Suspension control methods, devices, equipment and media

Abstract

This invention provides a suspension control method, apparatus, device, and medium to provide a method for high-precision control of the suspension when a user is outside the vehicle. The method includes: in response to receiving a wake-up message, acquiring user data; based on user information in the user data, determining a suspension to be adjusted among multiple suspensions, and determining motion information of the suspension to be adjusted; and controlling the motion of the suspension to be adjusted based on the motion information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a suspension control method, device, equipment and medium. BACKGROUND

[0002] Compared with the traditional driving mode, in the technology related to intelligent driving, a plurality of modules are usually integrated in the vehicle cabin to collect multi-modal information of the user to realize real-time perception of the needs of the people in the vehicle and timely response to improve the safety and user experience in the driving process. For example, the face image of the passenger or driver in the vehicle is collected through the image collection device carried in the vehicle. For another example, the voice information in the vehicle is collected through the voice collection device.

[0003] With the development of suspension control technology, semi-active suspension and active suspension have gradually been popularized. In more and more vehicles, the suspension is controlled through the plurality of modules integrated in the vehicle cabin. In the related technology, during the driving of the vehicle, the front road image is collected through the left and right cameras in the binocular camera carried by the vehicle to determine the driving posture of the vehicle through the road surface information in the front road image of the vehicle, and accordingly control the suspension to make the vehicle adapt to the road surface. It can be seen that the control of the suspension when the person is in the cabin is mainly considered in the related technology to improve the user experience. SUMMARY

[0004] Therefore, it is necessary to provide a suspension control method, device, equipment and medium to provide a method for high-precision control of 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, comprising:

[0006] In response to receiving the wake-up information, obtaining user data;

[0007] Based on the user information in the user data, determining a to-be-adjusted suspension from a plurality of suspensions, and determining motion information of the to-be-adjusted suspension;

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

[0009] In one of the embodiments, the user information includes position information of each of a first gesture feature point in the user gesture and a reference point; and the determining the suspension to be adjusted and 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 based on a first rule; wherein the first rule indicates that a suspension closest to the first gesture feature point on a same side of the first gesture feature point relative to the user is the first suspension to be adjusted; and determining the motion information of the first suspension to be adjusted based on a relative position relationship between the first gesture feature point and the reference point.

[0010] In one of the embodiments, the user information includes a specified number of the suspension to be adjusted and a spatial angle of the first gesture feature point in the user gesture, the spatial angle indicating an angle change range of a hand gesture and / or an arm gesture; and the determining the suspension to be adjusted and 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 from a plurality of preset rules based on a relative size 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.

[0011] In one of the embodiments, the determining the first target rule from the plurality of preset rules based on the relative size relationship between the spatial angle and the preset first angle threshold includes: in response to the spatial angle being greater than the first angle threshold, determining a second rule from the plurality of preset rules as the first target rule; wherein the second rule indicates that a suspension adjacent to the first suspension to be adjusted in the plurality of suspensions 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 a third rule from the plurality of preset rules as the first target rule; wherein the third rule indicates that a suspension adjacent to the first gesture feature point relative to the user in the plurality of suspensions is the second suspension to be adjusted.

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

[0014] In one of the embodiments, based on the user information in the user data, the to-be-adjusted suspension is determined in the plurality of suspensions, and the motion information of the to-be-adjusted suspension is determined, including: in response to the specified number of the to-be-adjusted suspension being greater than 2, based on the user information, the first suspension number corresponding to the first posture feature point and the second suspension number corresponding to the second posture feature point are determined; wherein the sum of the first suspension number and the second suspension number is equal to the specified number; in the plurality of suspensions, a first group of to-be-adjusted suspensions corresponding to the first posture feature point and matching the first suspension number are determined, and a second group of to-be-adjusted suspensions corresponding to the second posture feature point and matching the second suspension number are determined; based on the relative positional relationship between the first posture feature point and the reference point, the motion information of the first group of to-be-adjusted suspensions is determined, and based on the relative positional relationship between the second posture feature point and the reference point, the motion information of the second group of to-be-adjusted suspensions is determined.

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

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

[0017] According to a preset rule, the lamps of a plurality of preset positions of the vehicle body are turned on in turn, and timing is performed, and when the time reaches a time limit value, the target lamp that is turned on is determined; wherein the preset rule includes a generation rule of the time limit value, and a turn-on sequence of the lamps of the plurality of preset positions of the vehicle body.

