiple suspensions, determine a first group of suspensions to be adjusted corresponding to the first posture feature point and matching the number of the first suspensions, and determine a second group of suspensions to be adjusted corresponding to the second posture feature point and matching the number of the second suspensions; based on the relative position relationship between the first posture feature point and the reference point, determine the motion information of the first group of suspensions to be adjusted, and based on the relative position relationship between the second posture feature point and the reference point, determine the motion information of the second group of suspensions to be adjusted.

[0015] In one embodiment, the reference point includes: a median reference point corresponding to the middle region of the user posture, and / or, a posture extreme value reference point; wherein, the posture extreme value reference point includes a first extreme value reference point corresponding to the highest region of the hand in the user posture and a second extreme value reference point corresponding to the lowest region of the hand in the user posture.

[0016] In one embodiment, the first posture feature point and the second posture feature point are determined by the following method: according to the user information, determine the number of users corresponding to the posture feature point;

[0017] Power on the lamps at multiple preset positions of the vehicle body in turn according to a preset rule, and time it. When the time reaches the time limit value, determine the target lamp that is powered on; wherein, the preset rule includes the generation rule of the time limit value and the power-on sequence of the lamps at multiple preset positions of the vehicle body;

[0018] Among the illumination ranges of the target lamp, determine the users with the number of the users, and determine the first posture feature point and the second posture feature point that match the preset gesture posture.

[0019] In one embodiment, the motion information includes a motion direction type; determining the motion information of the suspension to be adjusted includes: determining the first coordinate information of the first pose feature point and the second coordinate information of a median reference point corresponding to the middle region of the user's pose; determining the motion direction type based on the first coordinate information and the second coordinate information; wherein the motion direction type includes a first direction type and / or a second direction type, and the motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0020] In one embodiment, determining the motion direction type based on the first coordinate in the first coordinate information and the second coordinate of the user's pose reference point includes: determining the motion direction type based on the relative magnitude relationship between the ordinate of the first pose feature point and the ordinate of the median reference point.

[0021] In one embodiment, the motion information further includes a motion distance, and the reference point includes a pose extreme value reference point; the pose extreme value reference point includes a first extreme value reference point corresponding to the first direction type and a second extreme value reference point corresponding to the second direction type; determining the motion information of the suspension to be adjusted includes: based on a preset first correspondence relationship, determining the pose extreme value reference point corresponding to the motion direction type as the target extreme value reference point; wherein the first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point, and the correspondence relationship between the second direction type and the second extreme value reference point; based on the height difference between the target extreme value reference point and the median reference point corresponding to the middle region of the user's pose, and the first distance between the first pose feature point and the median reference point, determining the ratio of the first distance to the height difference as the distance coefficient; determining the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance.

[0022] In one embodiment, determining the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance includes: based on a preset second correspondence relationship, determining the motion parameter corresponding to the motion direction type; wherein the motion parameter is a first parameter or a second parameter, and the second correspondence relationship includes the correspondence relationship between the first direction type and the first parameter, and the correspondence relationship between the second direction type and the second parameter; determining the product of the motion parameter and the distance coefficient as the motion distance.

[0023] In one embodiment, determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted based on the user information in the user data includes: in response to the modality of the user data being an image, determining the target in the image; verifying the target to determine that the target is the user; and determining the suspension to be adjusted and the motion information based on the user posture information in the user information.

[0024] In one embodiment, verifying the target to determine that the target is the user further includes: determining a first image in which the target is the user in an image sequence including at least 2 frames of the images; where the images in the image sequence are in chronological order, and the image sequence includes the first image and a second image after the first image; performing target detection on the second image to obtain first information to be verified for at least 1 target in the second image; and predicting the trajectory of the user in the first image to obtain second information to be verified for the user in the second image; in response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to the second threshold, determining that the target corresponding to the target information to be verified in the second image is the user.

[0025] In one embodiment, after verifying the target, it further includes: in response to the target in the second image not being the user and the number of images including the user before the second image in the image sequence being greater than or equal to a third threshold, determining, in the image sequence, a third image adjacent to the second image and before the second image; and determining the user posture information of the user in the third image as the user posture information of the user in the second image.

[0026] Second, an embodiment of the present application provides a suspension control device, including:

[0027] A data module, configured to obtain user data in response to receiving wake-up information;

[0028] A suspension module, configured to determine a suspension to be adjusted among multiple suspensions and determine the motion information of the suspension to be adjusted based on the user information in the user data;

[0029] A motion module, configured to control the motion of the suspension to be adjusted based on the motion information.

[0030] In one embodiment, the suspension module is specifically configured to, in response to the modality of the user data being an image, determine the suspension to be adjusted and the motion information based on the gesture information in the user information.

[0031] In one embodiment, the user posture information in the user information includes the position information of the first posture feature point and the reference point of the user; the suspension module is further configured to select a first suspension to be adjusted from the multiple suspensions based on a first rule; wherein, the first rule indicates that the suspension on the same side as the position of the first posture feature point relative to the user and closest to the first posture feature point is the first suspension to be adjusted; based on the relative position relationship between the first posture feature point and the reference point, determine the motion information of the first suspension to be adjusted.

[0032] In one embodiment, the user information includes the specified number of suspensions to be adjusted, and the user posture information includes the spatial angle of the first posture feature point; the suspension module is further configured to, in response to the specified number of suspensions to be adjusted being 2, determine a first target rule from multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold; based on the first target rule, determine a second suspension to be adjusted; and determine the motion information of the first suspension to be adjusted as the motion information of the second suspension to be adjusted.

[0033] In one embodiment, the suspension module is specifically configured to, in response to the spatial angle being greater than the first angle threshold, determine the second rule among the multiple preset rules as the first target rule; wherein, the second rule indicates that among the multiple suspensions, the suspension not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or, in response to the spatial angle being less than or equal to the first angle threshold, determine the third rule among the multiple preset rules as the first target rule; wherein, the third rule indicates that among the multiple suspensions, the suspension on the same side as the position of the first posture feature point relative to the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0034] In one embodiment, the suspension module is further configured to determine a first vector between the coordinate origin and a median reference point corresponding to the middle region of the user posture in a preset spatial coordinate system, and determine a second vector between the median reference point and the first posture feature point; wherein, the spatial coordinate system takes the position of the acquisition device of the user data as the coordinate origin; and determine the vector angle between the first vector and the second vector as the spatial angle.

[0035] In one embodiment, the suspension module is further configured to, in response to the specified number of the to-be-adjusted suspensions being greater than 2, determine, based on the user information, a first number of suspensions corresponding to the first posture feature point and a second number of suspensions corresponding to the second posture feature point; wherein the sum of the first number of suspensions and the second number of suspensions is equal to the specified number; among the multiple suspensions, determine a first set of to-be-adjusted suspensions corresponding to the first posture feature point and matching the first number of suspensions, and determine a second set of to-be-adjusted suspensions corresponding to the second posture feature point and matching the second number of suspensions; determine the motion information of the first set of to-be-adjusted suspensions based on the relative position relationship between the first posture feature point and the reference point, and determine the motion information of the second set of to-be-adjusted suspensions based on the relative position relationship between the second posture feature point and the reference point.

[0036] In one embodiment, the suspension module is further configured to determine, according to the user information, the number of users corresponding to the posture feature point; power on the lamps at multiple preset positions of the vehicle body in turn according to a preset rule and time, and determine the target lamp when the time reaches the time limit value; wherein the preset rule includes the generation rule of the time limit value and the power-on sequence of the lamps at multiple preset positions of the vehicle body; among the illumination ranges of the target lamp, determine the users with the number of users, and determine the first posture feature point and the second posture feature point that match the preset gesture postures.

[0037] In one embodiment, the reference point includes: a median reference point corresponding to the middle region of the user posture, and / or, a posture extreme value reference point; wherein the posture extreme value reference point includes a first extreme value reference point corresponding to the highest region of the hand in the user posture and a second extreme value reference point corresponding to the lowest region of the hand in the user posture.

[0038] In one embodiment, the motion information includes a motion direction type; specifically, the suspension module is configured to determine the first coordinate information of the first posture feature point and the second coordinate information of the median reference point corresponding to the middle region of the user posture; determine the motion direction type based on the first coordinate information and the second coordinate information; wherein the motion direction type includes a first direction type and / or a second direction type, and the motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0039] In one embodiment, the suspension module is specifically configured to determine the motion direction type based on the relative magnitude relationship between the ordinate of the first posture feature point and the ordinate of the median reference point.

[0040] In one embodiment, the motion information further includes a motion distance, and the reference points include attitude extreme value reference points; the attitude extreme value reference points include a first extreme value reference point corresponding to the first direction type and a second extreme value reference point corresponding to the second direction type; the first extreme value reference point corresponds to the first direction type and is the farthest point that the first attitude feature point can reach; the second extreme value reference point corresponds to the second direction type and is the farthest point that the first attitude feature point can reach.

[0041] The suspension module is specifically configured to determine, based on a preset first correspondence relationship, the attitude extreme value reference point corresponding to the motion direction type as the target extreme value reference point; wherein, the first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point, and the correspondence relationship between the second direction type and the second extreme value reference point; based on the height difference between the target extreme value reference point and the median reference point corresponding to the middle region of the user's attitude, and the first distance between the first attitude feature point and the median reference point, determine the ratio of the first distance to the height difference as the distance coefficient; determine the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance.

[0042] In one embodiment, the suspension module is specifically configured to determine, based on a preset second correspondence relationship, the motion parameter corresponding to the motion direction type; wherein, the motion parameter is a first parameter or a second parameter, and the second correspondence relationship includes the correspondence relationship between the first direction type and the first parameter, and the correspondence relationship between the second direction type and the second parameter; determine the product of the motion parameter and the distance coefficient as the motion distance.

[0043] In one embodiment, the suspension module is further configured to, in response to the modality of the user data being an image, determine the target in the image; verify the target to determine that the target is the user; then the user information is the user attitude information of the target in the image; based on the gesture information in the user information, determine the suspension to be adjusted and the motion information.

[0044] In one embodiment, the suspension module is further configured to determine a first image of the target as the user in an image sequence including at least 2 frames of the images; wherein, the images in the image sequence are in chronological order, the image sequence includes the first image and a second image located after the first image; perform target detection on the second image to obtain first information to be verified of at least 1 target in the second image; and perform trajectory prediction on the user in the first image to obtain second information to be verified of the user in the second image; in response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to the second threshold, determine that the target corresponding to the target information to be verified in the second image is the user.

[0045] In one embodiment, the suspension module is further configured to, in response to the target in the second image not being the user and the number of images including the user before the second image in the image sequence being greater than or equal to a third threshold, determine a third image adjacent to the second image and located before the second image in the image sequence; and determine the user posture information of the user in the third image as the user posture information in the second image.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method in the first aspect and any of the embodiments are implemented.

[0047] In a fourth aspect, 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 steps of the method in the first aspect and any of the embodiments are implemented.

[0048] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the steps of the method in the first aspect and any of the embodiments are implemented.

[0049] In the suspension control method provided by the embodiment of the present application, by using user information, a suspension to be adjusted is determined for the user among multiple suspensions, so that the suspension to be adjusted matches the user information, and the motion information of the suspension to be adjusted is determined according to the user information to control the motion of the suspension to be adjusted. In this way, the motion of the suspension to be adjusted is controlled in a timely manner, meeting the requirement that the user is in an out-of-vehicle scenario and interacts with the vehicle in real time, enabling the suspension to respond to the user with high precision and effectively improving the user experience. Description of the Drawings

[0050] Figure 1Schematic flowchart of a suspension control method provided in an embodiment of the present application;

[0051] Figure 2A Schematic diagram of the relative position relationship between a user and a vehicle provided in an embodiment of the present application;

[0052] Figure 2B Schematic diagram of the relative position relationship between a user and a vehicle provided in an embodiment of the present application;

[0053] Figure 2C Schematic diagram of the relative position relationship between a user and a vehicle provided in an embodiment of the present application;

[0054] Figure 2D Schematic diagram of the relative position relationship between a user and a vehicle provided in an embodiment of the present application;

[0055] Figure 3 Schematic flowchart of the steps for determining a suspension to be adjusted and the motion information of the suspension to be adjusted provided in an embodiment of the present application;

[0056] Figure 4 Schematic diagram of the relative position relationship between a first suspension to be adjusted and a first attitude feature point provided in an embodiment of the present application;

[0057] Figure 5A Schematic diagram of the relative position relationship between a second suspension to be adjusted and the first suspension to be adjusted provided in an embodiment of the present application;

[0058] Figure 5B Schematic diagram of the relative position relationship between a second suspension to be adjusted and the first suspension to be adjusted provided in an embodiment of the present application;

[0059] Figure 6 Schematic flowchart of the steps for determining a suspension to be adjusted and the motion information of the suspension to be adjusted provided in an embodiment of the present application;

[0060] Figure 7 Schematic block diagram of a suspension control device provided in an embodiment of the present application;

[0061] Figure 8 Schematic diagram of the structure of an electronic device in an embodiment. Detailed implementation manners

[0062] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the text and does not necessarily refer to the same embodiment each time, nor are they independent or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0064] The first embodiment, as Figure 1 shown, provides a suspension control method, which may include the following steps:

[0065] Step 101, in response to receiving wake-up information, obtain user data.

[0066] Specifically, the wake-up information can be sent by the user using their handheld terminal. The handheld terminal can be, for example, a mobile phone or a car key, etc. The sending form of the wake-up information can include, but is not limited to, the network, Bluetooth, or wireless signals. Alternatively, the wake-up information can also be generated according to the interaction instructions sent by the user, such as the voice wake-up instruction sent by the user, the preset gesture wake-up instruction sent by the user, the wake-up button on the vehicle screen, etc. Then the above wake-up information indicates to obtain user data for suspension control accordingly.

[0067] Thus, after receiving the wake-up information, the suspension ECU can also be powered on to facilitate performing Step 103 after Step 102: controlling the movement of the suspension to be adjusted.

[0068] Step 102, based on the user posture information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the movement information of the suspension to be adjusted.

[0069] Specifically, the user information in the above user data includes user posture information and the user's location information. The user posture information can be the user's gesture information and / or the user posture information of the arm. Based on this, the user's location information can obtain the azimuth information of the user relative to the vehicle. The azimuth information indicates the position of the user relative to the vehicle. Then the azimuth information can include, for example, a first azimuth type, a second azimuth type, a third azimuth type, and a fourth azimuth type. Exemplarily, the first azimuth type can indicate that the user is located directly in front of the vehicle; please refer to Figure 2A , where "★" represents the position of the user. The second azimuth type can indicate that the user is located on the first side of the vehicle; please refer to Figure 2B , where "★" represents the position of the user. The third azimuth type can indicate that the user is located on the second side of the vehicle; please refer to Figure 2C , where "★" represents the position of the user. The fourth azimuth type can indicate that the user is located directly behind the vehicle; please refer to Figure 2D , where "★" represents the position of the user.

[0070] Preferably, according to the modality of the user data, a denoising method corresponding to the modality can be adopted to preprocess the user data to improve the accuracy of the user information. The modality of the user data may include, but is not limited to, voice and / or image. In this way, the user data can be verified first. In response to the modality of the user data being the target modality, the user information in the user data is determined. Then, based on the user information in the user data, the suspension to be adjusted is determined among multiple suspensions, and the motion information of the suspension to be adjusted is determined.

[0071] In one embodiment, after determining that the modality of the user data is the target modality, the user information can be determined in the user data. Based on the user posture information in the user information, the suspension to be adjusted is determined among multiple suspensions. Before determining the user information in the user data, the user data of the target modality can be denoised to obtain the data to be processed. Then, based on the data to be processed, the user information can be determined.

[0072] In one embodiment, the target modality is an image. Then, in response to the modality of the user data being an image, image processing can be performed based on the user data, that is, the image, to identify the user in the image, determine the user posture information in the user information, and thus determine the suspension to be adjusted and the aforementioned motion information according to the user posture information.

[0073] Specifically, in response to the modality of the user data being an image, it can be determined that the modality of the user data is the target modality, and then based on the user posture information corresponding to the user information, the suspension to be adjusted and the motion information are determined. Among them, the user posture information includes user gesture information. The gesture information may include, for example, the position information of the first posture feature points corresponding to the hand. And / or, the gesture information may further include the hand posture of the user.

[0074] In one embodiment, the target modality is voice. Then, in response to the modality of the user data being voice, a preset keyword can be located from the user data, that is, the voice, and according to the semantics described in the sentence where the keyword is located, the user information is determined to obtain the user posture information in the user information, and the suspension to be adjusted and its motion information are determined.

[0075] Step 103, control the motion of the suspension to be adjusted based on the motion information.

[0076] In one embodiment, the above motion information at least includes the type of motion direction.

[0077] In this way, based on the type of motion direction in the motion information, the suspension to be adjusted can be controlled to move in the direction corresponding to the type of motion direction, so as to control the change of the vehicle posture and make the vehicle posture match the user posture information, thereby realizing the interaction between the vehicle and the user.

[0078] Specifically, at least 4 suspensions can be provided in the vehicle, and each suspension can be respectively located above the vehicle tire. The movement of the suspension can be achieved by adjusting the state of the spring located between the suspension and the vehicle body. Among them, the state of the spring can include at least one of a stretched state, a compressed state, and a natural state. The above-mentioned type of spring is preferably an air spring. Then, when the state of the air spring corresponding to the suspension changes, the suspension moves with the air spring. Specifically, it can be manifested that the entire suspension moves along the movement direction corresponding to the type of movement direction. Therefore, when controlling the movement of the suspension to be adjusted, it can be achieved by controlling the state and / or deformation coefficient of the spring corresponding to the suspension to be adjusted.

[0079] Exemplarily, if the type of movement direction is the first type of movement direction, the state of the spring can be determined to be a stretched state. Conversely, if the type of movement direction is the second type of movement direction, the state of the spring can be determined to be a compressed state. Among them, the movement direction of the suspension corresponding to the first type of movement direction is opposite to the movement direction of the suspension corresponding to the second type of movement direction.

[0080] Exemplarily, if the type of movement direction is the first type of movement direction, the state of the spring is determined to be a compressed state. Conversely, if the type of movement direction is the second type of movement direction, the state of the spring can be determined to be a stretched state. Among them, the movement direction of the suspension corresponding to the first type of movement direction is opposite to the movement direction of the suspension corresponding to the second type of movement direction.

[0081] In an embodiment, the above-mentioned movement information further includes a movement distance, and this movement distance can be used to indicate the distance that the suspension to be adjusted moves along the direction corresponding to the type of movement direction. Specifically, based on the movement information, the suspension to be adjusted is controlled to move along the direction corresponding to the type of movement direction according to the movement distance. When the movement directions corresponding to the first type of movement direction and the second type of movement direction in the type of movement direction are both directions perpendicular to the ground, and the suspension moves along the direction perpendicular to the ground, the above-mentioned movement distance can be equivalently understood as the movement height of the suspension.

[0082] In the above suspension control method, through the user data of the target mode, the user information including the user's posture information is determined, so as to determine the user's interaction needs according to the user information, and thereby control the movement of the suspension to be adjusted to achieve high-precision response of the suspension and effectively improve the user experience.

[0083] In an embodiment, the user's posture information includes the position information of the user's first posture feature point and the reference point respectively. Among them, both the first posture feature point and the reference point correspond to the user.

[0084] The above-mentioned movement information of the suspension to be adjusted corresponds one-to-one with the posture feature points. Taking the suspension to be adjusted as the first suspension to be adjusted as an example, the determination of the suspension to be adjusted and the determination of the movement information of the suspension to be adjusted will be described. Please refer to Figure 3:

[0085] Step 301, based on the first rule, select the first suspension to be adjusted from multiple suspensions.

[0086] Specifically, the above-mentioned first posture feature point can be the connection point between the arm and the hand: the feature point corresponding to the wrist. Or, the first posture feature point can be the center point of the palm. Or, the first posture feature point can be the center point of the fist.

[0087] The above user posture information may include the position information of the first posture feature point. In one embodiment, the first posture feature point can be determined by recognizing a preset posture. For example, if the preset posture is making a fist, the center point of the fist or the wrist feature point on the side where the user makes a fist can be used as the first posture feature point.

[0088] The above user posture information may also include the position information of the user's reference point.

[0089] The above first rule indicates that among the suspensions of the vehicle on the same side as the position of the first posture feature point relative to the user, the suspension closest to the first posture feature point is the first suspension to be adjusted; please refer to Figure 4 . Such as Figure 4 shown, the azimuth information of the user is consistent with that in Figure 2A : The user is in front of the vehicle as shown in Figure 4 and the user is facing the vehicle in a preset interaction posture: with the left hand making a fist. The center point of the fist in the posture of the user making a fist is the first posture feature point.

[0090] The preset interaction posture here can be a pre-specified posture. The preset interaction posture indicates that the user intends to send instructions to the vehicle through the left hand and / or the left arm, so that the vehicle controls the movement of the suspension to be adjusted accordingly.