[0018] In the irradiation range of the target lamp, a user of the user number is determined, and the first posture feature point and the second posture feature point matching a preset gesture posture are determined.

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

[0020] In one of the embodiments, the determining the motion direction type based on a first coordinate in the first coordinate information and a second coordinate of a posture reference point of the user comprises: determining the motion direction type based on a relative size relationship between a longitudinal coordinate of the first posture feature point and a longitudinal coordinate of the median reference point.

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

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

[0023] In one of the embodiments, the determining the to-be-adjusted suspension and the motion information of the to-be-adjusted suspension based on the user information in the user data 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; and determining the to-be-adjusted suspension and the motion information based on user posture information in the user information.

[0024] In one of the embodiments, the verifying the target to determine that the target is the user further comprises: determining a first image in which the target is the user in an image sequence containing at least two images; 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 to-be-verified information of at least one target in the second image; and performing trajectory prediction on the user in the first image to obtain second to-be-verified information of the user in the second image; in response to the matching degree between the second to-be-verified information and target to-be-verified information in the first to-be-verified information being greater than or equal to the second threshold, determining that the target corresponding to the target to-be-verified information in the second image is the user.

[0025] In one of the embodiments, after the verifying the target, the method further comprises: in response to the target in the second image not being the user, and the number of images containing the user in the image sequence before the second image being greater than or equal to a third threshold, determining a third image adjacent to the second image and before the second image in the image sequence; 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] In a second aspect, the embodiments of the present application provide a suspension control device, comprising:

[0027] a data module configured to acquire user data in response to receiving wake-up information;

[0028] a suspension module configured to determine a to-be-adjusted suspension and motion information of the to-be-adjusted suspension based on user information in the user data;

[0029] a motion module configured to control the to-be-adjusted suspension to move based on the motion information.

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

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

[0032] In one of the embodiments, the user information comprises a specified number of the to-be-adjusted suspensions, and the user posture information comprises a spatial angle of the first posture feature point; the suspension module is further configured to, in response to the specified number of the to-be-adjusted suspensions being 2, determine 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; determine a second to-be-adjusted suspension based on the first target rule; and determine the motion information of the first to-be-adjusted suspension as the motion information of the second to-be-adjusted suspension.

[0033] In one of the embodiments, the suspension module is specifically configured to, in response to the spatial angle being greater than the first angle threshold, determine a second rule from the plurality of preset rules as the first target rule; wherein the second rule indicates that a suspension adjacent to the first to-be-adjusted suspension in the plurality of suspensions is the second to-be-adjusted suspension; or, in response to the spatial angle being less than or equal to the first angle threshold, determine a third rule from the plurality of preset rules as the first target rule; wherein the third rule indicates that a suspension adjacent to the first posture feature point relative to the user on a same side of the first to-be-adjusted suspension in the plurality of suspensions is the second to-be-adjusted suspension.

[0034] In one of the embodiments, the suspension module is further configured to determine a first vector between the coordinate origin and a median reference point corresponding to a 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 a position of a collection device of the user data as the coordinate origin; and determine a vector included angle between the first vector and the second vector as the spatial angle.

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

[0036] In one of the embodiments, the suspension module is further configured to determine, based on the user information, a number of users corresponding to the gesture feature point; turn on the lamps at a plurality of preset positions of the vehicle body in turn according to a preset rule, and time, to determine a target lamp that is turned on when the time reaches a time limit value; wherein the preset rule includes a generation rule of the time limit value and a turn-on sequence of the lamps at the plurality of preset positions of the vehicle body; determine a number of users in the user number in the irradiation range of the target lamp, and determine the first gesture feature point and the second gesture feature point that match a preset gesture posture.

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

[0038] In one of the embodiments, the motion information includes a motion direction type; the suspension module is specifically configured to determine the first coordinate information of the first gesture feature point and second coordinate information of a median reference point corresponding to a middle region of a 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 a motion direction corresponding to the first direction type is opposite to a motion direction corresponding to the second direction type.

[0039] In one of the embodiments, the suspension module is specifically configured to determine the motion direction type based on the relative size relationship between the longitudinal coordinate of the first gesture feature point and the longitudinal coordinate of the median reference point.

[0040] In one of the embodiments, the motion information further comprises a motion distance, and the reference point comprises a posture extreme reference point; the posture extreme reference point comprises a first extreme reference point corresponding to the first direction type and a second extreme reference point corresponding to the second direction type; the first extreme reference point corresponds to the first direction type and is the farthest position that the first posture feature point can reach; the second extreme reference point corresponds to the second direction type and is the farthest position that the first posture feature point can reach.

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

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

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

[0044] In one of the embodiments, the suspension module is further configured to determine, in an image sequence containing at least two of the images, a first image in which the target is the user; the images in the image sequence are in time sequence, and the image sequence includes the first image and a second image after the first image; perform target detection on the second image to obtain first to-be-verified information of at least one target in the second image; and perform trajectory prediction on the user in the first image to obtain second to-be-verified information of the user in the second image; in response to the matching degree between the second to-be-verified information and target to-be-verified information in the first to-be-verified information being greater than or equal to the second threshold, determine that the target corresponding to the target to-be-verified information in the second image is the user.

[0045] In one of the embodiments, 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 containing the user in the image sequence before the second image being greater than or equal to a third threshold, determine, in the image sequence, a third image adjacent to the second image and before the second image; and determine the user posture information of the user in the third image as the user posture information of the user 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 in the memory and executable on the processor, and the processor implements the steps of the method in the first aspect and any one of the embodiments when executing the computer program.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps of the method in the first aspect and any one of the embodiments.

[0048] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and the computer program is executable on a processor to implement the steps of the method in the first aspect and any one of the embodiments.

[0049] In the suspension control method provided by the embodiments of the present application, the user information is used to determine a to-be-adjusted suspension among multiple suspensions for the user, so that the to-be-adjusted suspension matches the user information, and the motion information of the to-be-adjusted suspension is determined according to the user information to control the motion of the to-be-adjusted suspension. In this way, the motion of the to-be-adjusted suspension is controlled in time, the demand of the user in an off-vehicle scene to interact with the vehicle in real time is met, the suspension can respond to the user with high precision, and the user experience is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1A flowchart of a suspension control method according to an embodiment of the present application;

[0051] Figure 2A A schematic diagram of the relative position relationship between the user and the vehicle according to an embodiment of the present application;

[0052] Figure 2B A schematic diagram of the relative position relationship between the user and the vehicle according to an embodiment of the present application;

[0053] Figure 2C A schematic diagram of the relative position relationship between the user and the vehicle according to an embodiment of the present application;

[0054] Figure 2D A schematic diagram of the relative position relationship between the user and the vehicle according to an embodiment of the present application;

[0055] Figure 3 A flowchart of the step of determining the suspension to be adjusted and the motion information of the suspension to be adjusted according to an embodiment of the present application;

[0056] Figure 4 A schematic diagram of the relative position relationship between the first suspension to be adjusted and the first attitude feature point according to an embodiment of the present application;

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

[0058] Figure 5B A schematic diagram of the relative position relationship between the second suspension to be adjusted and the first suspension to be adjusted according to an embodiment of the present application;

[0059] Figure 6 A flowchart of the step of determining the suspension to be adjusted and the motion information of the suspension to be adjusted according to an embodiment of the present application;

[0060] Figure 7 A block diagram of the suspension control device according to an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the electronic device according to an embodiment. DETAILED DESCRIPTION

[0062] In order to make the objects, technical solutions and advantages of the present application clearer, 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 should not be used to limit the present application.

[0063] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combined with other embodiments.

[0064] A first embodiment, as shown in FIG. 1, provides a suspension control method, which can include the following steps: Figure 1

[0065] At step 101, user data is acquired in response to receiving wake-up information.

[0066] Specifically, the wake-up information can be sent by a user using a 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, a network, a Bluetooth, or a wireless signal. Alternatively, the wake-up information can also be generated according to an interactive instruction sent by the user, such as a voice wake-up instruction issued by the user, a preset gesture wake-up instruction issued by the user, a wake-up button on the screen of the vehicle, etc. The above wake-up information indicates that user data is acquired for suspension control accordingly.

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

[0068] At step 102, based on the user posture information in the user data, a suspension to be adjusted is determined among a plurality of suspensions, and motion information of the suspension to be adjusted is determined.