[0091] It can be understood that the meaning of being on the same side as the position of the first posture feature point relative to the user is: having the same azimuth relationship as the first posture feature point relative to the user. That is, the azimuth relationship between the first suspension to be adjusted and the user is the same as that between the first posture feature point and the user. The following continues to describe the relative position relationship between the first posture feature point of the user and the first suspension to be adjusted in Figure 4 :

[0092] Please continue to refer to Figure 4 , taking the geometric center of the vehicle top view as the coordinate origin, constructing an image coordinate system, and using this image coordinate system as the suspension reference system for determining the suspension to be adjusted. Then, relative to the user, the fist is located in the direction of the positive half-axis of the x-axis of the user's body. On this basis, the first suspension to be adjusted on the closest side to the left hand in the posture of the user making a fist should be: the suspension located in the first quadrant of the aforementioned suspension reference system: such asFigure 4 as shown by the “▲” therein. The position of the first suspension to be adjusted relative to the user is the same as the position of the first posture feature point corresponding to making a fist relative to the user, that is, on the same side as the position of the first posture feature point relative to the user. The first suspension to be adjusted is located on the vehicle above the front wheels of the vehicle at the position shown by the “▲” therein. Figure 4 as shown by the “▲” therein.

[0093] In order to improve the determination efficiency of the first suspension to be adjusted and avoid the problems of reduced efficiency and increased computing power caused by calculating the distance and comparing according to the position information of the first posture feature point and each suspension, in one embodiment, the first suspension to be adjusted corresponding to the first posture feature point of the user can also be determined according to the foregoing azimuth information of the user and the preset corresponding relationship. Among them, the preset corresponding relationship includes the first suspension to be adjusted corresponding to the azimuth information and the position type of the user's first posture feature point.

[0094] The position type of the user's first posture feature point can include a first type and a second type. For example, the first type indicates that the position of the first posture feature point relative to the user is on the left side, and the second type indicates that the position of the first posture feature point relative to the user is on the right side.

[0095] Or, taking the foregoing suspension coordinate system as a reference, the first type can indicate that the position of the first posture feature point relative to the user is in the positive half-axis direction of the x-axis. The second type indicates that the position of the first posture feature point relative to the user is in the negative half-axis direction of the x-axis.

[0096] Or, still taking the foregoing suspension coordinate system as a reference, the first type indicates that the position of the first posture feature point relative to the user is in the negative half-axis direction of the x-axis. The second type indicates that the position of the first posture feature point relative to the user is in the positive half-axis direction of the x-axis.

[0097] In this way, when the azimuth information is Figure 4 the relative position relationship between the user and the vehicle therein, according to the position type of the first posture feature point corresponding to the user's making a fist, it can be determined that the first suspension to be adjusted is located in the first quadrant of the suspension coordinate system.

[0098] Step 302, based on the relative position relationship between the first posture feature point and the reference point in the user's posture, determine the motion information of the first suspension to be adjusted.

[0099] Among them, the first posture feature point corresponds to the motion information one by one.

[0100] The above-mentioned first posture feature point and reference point both correspond to the preset posture of the user. The preset posture can be a standing posture. The first posture feature point can correspond to the user's hand.

[0101] In one embodiment, the motion information of the first suspension to be adjusted includes the type of motion direction of the suspension to be adjusted. The reference point at least includes a median reference point corresponding to the middle region of the user's posture. The median reference point indicates the reference point corresponding to the middle region of the user's full-body posture matching the user information in the direction perpendicular to the ground.

[0102] Exemplarily, the median reference point may be the geometric center point of the waist region. Exemplarily, the median reference point may be a reference point formed by the intersection of the extension line of the median line of the user's waist region and a point below the user's shoulders. Exemplarily, the median reference point may also be determined in the following manner: the midpoint between the highest point that the user's arm can reach corresponding to the aforementioned user's full-body posture (e.g., standing posture) and the lowest point that the user's arm can reach corresponding to the user is the median reference point.

[0103] In one embodiment, the type of motion direction of the suspension to be adjusted may be determined according to the relative position relationship between the first posture feature point and the median reference point. Specifically, the first coordinate information of the first posture feature point and the second coordinate information of the median reference point in the user posture information may be determined first. Then, based on the first coordinate information and the second coordinate information, the type of motion direction of the suspension to be adjusted is determined. The type of motion direction indicates the motion direction of the first suspension to be adjusted. The type of motion direction includes a first direction type and / or a second direction type.

[0104] The motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0105] In one embodiment, the Cartesian coordinate system is used as the reference coordinate system when the suspension to be adjusted moves. For example, the motion direction corresponding to the first direction type is: moving upward along the z-axis in the Cartesian coordinate system (i.e., the positive half-axis direction of the z-axis). Then, the motion direction corresponding to the second direction type is: moving downward along the z-axis in the Cartesian coordinate system (i.e., the negative half-axis direction of the z-axis).

[0106] For another example, the motion direction corresponding to the first direction type is: moving downward along the z-axis in the Cartesian coordinate system (i.e., the negative half-axis direction of the z-axis). Then, the motion direction corresponding to the second direction is: moving upward along the z-axis in the Cartesian coordinate system (i.e., the positive half-axis direction of the z-axis).

[0107] In one embodiment, the relative position relationship between the first posture feature point and the median reference point may be determined based on the relative magnitude relationship between the ordinate of the first posture feature point and the ordinate of the median reference point, so as to determine the aforementioned type of motion direction.

[0108] In one embodiment, the above-mentioned motion information may include a motion direction type and a motion distance. Also, the reference point in the aforementioned user posture information may further include a posture extreme value reference point. The posture extreme value reference point is used to indicate the farthest area that the first posture feature point corresponding to the motion direction type can reach under a preset full-body posture. That is, the posture extreme value reference point represents the farthest point that the first posture feature point can reach along the motion direction corresponding to the motion direction type.

[0109] Exemplarily, if the motion direction corresponding to the first direction type in the motion direction type is the same as the positive half-axis direction of the z-axis, the highest point that the first posture feature point corresponding to the first direction type can reach is the first extreme value reference point.

[0110] Continuing with the example: If the first posture feature point is the geometric center of the user's hand with the hand posture in a preset posture, then when the user raises the corresponding hand above the head to the highest point that can be reached, the geometric center point of the hand is the first extreme value reference point.

[0111] In this way, the posture extreme value reference point may include a first extreme value reference point and a second extreme value reference point. Among them, the first extreme value reference point may correspond to the first direction type, which is the farthest point that the user's first posture feature point can reach. That is, in the aforementioned preset space coordinate system, along the motion direction corresponding to the first direction type, the maximum value of the absolute value of the z-axis coordinate in the coordinate information of the first posture feature point. The second extreme value reference point may correspond to the second direction type, which is the farthest point that the first posture feature point can reach. That is, in the aforementioned preset space coordinate system, along the motion direction corresponding to the second direction type, the maximum value of the absolute value of the z-axis coordinate in the coordinate information of the first posture feature point.

[0112] To further improve the response accuracy of the suspension to be adjusted, in one embodiment, the motion distance in the motion information may be determined based on the following method: First, based on a preset first correspondence relationship, the posture extreme value reference point corresponding to the motion direction type is determined as the target extreme value reference point. The first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point, and the correspondence relationship between the second direction type and the second extreme value reference point.

[0113] Specifically, in response to the motion direction type of the first suspension to be adjusted corresponding to the first posture feature point being the first direction type, the first extreme value reference point is determined as the target extreme value reference point. Or, in response to the motion direction type of the first suspension to be adjusted corresponding to the first posture feature point being the second direction type, the second extreme value reference point is determined as the target extreme value reference point.

[0114] Then, based on the height difference between the target extreme value reference point and the median reference point (z 3 -z m), and the first distance between the first attitude feature point and the median reference point, and determine the ratio of the first distance to the height difference as the distance coefficient z k . Specifically, the z-axis coordinate z of the first attitude feature point in the preset space coordinate system can be used to c determine: where k is a preset coefficient, z c is the z-axis coordinate of the first attitude feature point, z m is the z-axis coordinate of the median reference point, and z 3 is the z-axis coordinate of the target extreme value reference point. For example, k = 0.1.

[0115] Finally, multiply the preset motion parameter of the suspension to be adjusted by the distance coefficient, and determine the product between the motion parameter and the distance coefficient as the motion distance.

[0116] In one embodiment, the above motion parameter is a pre-specified parameter value. For example, it is 50 mm.

[0117] In one embodiment, the preset motion parameter of the suspension to be adjusted corresponds to the type of motion direction, forming a second corresponding relationship. Among them, the first parameter in the motion parameter corresponds to the first direction type, and the second parameter in the motion parameter corresponds to the second direction type. And, the values of the first parameter and the second parameter in the motion parameter are different.

[0118] Exemplarily, if the motion direction corresponding to the first direction type is consistent with the positive half-axis of the z-axis, then the first parameter can be 70 mm for example. If the motion direction corresponding to the second direction type is consistent with the negative half-axis of the z-axis, then the second parameter can be 50 mm for example.

[0119] Thus, in one embodiment, the motion parameter corresponding to the type of motion direction can be determined based on the preset second corresponding relationship. Among them, the second corresponding relationship includes the one-to-one corresponding relationship between the type of motion direction and the motion parameter. More specifically: the aforementioned motion parameter includes a first parameter and a second parameter. The first parameter corresponds to the motion direction corresponding to the first direction type. The second parameter corresponds to the motion direction corresponding to the second direction type. Therefore, the second corresponding relationship includes the corresponding relationship between the first direction type and the first parameter, and the corresponding relationship between the second direction type and the second parameter. Thus, in response to the type of motion direction being the first direction type, based on the preset second corresponding relationship, determine the first parameter as the above motion parameter. Or, in response to the type of motion direction being the second direction type, based on the preset second corresponding relationship, determine the second parameter as the aforementioned motion parameter. Then, determine the product between the motion parameter and the distance coefficient as the motion distance.

[0120] In this way, according to the steps described in the foregoing steps 301-302, at least the first suspension to be adjusted can be controlled according to the user information, so that the posture of the vehicle matches the interaction intention of the user, realizing the high-precision response and high-precision control of the vehicle suspension, and effectively improving the user experience.

[0121] Furthermore, multiple suspensions can be controlled simultaneously according to the specified number of suspensions to be adjusted. That is, the user can also control the movement of multiple suspensions to be adjusted through their user posture information at the same time. In one embodiment, the number of the foregoing suspensions to be adjusted can be obtained from the specified number of suspensions to be adjusted in the user information. The specified number of the suspensions to be adjusted can be sent after the wake-up information, and can also be sent through the user's handheld terminal. Alternatively, the specified number of the suspensions to be adjusted can be obtained through the user's gesture. For example, when the user makes a "V" gesture with their hand, it means that the specified number of suspensions to be adjusted is 2. When the user forms a "1" gesture with their index finger, it means that the specified number of suspensions to be adjusted is 1.

[0122] Or, the specified number of suspensions to be adjusted can be obtained through the number button selected by the user on the vehicle screen. For example, if the user selects the number button marked 1, it can be determined that the specified number of suspensions to be adjusted is 1.