[0069] Specifically, the user information in the above user data includes user posture information and position information of the user. The user posture information can be gesture information of the user and / or arm posture information of the user. The position information of the user can thus obtain orientation information of the user relative to the vehicle. The orientation information indicates the position of the user relative to the vehicle. The orientation information can include, for example, a first orientation type, a second orientation type, a third orientation type, and a fourth orientation type. Illustratively, the first orientation type can indicate that the user is located in front of the vehicle; please refer to Figure 2A wherein "★" indicates the position of the user. The second orientation type can indicate that the user is located on the first side of the vehicle; please refer to Figure 2B wherein "★" indicates the position of the user. The third orientation type can indicate that the user is located on the second side of the vehicle; please refer to Figure 2C wherein "★" indicates the position of the user. The fourth orientation type can indicate that the user is located behind the vehicle; please refer to Figure 2D wherein "★" indicates the position of the user.​

[0070] Preferably, the user data can be pre-processed according to the modality of the user data, and a de-noising manner corresponding to the modality can be adopted to improve the accuracy of the user information. The modality of the user data can 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 from the plurality of suspensions, and the motion information of the suspension to be adjusted is determined.

[0071] In an embodiment, the user information in the user data can be determined after determining that the modality of the user data is the target modality. Based on the user posture information in the user information, the suspension to be adjusted is determined from the plurality of suspensions. Before determining the user information in the user data, the user data of the target modality can be de-noised to obtain the to-be-processed data. Then, based on the to-be-processed data, the user information can be determined.

[0072] In an embodiment, the target modality is an image. In response to the modality of the user data being an image, image processing can be performed based on the user data, i.e., the image, to identify the user in the image and determine the user posture information in the user information, so as to 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 based on the user posture information corresponding to the user information, the suspension to be adjusted and the motion information are determined. The user posture information includes user gesture information. The gesture information may, for example, include position information of a first posture feature point corresponding to a hand. And / or, the gesture information can also include a hand posture of the user.

[0074] In an embodiment, the target modality is voice. In response to the modality of the user data being voice, a preset keyword can be located based on the user data, i.e., the voice, to determine the user information according to the semantics described by the sentence where the keyword is located, to obtain the user posture information in the user information, and to determine the suspension to be adjusted and the motion information thereof.

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

[0076] In an embodiment, the aforementioned motion information at least includes a motion direction type.

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

[0078] Specifically, at least four suspensions can be provided in the vehicle, and each suspension can be located above a tire of the vehicle. The movement of the suspension can be achieved by regulating the state of a spring located between the suspension and the vehicle body. The state of the spring can include at least one of a stretched state, a compressed state, and a natural state. The type of the spring is preferably an air spring. When the state of the air spring corresponding to the suspension changes, the suspension moves with the air spring. Specifically, the entire suspension can move in the direction corresponding to the movement direction of the type. Therefore, when controlling the movement of the suspension to be adjusted, the state and / or the deformation coefficient of the spring corresponding to the suspension to be adjusted can be controlled.

[0079] For example, if the movement direction type is a first direction type, the state of the spring can be determined to be a stretched state. Conversely, if the movement direction type is a second direction type, the state of the spring can be determined to be a compressed state. The movement direction corresponding to the first direction type is opposite to the movement direction corresponding to the second direction type.

[0080] For example, if the movement direction type is a first direction type, the state of the spring can be determined to be a compressed state. Conversely, if the movement direction type is a second direction type, the state of the spring can be determined to be a stretched state. The movement direction corresponding to the first direction type is opposite to the movement direction corresponding to the second direction type.

[0081] In an embodiment, the movement information further includes a movement distance, which can be used to indicate the distance of the suspension to be adjusted moving in the direction corresponding to the movement direction type. Specifically, based on the movement information, the suspension to be adjusted is controlled to move in the direction corresponding to the movement direction type according to the movement distance. When the movement directions corresponding to the first direction type and the second direction type in the movement direction type are both directions perpendicular to the ground, the movement distance of the suspension can be equivalent to the movement height of the suspension.

[0082] In the suspension control method, the user information including the user posture information is determined based on the user data of the target mode, the interaction demand of the user is determined based on the user information, and the movement of the suspension to be adjusted is controlled based on the interaction demand, so as to achieve high-precision response of the suspension and effectively improve the user experience.

[0083] In an embodiment, the user posture information includes position information of a first posture feature point and a reference point of the user. The first posture feature point and the reference point both correspond to the user.

[0084] The movement information of the suspension to be adjusted corresponds to the posture feature point one by one. Hereinafter, the determination of the suspension to be adjusted and the determination of the movement information of the suspension to be adjusted are described by taking the first suspension to be adjusted as an example. Please refer to Figure 3:

[0085] At step 301, a first to-be-adjusted suspension is selected from the plurality of suspensions based on a first rule.

[0086] Specifically, the first gesture feature point can be a joint point of the arm and the hand, i.e., a feature point corresponding to the wrist. Alternatively, the first gesture feature point can be a center point of the palm. Alternatively, the first gesture feature point can be a center point of the fist.

[0087] The user gesture information can include position information of the first gesture feature point. In an embodiment, the first gesture feature point can be determined by recognizing a preset gesture. For example, the preset gesture is a fist, and the center point of the fist on one side of the fist of the user or the feature point of the wrist can be taken as the first gesture feature point.

[0088] The user gesture information can further include position information of a reference point of the user.

[0089] The first rule indicates that, in the suspensions of the vehicle on the same side relative to the position of the first gesture feature point with respect to the user, the suspension closest to the first gesture feature point is the first to-be-adjusted suspension. Please refer to Figure 4 As shown in Figure 4 , the orientation information of the user is consistent with the orientation information of the user in Figure 2A : the user is located in front of the vehicle as shown in Figure 4 , and the user is facing the vehicle in a preset interactive gesture: the left hand is clenched. The center point of the fist in the clenched fist gesture of the user is the first gesture feature point.

[0090] The preset interactive gesture can be a pre-specified gesture. The preset interactive gesture indicates that the user intends to issue an instruction to the vehicle through the left hand and / or the left arm to control the to-be-adjusted suspension of the vehicle accordingly.

[0091] It can be understood that the same side relative to the position of the first gesture feature point with respect to the user means the same orientation relationship of the first gesture feature point with respect to the user. That is, the orientation relationship of the first to-be-adjusted suspension with respect to the user is the same as the orientation relationship of the first gesture feature point with respect to the user. The relative position relationship between the first gesture feature point of the user and the first to-be-adjusted suspension in Figure 4 will be further described in combination with the foregoing first rule:

[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 taking the image coordinate system as a suspension reference system for determining the to-be-adjusted suspension. Then, the fist is located in the direction in which the body of the user is facing the positive half of the x-axis. On this basis, the first to-be-adjusted suspension closest to the left hand of the clenched fist gesture of the user should be the suspension located in the first quadrant of the foregoing suspension reference system: as shown inFigure 4 The first to-be-adjusted suspension is located on the vehicle at the position indicated by "▲". The position of the first to-be-adjusted suspension relative to the user is the same as the position of the first gesture feature point corresponding to the fist relative to the user, that is, on the same side as the position of the first gesture feature point relative to the user. Figure 4 The first to-be-adjusted suspension is located above the front wheel of the vehicle at the position indicated by "▲".

[0093] In order to improve the determination efficiency of the first to-be-adjusted suspension, avoid the problems of efficiency reduction and increased computing power caused by comparing the distances calculated according to the position information of the first gesture feature point and each suspension, in an embodiment, the first to-be-adjusted suspension corresponding to the first gesture feature point of the user can also be determined according to the aforementioned orientation information of the user and a preset corresponding relationship. The preset corresponding relationship includes the first to-be-adjusted suspension corresponding to the orientation information and the position type of the first gesture feature point of the user.

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

[0095] Alternatively, taking the aforementioned suspension coordinate system as a reference, the first type can indicate that the position of the first gesture 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 gesture feature point relative to the user is in the negative half-axis direction of the x-axis.

[0096] Alternatively, still taking the aforementioned suspension coordinate system as a reference, the first type indicates that the position of the first gesture 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 gesture feature point relative to the user is in the positive half-axis direction of the x-axis.

[0097] In this way, when the orientation information is Figure 4 the relative position relationship between the user and the vehicle, according to the position type of the first gesture feature point corresponding to the fist of the user, the first to-be-adjusted suspension can be determined to be located in the first quadrant in the suspension coordinate system.