[0123] The following is an explanation of the case where the specified number of suspensions to be adjusted is 2, and both the first suspension to be adjusted and the second suspension to be adjusted correspond to the first posture feature point:

[0124] First, in response to the specified number of suspensions to be adjusted being 2, based on the relative magnitude relationship between the spatial angle and the preset first angle threshold, the first target rule is determined among multiple preset rules. Then this first target rule is used to determine the second suspension to be adjusted. The second suspension to be adjusted and the first suspension to be adjusted together constitute the suspensions to be adjusted.

[0125] Then, based on the first target rule, the second suspension to be adjusted is determined; then the second suspension to be adjusted and the first suspension to be adjusted constitute the suspensions to be adjusted.

[0126] Furthermore, according to the foregoing first target rule, the second suspension to be adjusted can be determined in the following manner:

[0127] In response to the foregoing spatial angle being greater than the first angle threshold, the second rule among the multiple preset rules is determined as the foregoing first target rule. Then, according to this second rule, the second suspension to be adjusted is determined.

[0128] Among them, this second rule indicates that among multiple suspensions, the suspension that is not adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0129] Specifically, among the polygons formed by the connections of multiple suspensions, the suspension that is not adjacent to the first suspension to be adjusted is the second suspension to be adjusted. The following combinationFigure 5A Taking the middle suspension in the first quadrant of the suspension reference system as an example to illustrate the second rule: As Figure 5A shown, the number of middle suspensions of the vehicle is 4, which are represented by ●, ▲, and ◆ respectively. The connecting lines can form a quadrilateral. In this quadrilateral, the suspension not adjacent to the first suspension to be adjusted, such as "◆", can be determined as the second suspension to be adjusted in this way.

[0130] Alternatively, in response to the aforementioned spatial angle being less than or equal to the first angle threshold, determine the third rule among the multiple preset rules as the aforementioned first target rule. Then, according to the third rule, the second suspension to be adjusted can be determined.

[0131] Among them, the third rule indicates that among multiple suspensions, the suspension on the same side of the position of the first posture feature point relative to the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0132] Specifically, in the polygon formed by the middle suspensions of the vehicle, the suspension on the same side of the position of the first posture feature point relative to the user and adjacent to the first suspension to be adjusted can be determined as the second suspension to be adjusted.

[0133] Similar to the second rule, still taking the first suspension to be adjusted in the first quadrant of the suspension reference system as an example to illustrate the third rule; please refer to Figure 5B . As Figure 5B shown, if the number of middle suspensions of the vehicle is still 4, which are represented by ●, ▲, and ◆ respectively, the connecting lines can form a quadrilateral. Then, according to the third rule: the suspension adjacent to the first suspension to be adjusted and on the same side of the position of the first posture feature point relative to the user is determined as the second suspension to be adjusted, Figure 5B and the second suspension to be adjusted is represented as "◆" in

[0134] In the above embodiments, the first posture feature point can be the feature point corresponding to the user's hand posture being a preset posture (such as making a fist).

[0135] The above suspension reference system can be an image reference system with the geometric center of the top view of the vehicle as the origin, and at least 1 suspension is distributed in each quadrant.

[0136] Furthermore, the first suspension to be adjusted and the second suspension to be adjusted can also correspond to the first posture feature point and the second posture feature point respectively. In one embodiment, in response to the specified number of suspensions to be adjusted being 2, the second posture feature point can be further determined through the first instruction in the user information.

[0137] Among them, the first instruction indicates the preset gesture information corresponding to the first posture feature point and the second posture feature point respectively.

[0138] This first instruction is used to determine the first posture feature point and the second posture feature point.

[0139] Based on the first rule, the second suspension to be adjusted corresponding to the second attitude feature point can be determined.

[0140] In this embodiment, the determination of the third suspension to be adjusted can refer to the method of determining the first suspension to be adjusted for the first attitude feature point according to the first rule in steps 301-302, and is determined by the relative position relationship between the second attitude feature point and the reference point, which will not be elaborated here.

[0141] It should be noted that in the embodiments of the present application, the motion information of the suspension to be adjusted is determined by the relative position relationship between the corresponding attitude feature point and the reference point. Therefore, the motion information of the suspension to be adjusted corresponds to the attitude feature point.

[0142] For example, if the first attitude feature point corresponds to the first suspension to be adjusted and the second suspension to be adjusted, the motion information of the first suspension to be adjusted and the second suspension to be adjusted is the same.

[0143] In one embodiment, the above spatial angle can be determined in the following manner:

[0144] First, in a preset spatial coordinate system, determine the first vector between the coordinate origin and the attitude reference point, and determine the second vector between the attitude reference point and the first attitude feature point.

[0145] Among them, the preset spatial coordinate system is a Cartesian coordinate system constructed with the position of the acquisition device of the user data carried by the vehicle as the coordinate origin. Exemplarily, if the modality of the aforementioned user data is an image, the acquisition device of the user data is the image acquisition device that is closest to the user and whose lens is facing the user among those carried by the vehicle. This image acquisition device is preferably a fish-eye camera, so that the four fish-eye cameras originally mounted on the left rearview mirror, right rearview mirror, front of the vehicle, and rear of the vehicle of the vehicle can be directly used, avoiding the increase in hardware costs caused by adding cameras.

[0146] Then, the vector angle between the first vector and the second vector can be determined as the spatial angle.

[0147] The following takes the Cartesian coordinates of the acquisition device of the user data as O 0 (x 0 , y 0 , z 0 ), the Cartesian coordinates of the first attitude feature point are O 1 (x 1 , y 1 , z 1 ), and the Cartesian coordinates of the central reference point are O 2 (x 2 , y 2 , z 2 ) as an example to provide an embodiment for determining the spatial angle:

[0148] Determine the first vector and the second vector

[0149]

[0150] Then, the space angle cosθ can be expressed as:

[0151] Wherein, represents the dot product of the first vector and the second vector ; represents the length of the modulus of the first vector ; represents the length of the modulus of the second vector ;

[0152] Then

[0153] In one embodiment, in response to the specified number of suspensions to be adjusted being less than or equal to 2, the number of attitude feature points can be determined to be 1, and the attitude feature point is the first attitude feature point. As described above, the first attitude feature point can determine the first suspension to be adjusted as the suspension to be adjusted according to the first rule. Alternatively, according to the first rule and the second rule or the third rule in the preset rules, the first suspension to be adjusted and the second suspension to be adjusted are determined as the suspensions to be adjusted.

[0154] To further improve the user experience, the user can be allowed to control the suspension with both hands respectively, or the user can be allowed to use one arm on each side respectively, and two users cooperate with each other to control the suspension. In this way, the specified number of suspensions to be adjusted can be greater than 2. For example, the specified number can be 3 or 4. In one embodiment, in response to the specified number of suspensions to be adjusted being 2, the first suspension number of the suspension to be adjusted corresponding to the first attitude feature point and the second suspension number of the suspension to be adjusted corresponding to the second attitude feature point can be further determined based on the user information.

[0155] The first attitude feature point and the second attitude feature point can be determined by the second instruction in the user information.

[0156] Wherein, the second instruction can indicate the preset gesture information of the first attitude feature point and the preset gesture information of the second attitude feature point.

[0157] The second instruction is used to determine the first attitude feature point and the second attitude feature point of the user.

[0158] Then, among multiple suspensions, a first set of suspensions to be adjusted corresponding to the first attitude feature point and matching the first suspension quantity can be determined, and a second set of suspensions to be adjusted corresponding to the second attitude feature point and matching the second suspension quantity can be determined. Then, the first set of suspensions to be adjusted and the second set of suspensions to be adjusted can be determined as the aforementioned suspensions to be adjusted.

[0159] Specifically, in response to the aforementioned first suspension quantity being 2, a first spatial angle of the first attitude feature point is determined. Based on the relative magnitude relationship between the first spatial angle of the first attitude feature point and the first angle threshold, a first target rule is determined to determine the second suspension to be adjusted of the first attitude feature point. Then, the first suspension to be adjusted and the second suspension to be adjusted constitute the aforementioned first set of suspensions to be adjusted, corresponding to the first attitude feature point.

[0160] And / or, in response to the aforementioned second suspension quantity being 2, a second spatial angle of the second attitude feature point is determined. Based on the relative magnitude relationship between the second spatial angle of the second attitude feature point and the first angle threshold, a first target rule is determined to determine the fourth suspension to be adjusted of the second attitude feature point. Then, the third suspension to be adjusted and the fourth suspension to be adjusted constitute the second set of suspensions to be adjusted, corresponding to the second attitude feature point.

[0161] In this way, when the number of instructions for the suspensions to be adjusted is greater than 2, the first attitude feature point corresponds to at least the first suspension to be adjusted, and the second attitude feature point corresponds to at least the third suspension to be adjusted.

[0162] On this basis, the first attitude feature point can also correspond to both the first suspension to be adjusted and the second suspension to be adjusted according to the first suspension quantity.

[0163] The second attitude feature point can also correspond to both the third suspension to be adjusted and the fourth suspension to be adjusted according to the second suspension quantity.

[0164] Finally, based on the relative position relationship between the first attitude feature point and the reference point, the motion information of the suspensions to be adjusted in the first set of suspensions to be adjusted can be determined, and based on the relative position relationship between the second attitude feature point and the reference point, the motion information of the second set of suspensions to be adjusted can be determined.

[0165] Optionally, the aforementioned first attitude feature point and second attitude feature point can correspond to the same user or different users. The aforementioned reference point corresponds to the user. That is, each user uniquely corresponds to a set of reference points. Taking the reference point as the median reference point as an example, each user uniquely corresponds to a median reference point. Therefore, when the first attitude feature point and the second attitude feature point correspond to different users, the reference point of the first attitude feature point and the reference point of the second attitude feature point are different, and the reference point of the first attitude feature point is determined according to the body type of the user corresponding to the first attitude point, and the reference point of the second attitude feature point is determined according to the body type of the user corresponding to the second attitude feature point.

[0166] To further improve the user experience, an embodiment is provided below to illustrate the determination of the first posture feature points and the second posture feature points:

[0167] First, according to the user information, determine the number of users corresponding to the posture feature points. Then, according to the preset rules, power on the lamps at multiple preset positions of the vehicle body in turn and time until the time reaches the time limit value. When it is determined that the time reaches the time limit value, determine the target lamp that is powered on. Among them, the preset rules include the generation rule of the time limit value. Exemplarily, the time limit value is a random number; then the generation rule of the time limit value is a preset random number generation algorithm.

[0168] The preset rules also include the power-on sequence of the lamps at multiple preset positions of the vehicle body. Exemplarily, the lamps located at the four window positions are powered on in a clockwise or counterclockwise direction in turn, that is, are lit in turn.