[0098] In step 302, the motion information of the first to-be-adjusted suspension is determined based on the relative position relationship between the first gesture feature point and the reference point in the user gesture.

[0099] The first gesture feature point and the motion information are in one-to-one correspondence.

[0100] The first gesture feature point and the reference point both correspond to a preset gesture of the user. The preset gesture can be a standing posture. The first gesture feature point can correspond to the hand of the user.

[0101] In an embodiment, the motion information of the first suspension to be adjusted includes a motion direction type of the first suspension to be adjusted. The reference point includes at least a mid-point reference point corresponding to a middle region of the user posture. The mid-point reference point indicates a reference point corresponding to a middle region of the user posture along a vertical direction of the ground, which matches the user information.

[0102] Exemplarily, the mid-point reference point can be a geometric center point of the waist region. Exemplarily, the mid-point reference point can be a reference point formed below the shoulder of the user and intersecting with an extension line of a midline of the waist region of the user. Exemplarily, the mid-point reference point can also be determined by the following manner: a highest point reached by the user's arms in a corresponding user posture (for example, a standing posture), and a lowest point reached by the user's arms in a corresponding user posture (for example, a standing posture). The mid-point of the highest point and the lowest point is the mid-point reference point.

[0103] In an embodiment, the motion direction type of the first suspension to be adjusted can be determined according to a relative positional relationship between the first posture feature point and the mid-point reference point. Specifically, first coordinate information of the first posture feature point and second coordinate information of the mid-point reference point in the user posture information can be determined. Then, based on the first coordinate information and the second coordinate information, the motion direction type of the first suspension to be adjusted is determined. The motion direction type indicates a motion direction of the first suspension to be adjusted. The motion direction type 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 an embodiment, a Cartesian coordinate system is used as a reference coordinate system when the suspension to be adjusted moves. For example, the motion direction corresponding to the first direction type is upward along the z-axis of 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 downward along the z-axis of 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 downward along the z-axis of the Cartesian coordinate system (i.e., the negative half-axis direction of the z-axis). Then, the motion direction corresponding to the second direction type is upward along the z-axis of the Cartesian coordinate system (i.e., the positive half-axis direction of the z-axis).

[0107] In an embodiment, the relative positional relationship between the first posture feature point and the mid-point reference point can be determined based on a relative size relationship between a vertical coordinate of the first posture feature point and a vertical coordinate of the mid-point reference point, so as to determine the aforementioned motion direction type.

[0108] In an embodiment, the motion information can include a motion direction type and a motion distance. In addition, the reference point in the aforementioned user posture information can further include a posture extreme reference point. The posture extreme reference point is used to indicate a farthest region that can be reached by a first posture feature point corresponding to the motion direction type in a preset full-body posture. That is, the posture extreme reference point represents a farthest point that can be reached by the first posture feature point along the motion direction corresponding to the motion direction type.

[0109] For example, the motion direction corresponding to a first direction type in the motion direction type is the same as the direction of the positive half-axis of the z-axis, and the highest point that can be reached by the first posture feature point corresponding to the first direction type is the first extreme reference point.

[0110] For example, the first posture feature point is the geometric center of the hand of the user in the preset posture, and when the user raises the hand over the head to the highest point that can be reached, the geometric center of the hand is the first extreme reference point.

[0111] In this way, the posture extreme reference point can include a first extreme reference point and a second extreme reference point. The first extreme reference point can correspond to the first direction type, and the farthest point that can be reached by the first posture feature point of the user. That is, in the aforementioned preset spatial coordinate system, the maximum value of the absolute value of the z-axis coordinate in the coordinate information of the first posture feature point along the motion direction corresponding to the first direction type. The second extreme reference point can correspond to the second direction type, and the farthest point that can be reached by the first posture feature point. That is, in the aforementioned preset spatial coordinate system, the maximum value of the absolute value of the z-axis coordinate in the coordinate information of the first posture feature point along the motion direction corresponding to the second direction type.

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

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

[0114] Then, the difference in height (z3-z2) between the target extreme reference point and the median reference point is determined as the motion distance. m), and a first distance between the first attitude feature point and the median reference point, to determine a ratio of a difference between the first distance and the height as a distance coefficient z k . Specifically, the first distance can be determined by a z-axis coordinate z c of the first attitude feature point in the preset spatial coordinate system. wherein 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 z3 is the z-axis coordinate of the target extreme reference point. For example, k = 0.1.