[0169] The meaning of powering on in turn here can be that whenever a lamp at a preset position is powered on and lit according to the foregoing preset rules, the previously powered-on lamp is powered off; that is, only the lamp corresponding to one preset position is powered on each time, so as to accurately determine the user.

[0170] In one embodiment, the foregoing preset rules may further include the power-on time length of the lamps at the preset positions.

[0171] Finally, in the irradiation range of the foregoing target lamp, determine the users with the number of users, and determine the first posture feature points and the second posture feature points that match the preset gesture postures.

[0172] The preset gesture postures may be, for example, gestures such as making a fist and / or giving a thumbs up.

[0173] Optionally, when the time reaches the foregoing time limit value, the target lamp can be kept powered on continuously until the suspension control ends.

[0174] Taking the number of users as 2 as an example: If the number of users is 2, then two users with gesture postures being the preset gesture postures can be selected in the irradiation range of the last powered-on vehicle lamp according to the preset rules. Among the two selected users, the hand of each user corresponding to the preset gesture posture can be used to determine the first posture feature point and the second posture feature point respectively.

[0175] Or, if the number of users is 2, one user can be selected each time according to the foregoing preset rules; and it is taken continuously 2 times according to the preset rules. The gesture posture of this user is the preset gesture posture and is the closest to the vehicle body. Similarly, among the two selected users, the hand of each user corresponding to the preset gesture posture can be used to determine the first posture feature point and the second posture feature point respectively.

[0176] It can be seen that the above preset gesture postures can improve the accuracy of locking the user by the light in the scenario of multiple-person controlled suspension.

[0177] Furthermore, from the time dimension, the collected user information should be continuous. That is, user data can be collected by the aforementioned collection device within a certain length of time period to control the movement of the suspension to be adjusted. Therefore, in order to improve the response accuracy of the suspension and thus improve the user experience. In one embodiment, the user can be tracked to ensure that the users corresponding to different moments are the same user. Still taking the user data with the modality of image as an example, for the image frames collected at multiple moments, or the user and user information in the image frames in the video, please refer to Figure 6 :

[0178] Step 601, in response to the modality of the user data being an image, determine the target in the image.

[0179] Specifically, the image can be processed by a target detection algorithm to determine the target in the image.

[0180] The number of targets in this image can be 0, 1, 2 or more.

[0181] Step 602, verify the target in the image to determine that the target is a user.

[0182] Then the user information includes the user posture information of the target in the image.

[0183] Therefore, in one embodiment, a pre-trained posture detection model can be used to detect the posture of the user, obtain the user posture information, and the user information including the user posture information.

[0184] In one embodiment, the facial area of the target in the first frame image of the image sequence can be enhanced to obtain a facial restored image. The facial restored image is compared one by one with the user facial scan images in the preset user facial list to determine the target user corresponding to the user facial scan image whose similarity to the facial restored image is greater than the similarity threshold.

[0185] Among them, the images in the image sequence are sorted according to the time corresponding to the time stamps carried by the images.

[0186] Then, for each frame image after the first frame image in the image sequence, the above method is used to compare the similarity with the preset user facial list, and the target user corresponding to each frame image is obtained.

[0187] Compare whether the target users corresponding to each frame image are the same, implement the verification of the target, and obtain the user in the image.

[0188] In order to improve the verification efficiency, in one embodiment, the first image with the target being the user may be determined first in an image sequence including at least 2 frames of images. Among them, the images in the image sequence are in chronological order, and the image sequence includes the first image and a second image located after the first image.

[0189] Then, the targets in multiple second images after the first image may be verified: target detection is performed on the second image to obtain first information to be verified of at least 1 target in the second image. The first information to be verified may include information to be verified of multiple targets in the second image.

[0190] This first information to be verified can be understood as the detection box information of the target detected by the image detection algorithm.

[0191] Trajectory prediction is performed on the first image before the second image to obtain second information to be verified of the user in the second image. This second information to be verified can be understood as the motion information of the user predicted by the trajectory prediction algorithm and the position information of the user.

[0192] Next, in response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to a second threshold, it is determined that the target corresponding to the target information to be verified is the user.

[0193] This matching degree can be determined by the intersection-over-union ratio between the position information of the first information to be verified and the position information of the second information to be verified. Alternatively, when the second image contains multiple targets, the matching degree can be determined by combining the Hungarian matching algorithm with the intersection-over-union ratio.

[0194] Furthermore, in order to avoid the error caused by the above-mentioned matching degree being less than the second threshold due to the user ID (Identity document) that is likely to occur in target detection, in one embodiment, in response to the matching degree between the first information to be verified and the second information to be verified being less than a preset second threshold, it is immediately determined that the target in the second image is not the user. Then, it is possible to judge the situation of target detection jumping by whether the image before the second image contains the user and the number of images containing the user before the second image:

[0195] In response to the target in the second image not being the user and the number of images containing the user before the second image in the image sequence being greater than or equal to a third threshold, it can be determined that the error in target detection leads to a misjudgment that the target is not the user. In this way, in the image sequence, the third image adjacent to the second image and before the second image can be determined. And the user posture information of the user in the third image is determined as the user information in the second image.

[0196] In this embodiment, between the first image and the second image in the image sequence, there are at least an image number equal to the third threshold.

[0197] According to the foregoing embodiment, when verifying the target in the images of the image sequence, it can be understood progressively: for example, when verifying the third frame image, it means that the targets in the first frame image and the second frame image have passed the verification, and both the first frame image and the second frame image contain the same user. If the target in the second frame image fails the verification, that is, it is determined that the second frame image does not contain a user, then it can be determined to stop the control of the suspension.

[0198] Step 603: Based on the user posture information, determine the aforementioned suspension to be adjusted and the motion information.

[0199] In one embodiment, in response to the gesture posture in the fourth image in the image sequence being a preset stop posture, it is determined to end the control of the suspension to be adjusted; then the suspension to be adjusted is controlled to return to the initial position.

[0200] Further, if the modality of the above user data is an image, the acquisition device for the user data corresponding to the image can be a wide-angle camera. In one embodiment, for the acquisition image obtained by the wide-angle camera facing the user, the internal reference matrix and distortion coefficient of the wide-angle camera can be obtained first. Then, using the internal reference matrix and the distortion coefficient, calculate the undistorted coordinates of each pixel in the acquisition image, thereby obtaining the image corresponding to the user data for determining the user information.

[0201] Second embodiment: The following will give an example in a specific usage scenario to illustrate the aforementioned suspension control method:

[0202] When a user outside the vehicle intends to interact with the vehicle, the user can select the "Human-Vehicle Dance Mode" through the corresponding APP (Application) in the mobile terminal, and fill in the information to be filled in this "Human-Vehicle Dance Mode" to send a wake-up message to the vehicle through the APP. The aforementioned information to be filled in includes the specified number of suspensions participating in the interaction and the number of users. When the user fills in the single-person mode, it indicates that the number of users is 1. When the user fills in the multi-person mode, it indicates that the number of users is greater than 1. The following takes the specified number as 4 and gives examples of the single-person mode and the multi-person mode respectively:

[0203] In the single-player mode, when the vehicle receives the wake-up information containing the single-player mode selected by the aforementioned user, it first activates the four-way fisheye camera mounted on the vehicle body to collect pedestrian images from corresponding azimuth perspectives through the four-way fisheye camera with wide-angle cameras. Then, through the camera internal parameters and the de-distortion coefficients preset in the fisheye camera, the pedestrian images are de-distorted to obtain the collected images. Next, the pedestrian postures in the collected images can be detected, and the pedestrians with the detected postures being the preset raising-hand postures are determined as interaction objects, that is, users. And the collected image in which the user appears is used as the first frame image. Starting from this first frame image, the user in the subsequent collected images is tracked to avoid the problem of degraded user experience caused by misidentifying other pedestrians as users when controlling the suspension based on the postures of the users in each collected image. The subsequent collected images after the aforementioned first frame image are determined by the time stamps carried by the collected images. The control of the suspension by the user postures in the aforementioned first frame image and the subsequent collected images (for the sake of simplicity in description, hereinafter uniformly referred to as: image sequence) is described as follows:

[0204] After determining the user, continue to identify the user postures in the image sequence. When the identified user posture is a fist-clenching posture, it is determined to start suspension control, and the fist-clenching hand is determined as the first posture feature point. Then, the other hand except the hand corresponding to the first posture feature point can be used as the second posture feature point.

[0205] By processing the aforementioned image sequence with a depth information estimation model based on the encoder-decoder architecture, the z-axis depth information of each pixel point in the collected images of the image sequence can be obtained. Therefore, in combination with the z-axis depth information, the coordinates of the fisheye camera are pre-marked as O 1 (x 1 ,y 1 ,z 1 ), the coordinates of the central reference point corresponding to the user's waist are O 2 (x 2 ,y 2 ,z 2 ), and the coordinates of the posture feature point (the first posture feature point or the second posture feature point) are O 3 (x 3 ,y 3 ,z 3 ). Determine and the vector included angle as the spatial angle.

[0206] The threshold corresponding to the spatial angle is 75°. If the spatial angle is greater than 75°, determine the first set of suspension to be adjusted corresponding to the first attitude feature point: Determine the suspension that is on the same side as the orientation of the first attitude feature point relative to the user's body and is the closest to the first attitude feature point as the first suspension to be adjusted. Also, determine the suspension that is not adjacent to the first suspension to be adjusted as the second suspension to be adjusted.

[0207] Alternatively, if the spatial angle is less than or equal to 75°, determine the first set of suspensions to be adjusted corresponding to the first attitude feature point as follows: Determine the suspension that is on the same side as the orientation of the first attitude feature point relative to the user's body and is the closest to the first attitude feature point as the first suspension to be adjusted. Also, determine the suspension that is adjacent to the first suspension to be adjusted and is still on the same side as the orientation of the first attitude feature point relative to the user's body as the second suspension to be adjusted.

[0208] Determine the above-mentioned first suspension to be adjusted and the second suspension to be adjusted as the first set of suspensions to be adjusted corresponding to the first attitude feature point. The first suspension to be adjusted and the second suspension to be adjusted in this first set of suspensions move synchronously, that is, the motion information (motion direction type and motion distance) of the first suspension to be adjusted and the second suspension to be adjusted is the same.

[0209] In this way, the motion information of the first set of suspensions to be adjusted can be determined according to the relative position of the first attitude feature point of the user relative to the median reference point. For example, when the first attitude feature point is above the median reference point, determine that the motion direction type of this first set of suspensions to be adjusted is to move upward together.

[0210] When the first attitude feature point is below the median reference point, determine that the motion direction type of the first set of suspensions to be adjusted is to move downward together.

[0211] In addition, the movement distance in the movement information of the suspension can also be determined by the following method: combining the height difference between the boundary point corresponding to the direction and the median reference point, and the distance between the first posture feature point and the median reference point, determine the distance that the suspension needs to move along its movement direction. For example, according to the height difference between the upper boundary reference point in the reference point (i.e., the highest point that the first posture feature point can reach: when the user raises his hand in a standing posture, and the upper arm and the lower arm are basically on the same vertical line, the position of the first posture feature point) and the median reference point, and the ratio of the first distance between the first posture feature point and the median reference point to the height difference, determine the movement distance of the suspension moving upward. For another example, according to the height difference between the lower boundary reference point in the reference point (i.e., the lowest point that the first posture feature point can reach, when the user's arm is naturally drooping in a standing posture, and the upper arm and the lower arm are basically on the same vertical line, the position of the first posture feature point) and the median reference point, and the ratio of the first distance between the first posture feature point and the median reference point to the height difference, determine the movement distance of the suspension moving downward. In this way, the first group of suspensions to be adjusted corresponding to the first posture feature point can be determined according to the spatial angle of the first posture feature point, and the motion information of the first group of suspensions to be adjusted can be determined according to the relative position between the median reference point and the upper boundary reference point or the lower boundary reference point and the first posture feature point.

[0212] Similar to the first posture feature point, the second group of suspensions to be adjusted corresponding to the second posture feature point can still be determined by the aforementioned method. Alternatively, the remaining suspensions except the first group of suspensions to be adjusted can be directly determined as the second group of suspensions to be adjusted. Then, the relative position relationship between the second posture feature point and the aforementioned median reference point, upper boundary reference point, and lower boundary reference point is used to determine the motion information of the second group of suspensions to be adjusted corresponding to the second posture feature point.

[0213] In this way, precise control of the suspension is achieved by detecting the position changes of the posture feature points in the captured images in the image sequence, until the user's hand posture is detected as a thumbs-up gesture, and the interaction is paused; until the user clicks to end the "human-vehicle dance mode" through the mobile terminal, the vehicle receives the notification of ending the suspension control and stops the suspension control.

[0214] The following is an explanation of the multi-person mode: First, the four fisheye cameras mounted on the vehicle are still used to collect pedestrian images. The pedestrian images are distorted and corrected using the camera internal parameters and dedistortion coefficients preset in the fisheye cameras to obtain images collected in multiple directions.

[0215] Then, in the multi-player mode, according to the preset order, power on the lamps on the front, rear, left, and right windows in turn, and randomly stop the mode of light rotation. Among the aforementioned captured images, select the target image that matches the irradiation direction of the only lit window after stopping, and determine the interaction object with the raised hand gesture in the target image as the user. Then, according to the determination methods of the first pose feature points and the second pose feature points in the aforementioned single-player mode, and the first group of suspension to be adjusted and the second group of suspension to be adjusted corresponding to the first pose feature points and the second pose feature points respectively, determine the motion information of the first group of suspension to be adjusted and the second group of suspension to be adjusted, and control the motion of the first group of suspension to be adjusted and the second group of suspension to be adjusted.

[0216] Until it is detected that the hand gesture of the user is a thumbs-up gesture, determine the end of the interaction between the user and the vehicle. At this time, the vehicle pauses the control of the suspension, and again according to the aforementioned preset order, power on the lamps on the front, rear, left, and right windows in turn, and randomly stop the mode of light rotation, so as to re-select the interaction object with the raised hand gesture as the user. For this user, use the aforementioned method to determine the first group of suspension to be adjusted corresponding to the first pose feature points of this user and the second group of suspension to be adjusted corresponding to the second pose feature points. Respectively, according to the position change of the first pose feature points, control the motion of the first group of suspension to be adjusted, and according to the position change of the second pose feature points, control the motion of the second group of suspension to be adjusted; until it is detected that the hand gesture of the first pose feature points or the second pose feature points of the user is a thumbs-up gesture, determine that the user ends the interaction with the vehicle. Then continue to start the lights on the windows to change the interaction object... until the user selects the "end the dance between people and the vehicle" mode through the mobile terminal, and the vehicle receives the notice to end the suspension control and stops the suspension control.

[0217] It should be understood that although Figure 1 , Figure 3 , Figure 6 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 , Figure 3 , Figure 6 at least a part of the steps in

[0218] can include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0218] Based on the same inventive concept, as Figure 7As shown in the figure, an embodiment of the present application provides a suspension control device, including: a data module 701, a suspension module 702, and a motion module 703, where:

[0219] The data module 701 is configured to obtain user data in response to receiving wake-up information.

[0220] The suspension module 702 is configured to determine a to-be-adjusted suspension among multiple suspensions based on the user information in the user data, and determine the motion information of the to-be-adjusted suspension.

[0221] The motion module 703 is configured to control the motion of the to-be-adjusted suspension based on the motion information.

[0222] In one embodiment, the suspension module 702 is specifically configured to:

[0223] In response to the modality of the user data being an image, determine the to-be-adjusted suspension and the motion information based on the gesture information in the user information.

[0224] In one embodiment, the user posture information in the user information includes the position information of the first posture feature point and the reference point of the user respectively; the suspension module 702 is further configured to:

[0225] Select a first to-be-adjusted suspension among the multiple suspensions based on a first rule; where the first rule indicates that the suspension on the same side as the position of the first posture feature point relative to the user and closest to the first posture feature point is the first to-be-adjusted suspension; determine the motion information of the first to-be-adjusted suspension based on the relative position relationship between the first posture feature point and the reference point.

[0226] In one embodiment, the user information includes the specified number of the to-be-adjusted suspensions, the spatial angle of the first posture feature point in the user posture, and the spatial angle indicates the angle change amplitude of the user's gesture and / or arm; the suspension module 702 is further configured to:

[0227] In response to the specified number of the to-be-adjusted suspensions being 2, determine a first target rule among multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold; determine a second to-be-adjusted suspension based on the first target rule; determine the motion information of the first to-be-adjusted suspension as the motion information of the second to-be-adjusted suspension.

[0228] In one embodiment, the suspension module 702 is specifically configured to:

[0229] In response to the spatial angle being greater than the first angle threshold, determine the second rule among the multiple preset rules as the first target rule; wherein, the second rule indicates that among the multiple suspensions, the suspension that is not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or, in response to the spatial angle being less than or equal to the first angle threshold, determine the third rule among the multiple preset rules as the first target rule; wherein, the third rule indicates that among the multiple suspensions, the suspension that is on the same side as the position of the first attitude feature point relative to the user and is adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0230] In one embodiment, the suspension module 702 is further configured to:

[0231] In a preset spatial coordinate system, determine a first vector between the coordinate origin and the median reference point, and determine a second vector between the median reference point and the first attitude feature point; wherein, the spatial coordinate system takes the position of the acquisition device of the user data as the coordinate origin; determine the vector angle between the first vector and the second vector as the spatial angle.

[0232] In one embodiment, the suspension module 702 is further configured to: in response to the specified number of suspensions to be adjusted being greater than 2, based on the user information, determine the first number of suspensions corresponding to the first attitude feature point, and the second number of suspensions corresponding to the second attitude feature point; wherein, the sum of the first number of suspensions and the second number of suspensions is equal to the specified number; among the multiple suspensions, determine a first set of suspensions to be adjusted corresponding to the first attitude feature point and matching the first number of suspensions, and determine a second set of suspensions to be adjusted corresponding to the second attitude feature point and matching the second number of suspensions; based on the relative position relationship between the first attitude feature point and the reference point, determine the motion information of the first set of suspensions to be adjusted, and based on the relative position relationship between the second attitude feature point and the reference point, determine the motion information of the second set of suspensions to be adjusted.

[0233] In one embodiment, the reference point includes: a median reference point corresponding to the middle region of the user's posture, and / or, an attitude extreme value reference point; wherein, the attitude extreme value reference point includes a first extreme value reference point corresponding to the highest region of the hand in the user's posture, and a second extreme value reference point corresponding to the lowest region of the hand in the user's posture.

[0234] In one embodiment, the suspension module 702 is specifically configured to:

[0235] Determine the first coordinate information of the first pose feature point in the user pose information and the second coordinate information of the median reference point; based on the first coordinate information and the second coordinate information, determine the type of motion direction; wherein, the type of motion direction includes a first direction type and / or a second direction type, and the motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0236] In one embodiment, the suspension module 702 is specifically configured to:

[0237] Determine the type of motion direction based on the relative magnitude relationship between the ordinate of the first pose feature point and the ordinate of the median reference point.

[0238] In one embodiment, the motion information further includes a motion distance, and the reference point includes a pose extreme value reference point; the pose extreme value reference point includes a first extreme value reference point corresponding to the first direction type and a second extreme value reference point corresponding to the second direction type; the first extreme value reference point corresponds to the first direction type and is the farthest point that the first pose feature point can reach; the second extreme value reference point corresponds to the second direction type and is the farthest point that the first pose feature point can reach; the suspension module 702 is specifically configured to:

[0239] Based on a preset first correspondence relationship, determine the pose extreme value reference point corresponding to the type of motion direction as the target extreme value reference point; wherein, the first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point, and the correspondence relationship between the second direction type and the second extreme value reference point; based on the height difference between the target extreme value reference point and the median reference point and the ratio of the first pose feature point to the height difference, determine a distance coefficient; determine the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance.

[0240] In one embodiment, the suspension module 702 is specifically configured to:

[0241] Based on a preset second correspondence relationship, determine the motion parameter corresponding to the type of motion direction; wherein, the motion parameter is a first parameter or a second parameter, and the second correspondence relationship includes the correspondence relationship between the first direction type and the first parameter, and the correspondence relationship between the second direction type and the second parameter; determine the product of the motion parameter and the distance coefficient as the motion distance.

[0242] In one embodiment, the suspension module 702 is further configured to:

[0243] In response to the modality of the user data being an image, determine the target in the image; verify the target to determine that the target is the user; then the user information is the user posture information of the target in the image; based on the gesture information in the user information, determine the suspension to be adjusted and the motion information.

[0244] In one embodiment, the suspension module 702 is further configured to:

[0245] In an image sequence including at least 2 frames of the image, determine the first image in which the target is the user; wherein, in the image sequence, the images are in chronological order, and the image sequence includes the first image and a second image located after the first image; perform target detection on the second image to obtain first information to be verified of at least 1 target in the second image; and perform trajectory prediction on the user in the first image to obtain second information to be verified of the user in the second image; in response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to the second threshold, determine that the target corresponding to the target information to be verified in the second image is the user.

[0246] In one of the embodiments, the suspension module 702 is further configured to:

[0247] In response to the target in the second image not being the user, and the number of images including the user before the second image in the image sequence being greater than or equal to the third threshold, in the image sequence, determine a third image adjacent to the second image and located before the second image; determine the user posture information of the user in the third image as the user posture information in the second image.