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

[0116] In an embodiment, the motion parameter is a pre-designated parameter value. For example, 50 mm.

[0117] In an embodiment, the preset motion parameter of the suspension to be adjusted corresponds to the motion direction type to form a second correspondence relationship. 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. In addition, the first parameter and the second parameter in the motion parameter have different values.

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

[0119] Therefore, in an embodiment, the motion parameter corresponding to the motion direction type can be determined based on the preset second correspondence relationship. The second correspondence relationship includes a one-to-one correspondence between the motion direction type and the motion parameter. More specifically, the motion parameter includes the first parameter and the 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 correspondence relationship includes a correspondence between the first direction type and the first parameter, and a correspondence between the second direction type and the second parameter. Thus, in response to the motion direction type being the first direction type, the first parameter is determined as the motion parameter based on the preset second correspondence relationship. Alternatively, in response to the motion direction type being the second direction type, the second parameter is determined as the motion parameter based on the preset second correspondence relationship. Then, the product between the motion parameter and the distance coefficient is determined as the motion distance.

[0120] Therefore, according to the steps in steps 301-302, the first suspension to be adjusted can be controlled according to the user information to match the attitude of the vehicle with the user's interaction intention, achieve high-precision response of the vehicle suspension, and effectively improve the user experience.

[0121] Further, the plurality of suspensions can be controlled simultaneously according to the specified number of suspensions to be adjusted. That is, the user can also control the motion of the plurality of suspensions to be adjusted through the user's attitude information. In an embodiment, the number of suspensions to be adjusted can be obtained from the specified number of suspensions to be adjusted in the user information. The specified number of 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 suspensions to be adjusted can be obtained through the user's gestures, for example, the user indicates that the specified number of suspensions to be adjusted is 2 through the gesture of "V". The user indicates that the specified number of suspensions to be adjusted is 1 through the gesture of the index finger forming "1".

[0122] Alternatively, 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, the user selects the number button marked as 1, and it can be determined that the specified number of suspensions to be adjusted is 1.

[0123] The following describes the first suspension to be adjusted and the second suspension to be adjusted corresponding to the first attitude feature point when the specified number of suspensions to be adjusted is 2:

[0124] First, in response to the specified number of suspensions to be adjusted being 2, a first target rule is determined from the plurality of preset rules based on the relative size relationship between the spatial angle and the first angle threshold. The 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 suspension to be adjusted.

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

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

[0127] In response to the aforementioned spatial angle being greater than the first angle threshold, a second rule in the plurality of preset rules is determined as the aforementioned first target rule. According to the second rule, the second suspension to be adjusted is determined.

[0128] The second rule indicates that the suspension adjacent to the first suspension to be adjusted in the plurality of suspensions is the second suspension to be adjusted.

[0129] Specifically, in the polygon formed by the lines connecting the plurality of suspensions, the suspension adjacent to the first suspension to be adjusted is the second suspension to be adjusted. The following describes the second suspension to be adjusted in the polygon formed by the lines connecting the plurality of suspensions:Figure 5A The second rule is illustrated by taking the first quadrant in the suspension reference system as an example: as shown in Figure 5A , the number of vehicle suspensions is 4, represented by ●, ▲, and ◆ respectively, and the connecting lines can form a quadrilateral. Then, in the quadrilateral, the suspension adjacent to the first to-be-adjusted suspension, as shown by "◆", can be determined as the second to-be-adjusted suspension.

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

[0131] The third rule indicates that, in the plurality of suspensions, the suspension adjacent to the first to-be-adjusted suspension and on the same side as the position of the first attitude feature point relative to the user is the second to-be-adjusted suspension.

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

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

[0134] In the above embodiments, the first attitude feature point can be a feature point corresponding to a preset hand posture (e.g., a clenched fist) of the user.

[0135] The 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 one suspension distributed in each quadrant.

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

[0137] The first instruction indicates that the first attitude feature point and the second attitude feature point each correspond to preset gesture information.

[0138] The first instruction is used to determine the first attitude feature point and the second attitude feature point.

[0139] The second to-be-adjusted suspension corresponding to the second posture feature point can be determined based on the first rule.