[0248] For the specific limitations on the suspension control device, reference may be made to the limitations on the suspension control method in the above text, which will not be elaborated here. Each module in the above suspension control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the electronic device in hardware form or be independent of it, or can be stored in the memory of the electronic device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above respective modules.

[0249] Based on the same inventive concept, please refer to Figure 8 , this application embodiment also provides an electronic device. In one embodiment, as shown in the figure, the electronic device may include a memory 801, a communication module 803, and one or more processors 802.

[0250] A memory 801 for storing a computer program executed by a processor 802. The memory 801 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system; the data storage area may store various operation instruction sets, etc.

[0251] The memory 801 may be a volatile memory, such as a random-access memory (RAM); the memory 801 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or the memory 801 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 801 may be a combination of the above memories.

[0252] The processor 802 may include one or more central processing units (CPUs) or be a digital processing unit, etc. The processor 802 is used to implement the above suspension control method when calling the computer program stored in the memory 801.

[0253] A communication module 803 is used to communicate with a terminal device, a site device or other network devices.

[0254] In the embodiments of the present application, the specific connection medium between the above-mentioned memory 801, communication module 803 and processor 802 is not limited. In the embodiments of the present application Figure 8 it is described that the memory 801 and the processor 802 are connected through a bus 804. The bus 804 is described in thick lines in Figure 6 The connection manners between other components are only for illustrative purposes and are not to be construed as limiting. The bus 804 may be divided into an address bus, a data bus, a control bus, etc. For the convenience of description, Figure 8 only a thick line 804 is used to describe it in

[0255] The memory 801 stores a computer storage medium, and the computer storage medium stores computer-executable instructions for implementing the suspension control method of the embodiments of the present application. The processor 802 is used to execute the suspension control method of each embodiment in the above computer-executable instructions.

[0256] When the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0257] Upon receiving the wake-up information, obtain user data;

[0258] Based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted;

[0259] Based on the motion information, control the movement of the suspension to be adjusted.

[0260] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0261] When the modality of the user data is an image, based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted, including: when the modality of the user data is the image, based on the gesture information in the user information, determine the suspension to be adjusted and the motion information.

[0262] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0263] The user information includes the position information of the first pose feature point and the reference point of the user respectively; based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted, including: select the first suspension to be adjusted among the multiple suspensions based on the first rule; wherein, the first rule indicates that the suspension on the same side as the position of the first pose feature point relative to the user and closest to the first pose feature point is the first suspension to be adjusted; based on the relative position relationship between the first pose feature point and the reference point, determine the motion information of the first suspension to be adjusted.

[0264] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0265] The user information includes the specified number of the suspensions to be adjusted, and the user pose information includes the spatial angle of the first pose feature point; the spatial angle indicates the change amplitude of the user's gesture and / or arm; based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted, including: when the specified number of the suspensions to be adjusted is 2, determine the first target rule among multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold; based on the first target rule, determine the second suspension to be adjusted; determine the motion information of the first suspension to be adjusted as the motion information of the second suspension to be adjusted.

[0266] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0267] In response to the spatial angle being greater than the first angle threshold, determine the second rule among the multiple preset rules as the first target rule; wherein, the second rule indicates that, among the multiple suspensions, the suspension that is not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or, in response to the spatial angle being less than or equal to the first angle threshold, determine the third rule among the multiple preset rules as the first target rule; wherein, the third rule indicates that the suspension that is on the same side as the position of the first attitude feature point relative to the user and is adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0268] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0269] The spatial angle is determined by the following method: in a preset spatial coordinate system, determine a first vector between the coordinate origin and the median reference point, and determine a second vector between the median reference point and the first attitude feature point; wherein, the spatial coordinate system takes the position of the acquisition device of the user data as the coordinate origin; determine the vector angle between the first vector and the second vector as the spatial angle.

[0270] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0271] In response to the specified number of suspensions to be adjusted being greater than 2, based on the user information, determine the first number of suspensions corresponding to the first attitude feature point and the second number of suspensions corresponding to the second attitude feature point; wherein, the sum of the first number of suspensions and the second number of suspensions is equal to the specified number; among the multiple suspensions, determine a first set of suspensions to be adjusted corresponding to the first attitude feature point and matching the first number of suspensions, and determine a second set of suspensions to be adjusted corresponding to the second attitude feature point and matching the second number of suspensions; based on the relative position relationship between the first attitude feature point and the reference point, determine the motion information of the first set of suspensions to be adjusted, and based on the relative position relationship between the second attitude feature point and the reference point, determine the motion information of the second set of suspensions to be adjusted..

[0272] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0273] Determine the first coordinate information of the first pose feature point in the user pose information and the second coordinate information of the median reference point; based on the first coordinate information and the second coordinate information, determine the type of motion direction; wherein, the type of motion direction includes a first direction type and / or a second direction type, and the motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0274] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0275] Determine the type of motion direction based on the relative magnitude relationship between the ordinate of the first pose feature point and the ordinate of the median reference point.

[0276] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0277] The motion information further includes a motion distance, and the reference point includes a pose extreme value reference point; the pose extreme value reference point includes a first extreme value reference point corresponding to the first direction type and a second extreme value reference point corresponding to the second direction type; the first extreme value reference point corresponds to the first direction type and is the farthest point that the first pose feature point can reach; the second extreme value reference point corresponds to the second direction type and is the farthest point that the first pose feature point can reach; determining the motion information of the suspension to be adjusted includes: based on a preset first correspondence relationship, determining the pose extreme value reference point corresponding to the type of motion direction as the target extreme value reference point; wherein, the first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point and the correspondence relationship between the second direction type and the second extreme value reference point; determining a distance coefficient based on the height difference between the target extreme value reference point and the median reference point and the ratio of the first pose feature point to the height difference; determining the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance.

[0278] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0279] Determine the motion parameter corresponding to the type of motion direction based on a preset second correspondence relationship; wherein, the motion parameter is a first parameter or a second parameter, and the second correspondence relationship includes the correspondence relationship between the first direction type and the first parameter and the correspondence relationship between the second direction type and the second parameter; determine the product of the motion parameter and the distance coefficient as the motion distance.

[0280] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0281] When the modality of the user data is an image, based on the user information in the user data, determine the suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted, including: when the modality of the user data is an image, determine the target in the image; verify the target to determine that the target is the user; then the user information is the user posture information of the target in the image; based on the gesture information in the user information, determine the suspension to be adjusted and the motion information.

[0282] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0283] In an image sequence including at least 2 frames of the image, determine the first image in which the target is the user; wherein, the images in the image sequence are in time order, and the image sequence includes the first image and a second image located after the first image; perform target detection on the second image to obtain first information to be verified of at least 1 target in the second image; and perform trajectory prediction on the user in the first image to obtain second information to be verified of the user in the second image; when the matching degree between the second information to be verified and the target information to be verified in the first information to be verified is greater than or equal to the second threshold, determine that the target corresponding to the target information to be verified in the second image is the user.

[0284] In one embodiment, when the computer-executable instructions are executed by the processor 802, the following steps are implemented:

[0285] When the target in the second image is not the user, and the number of images including the user before the second image in the image sequence is greater than or equal to the third threshold, in the image sequence, determine the third image adjacent to the second image and located before the second image; determine the user posture information of the user in the third image as the user posture information in the second image.

[0286] Those skilled in the art can understand that Figure 8 the structure shown in

[0287] Based on the same inventive concept, 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 following steps are implemented:

[0288] Upon receiving a wake-up message, obtain user data;

[0289] Based on the user information in the user data, determine a suspension to be adjusted among multiple suspensions, and determine the motion information of the suspension to be adjusted;

[0290] Based on the motion information, control the motion of the suspension to be adjusted.

[0291] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0292] When the modality of the user data is an image, based on the user information in the user data, determining a suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted includes: when the modality of the user data is the image, based on the gesture information in the user information, determining the suspension to be adjusted and the motion information.

[0293] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0294] The user information includes the position information of the first pose feature point and the reference point in the user pose; based on the user information in the user data, determining a suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted includes: selecting a first suspension to be adjusted among the multiple suspensions based on a first rule; wherein, the first rule indicates that the suspension on the same side of the position of the first pose feature point relative to the user and closest to the first pose feature point is the first suspension to be adjusted; based on the relative position relationship between the first pose feature point and the reference point, determining the motion information of the first suspension to be adjusted.

[0295] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0296] The user information includes a specified number of the suspension to be adjusted and a spatial angle of the first pose feature point in the user pose, where the spatial angle indicates the change range of the user's gesture and / or arm; determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted based on the user information in the user data includes: in response to the specified number of the suspension to be adjusted being 2, determining a first target rule among multiple preset rules based on the relative magnitude relationship between the spatial angle and a preset first angle threshold; determining a second suspension to be adjusted based on the first target rule; and determining the motion information of the first suspension to be adjusted as the motion information of the second suspension to be adjusted.

[0297] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0298] In response to the spatial angle being greater than the first angle threshold, determining the second rule among the multiple preset rules as the first target rule; where the second rule indicates that among the multiple suspensions, the suspension not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or, in response to the spatial angle being less than or equal to the first angle threshold, determining the third rule among the multiple preset rules as the first target rule; where the third rule indicates that among the multiple suspensions, the suspension on the same side as the position of the first pose feature point relative to the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0299] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0300] In a preset spatial coordinate system, determining a first vector between the coordinate origin and the median reference point, and determining a second vector between the median reference point and the first pose feature point; where the spatial coordinate system takes the position of the acquisition device of the user data as the coordinate origin; and determining the vector angle between the first vector and the second vector as the spatial angle.

[0301] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0302] In response to the specified number of the suspension to be adjusted being greater than 2, based on the user information, determine the first suspension number corresponding to the first attitude feature point and the second suspension number corresponding to the second attitude feature point; wherein the sum of the first suspension number and the second suspension number is equal to the specified number; among the multiple suspensions, determine a first set of suspensions to be adjusted corresponding to the first attitude feature point and matching the first suspension number, and determine a second set of suspensions to be adjusted corresponding to the second attitude feature point and matching the second suspension number; based on the relative position relationship between the first attitude feature point and the reference point, determine the motion information of the first set of suspensions to be adjusted, and based on the relative position relationship between the second attitude feature point and the reference point, determine the motion information of the second set of suspensions to be adjusted.

[0303] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0304] Determine the first coordinate information of the first attitude feature point in the user attitude information and the second coordinate information of the median reference point; based on the first coordinate information and the second coordinate information, determine the type of motion direction; wherein the type of motion direction includes a first direction type and / or a second direction type, and the motion direction corresponding to the first direction type is opposite to the motion direction corresponding to the second direction type.

[0305] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0306] Based on the relative magnitude relationship between the ordinate of the first attitude feature point and the ordinate of the median reference point, determine the type of motion direction.

[0307] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0308] The motion information further includes a motion distance, and the reference points include attitude extreme value reference points; the attitude extreme value reference points include a first extreme value reference point corresponding to the first direction type and a second extreme value reference point corresponding to the second direction type; the first extreme value reference point corresponds to the first direction type and is the farthest point that the first attitude feature point can reach; the second extreme value reference point corresponds to the second direction type and is the farthest point that the first attitude feature point can reach; determining the motion information of the suspension to be adjusted includes: based on a preset first correspondence relationship, determining the attitude extreme value reference point corresponding to the motion direction type as the target extreme value reference point; wherein, the first correspondence relationship includes the correspondence relationship between the first direction type and the first extreme value reference point, and the correspondence relationship between the second direction type and the second extreme value reference point; based on the height difference between the target extreme value reference point and the median reference point, and the ratio of the first attitude feature point to the height difference, determining a distance coefficient; determining the product of the motion parameter of the suspension to be adjusted and the distance coefficient as the motion distance.

[0309] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0310] Based on a preset second correspondence relationship, determining the motion parameter corresponding to the motion direction type; wherein, the motion parameter is a first parameter or a second parameter, and the second correspondence relationship includes the correspondence relationship between the first direction type and the first parameter, and the correspondence relationship between the second direction type and the second parameter; determining the product of the motion parameter and the distance coefficient as the motion distance.

[0311] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0312] Based on the user information in the user data, determining the suspension to be adjusted among multiple suspensions and determining the motion information of the suspension to be adjusted includes: in response to the modality of the user data being an image, determining the target in the image; verifying the target to determine that the target is the user; then the user information is the user attitude information of the target in the image; based on the gesture information in the user information, determining the suspension to be adjusted and the motion information.

[0313] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0314] The verification of the target to determine that the target is the user further includes: determining a first image in which the target is the user in an image sequence including at least 2 frames of the images; wherein, the images in the image sequence are in chronological order, and the image sequence includes the first image and a second image located after the first image; performing target detection on the second image to obtain first information to be verified of at least 1 target in the second image; and predicting the trajectory of the user in the first image to obtain second information to be verified of the user in the second image; in response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to the second threshold, determining that the target corresponding to the target information to be verified in the second image is the user.

[0315] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0316] In response to the target in the second image not being the user, and the number of images including the user before the second image in the image sequence being greater than or equal to a third threshold, determining, in the image sequence, a third image adjacent to the second image and located before the second image; and determining the user posture information of the user in the third image as the user posture information in the second image.

[0317] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0318] Based on the same inventive concept, an embodiment of the present application further provides a computer program product, including a computer program, which when executed by a processor implements the suspension control method described in any one of the above.

[0319] Among them, the program code for executing the computer program product of the present application can be written in any combination of one or more programming languages, and the program code can be executed entirely on the user device, partially on the user device, executed as an independent software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0320] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0321] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), and computer program product according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0322] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0323] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of user operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Therefore, the instructions executed on the computer or other programmable device provide for implementing the specified functions in Figure 1Steps of one process or multiple processes and / or functions specified in one block or multiple blocks Figure 1 Steps of functions specified in one block or multiple blocks

[0324] The embodiments described above only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A suspension control method, characterized in that: include: In response to receiving the wake-up information, acquiring user data; Based on the user information in the user data, determining a suspension to be adjusted from a plurality of suspensions, and determining motion information of the suspension to be adjusted; Based on the motion information, the motion of the suspension to be adjusted is controlled.

2. The method according to claim 1, characterized in that The user information includes position information of a first posture feature point and a reference point in the user's posture; The step of determining a suspension to be adjusted from among a plurality of suspensions based on the user information in the user data, and determining motion information of the suspension to be adjusted, comprises: Based on a first rule, a first suspension to be adjusted is selected from the multiple suspensions; wherein the first rule indicates that the suspension which is on the same side as the position of the first posture feature point relative to the user and is closest to the first posture feature point is the first suspension to be adjusted; Based on the relative position relationship between the first posture feature point and the reference point, the motion information of the first suspension to be adjusted is determined.

3. The method according to claim 2, characterized in that The user information further includes the specified number of the suspension to be adjusted, and the spatial angle of the first posture feature point in the user posture, the spatial angle indicating the amplitude of the angle change of the user's gesture and / or arm; The step of determining a suspension to be adjusted from among a plurality of suspensions based on the user information in the user data, and determining motion information of the suspension to be adjusted, comprises: In response to the specified number of the suspensions to be adjusted being 2, determining a first target rule from a plurality of preset rules based on a relative magnitude relationship between the spatial angle and a preset first angle threshold; determining a second suspension to be adjusted based on the first target rule; The motion information of the first suspension to be adjusted is determined as the motion information of the second suspension to be adjusted.

4. The method according to claim 3, characterized in that The determining of a first target rule from a plurality of preset rules based on a relative size relationship between the spatial angle and a preset first angle threshold comprises: In response to the spatial angle being greater than the first angle threshold, determining a second rule among the plurality of preset rules as the first target rule; wherein the second rule indicates that, among the plurality of suspensions, a suspension that is not adjacent to the first suspension to be adjusted is the second suspension to be adjusted; or, In response to the spatial angle being less than or equal to the first angle threshold, a third rule among the multiple preset rules is determined to be the first target rule; wherein the third rule indicates that, among the multiple suspensions, the suspension that is on the same side as the position of the first posture feature point relative to the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

5. The method according to claim 3, characterized in that The spatial angle is determined by the following method: In a preset spatial coordinate system, determine a first vector between a coordinate origin and a median reference point corresponding to a middle area of ​​a user posture, and determine a second vector between the median reference point and the first posture feature point; wherein the spatial coordinate system takes the position of the user data acquisition device as the coordinate origin; A vector angle between the first vector and the second vector is determined as the space angle.

6. The method according to claim 3, characterized in that The step of determining a suspension to be adjusted from among a plurality of suspensions based on the user information in the user data, and determining motion information of the suspension to be adjusted, comprises: In response to the specified number of the suspensions to be adjusted being greater than 2, determining, based on the user information, a first suspension number corresponding to the first posture feature point and a second suspension number corresponding to the second posture feature point; wherein the sum of the first suspension number and the second suspension number is equal to the specified number; Among the plurality of suspensions, determining a first group of suspensions to be adjusted that correspond to the first posture feature points and match the number of the first suspensions, and determining a second group of suspensions to be adjusted that correspond to the second posture feature points and match the number of the second suspensions; Based on the relative position relationship between the first posture feature point and the reference point, the motion information of the first group of suspensions to be adjusted is determined, and based on the relative position relationship between the second posture feature point and the reference point, the motion information of the second group of suspensions to be adjusted is determined.

7. The method according to claim 6, characterized in that The first posture feature point and the second posture feature point are determined by the following method: Determining the number of users corresponding to the posture feature points according to the user information; According to preset rules, the lamps at multiple preset positions of the vehicle body are powered on in turn, and timing is performed to determine the target lamps to be powered on when the time reaches the time limit value; wherein the preset rules include the generation rules of the time limit value and the power-on sequence of the lamps at multiple preset positions of the vehicle body; In the illumination range of the target lamp, the users of the number of users are determined, and the first posture feature points and the second posture feature points matching the preset hand gesture posture are determined.

8. The method according to any one of claims 2 to 7, characterized in that: The motion information includes a motion direction type; The determining the motion information of the suspension to be adjusted includes: Determine first coordinate information of the first posture feature point and second coordinate information of a median reference point corresponding to a middle area of ​​the user posture; Determining the type of movement direction based on the first coordinate information and the second coordinate information; The movement direction type includes a first direction type and a second direction type, and the movement direction corresponding to the first direction type is opposite to the movement direction corresponding to the second direction type.

9. The method according to claim 8, characterized in that The determining the type of movement direction based on the first coordinate information and the second coordinate information includes: The motion direction type is determined based on the relative size relationship between the longitudinal coordinate of the first posture feature point and the longitudinal coordinate of the median reference point.

10. The method according to claim 8, characterized in that The motion information includes a motion distance, and the reference point includes a posture maximum reference point; the posture maximum reference point includes a first maximum reference point corresponding to the first direction type, and a second maximum reference point corresponding to the second direction type; The determining the motion information of the suspension to be adjusted includes: Based on a preset first corresponding relationship, determining the attitude maximum reference point corresponding to the motion direction type as the target maximum reference point; wherein the first corresponding relationship includes the corresponding relationship between the first direction type and the first maximum reference point, and the corresponding relationship between the second direction type and the second maximum reference point; Based on the height difference between the target maximum reference point and the median reference point, and the first distance between the first posture feature point and the median reference point, a ratio of the first distance to the height difference is determined as a distance coefficient; The product of the motion parameter of the suspension to be adjusted and the distance coefficient is determined as the motion distance.

11. The method according to claim 10, characterized in that The step of determining that the product of the motion parameter of the suspension to be adjusted and the distance coefficient is the motion distance comprises: Based on a preset second corresponding relationship, determining a motion parameter corresponding to the motion direction type; wherein the second corresponding relationship includes a corresponding relationship between the motion direction type and the motion parameter; The product of the motion parameter and the distance coefficient is determined to be the motion distance.

12. The method according to claim 1, characterized in that The step of determining a suspension to be adjusted from among a plurality of suspensions based on the user information in the user data, and determining motion information of the suspension to be adjusted, comprises: In response to the modality of the user data being an image, determining a target in the image; Verifying the target to determine that the target is the user; Based on the user posture information in the user information, the suspension to be adjusted and the motion information are determined.

13. The method according to claim 12, characterized in that The verifying the target to determine that the target is the user includes: In an image sequence including at least two frames of the image, determining a first image in which the target is the user; wherein the images in the image sequence are in time order, and the image sequence includes the first image and a second image located after the first image; Performing target detection on the second image to obtain first information to be verified of at least one target in the second image; and performing trajectory prediction on the user in the first image to obtain second information to be verified of the user in the second image; In response to the matching degree between the second information to be verified and the target information to be verified in the first information to be verified being greater than or equal to the second threshold, it is determined that the target in the second image corresponding to the target information to be verified is the user.

14. The method according to claim 13, characterized in that After verifying the target, the method further includes: In response to the target in the second image not being the user, and the number of images containing the user that are located before the second image in the image sequence is greater than or equal to a third threshold, determining, in the image sequence, a third image that is adjacent to the second image and located before the second image; The user posture information of the user in the third image is determined as the user posture information in the second image.

15. A suspension control device, characterized in that: include: A data module, configured to obtain user data in response to receiving the wake-up information; A suspension module, configured to determine a suspension to be adjusted from among a plurality of suspensions based on user information in the user data, and to determine motion information of the suspension to be adjusted; A motion module is used to control the motion of the suspension to be adjusted based on the motion information.

16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 14 are implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

18. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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