[0140] In this embodiment, the third to-be-adjusted suspension can be determined in the manner that the first to-be-adjusted suspension is determined for the first posture feature point according to the first rule in steps 301-302, that is, by the relative positional relationship between the second posture feature point and the reference point, which will not be described herein again.

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

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

[0143] In an embodiment, the above-mentioned spatial angle can be determined according to the following manner:

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

[0145] The preset spatial coordinate system is a Cartesian coordinate system constructed with the position of the user data acquisition device carried by the vehicle as the coordinate origin. For example, if the mode of the user data is an image, the user data acquisition device is an image acquisition device carried by the vehicle closest to the user and with the lens facing the user. The image acquisition device is preferably a fisheye camera, so that the four fisheye cameras originally carried on the left and right rearview mirrors, the front and rear of the vehicle can be directly used, avoiding the increase of hardware cost 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 provides an embodiment for determining the spatial angle, taking the Cartesian coordinates of the user data acquisition device as O0(x0, y0, z0), the Cartesian coordinates of the first posture feature point as O1(x1, y1, z1), and the Cartesian coordinates of the center reference point as O2(x2, y2, z2) as an example:

[0148] Determine the first vector and the second vector

[0149]

[0150] Then, the spatial angle cosθ can be represented as:

[0151] wherein, denotes the dot product of the first vector and the second vector ; denotes the length of the modulus of the first vector , denotes the length of the modulus of the second vector .

[0152] then

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

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

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

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

[0161] In this way, when the instruction quantity of the to-be-adjusted suspensions is greater than 2, the first posture feature point corresponds to at least the first to-be-adjusted suspension, and the second posture feature point corresponds to at least the third to-be-adjusted suspension.

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

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

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

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

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

[0167] Firstly, according to the user information, the number of users corresponding to the gesture feature points is determined. Then, according to the preset rule, the lamps at the plurality of preset positions of the vehicle body are turned on in turn, and the time is counted until the time reaches the time limit value, and the target lamp turned on when the time reaches the time limit value is determined. The preset rule includes a generation rule of the time limit value. For example, the time limit value is a random number; and the generation rule of the time limit value is a preset random number generation algorithm.

[0168] The preset rule also includes the turn-on sequence of the lamps at the plurality of preset positions of the vehicle body. For example, the lamps at the four-window positions are turned on in turn in the clockwise or counterclockwise direction, i.e. are turned on in turn.

[0169] Here, the meaning of turning on in turn can be that whenever a lamp at a preset position is turned on according to the aforementioned preset rule and is lit, the previously turned-on lamp is turned off; i.e. only one lamp at one preset position is turned on each time, so as to accurately determine the user.

[0170] In an embodiment, the aforementioned preset rule can also include the turn-on time length of the lamps at the preset positions.

[0171] Finally, the number of users can be determined in the irradiation range of the aforementioned target lamp, and the first gesture feature point and the second gesture feature point matching the preset gesture posture are determined.

[0172] The preset gesture posture can be, for example, a fist gesture and / or a thumbs-up gesture.

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

[0174] Further, taking the number of users as 2 as an example: if the number of users is 2, then two users with the gesture posture being the preset gesture posture can be selected in the irradiation range of the last turned-on vehicle lamp according to the preset rule. The hand corresponding to the preset gesture posture of each of the two selected users can be used to determine the first gesture feature point and the second gesture feature point, respectively.

[0175] Alternatively, if the number of users is 2, only one user can be selected each time according to the aforementioned preset rule; and the user is selected twice in succession according to the preset rule. The gesture posture of the user is the preset gesture posture, and the user is closest to the vehicle body. Similarly, the hand corresponding to the preset gesture posture of each of the two selected users can be used to determine the first gesture feature point and the second gesture feature point, respectively.

[0176] It can be seen that the aforementioned preset gesture posture can improve the accuracy of locking the user by the light in the scene of controlling the suspension by multiple people.

[0177] Further, from the time dimension, the collected user information should be continuous. That is, in a certain length of time period, the user data can be collected by the foregoing collection device to control the suspension motion to be adjusted. Therefore, in order to improve the response accuracy of the suspension, the user experience is improved. In an embodiment, the user can be tracked to ensure that the user corresponding to different time is the same user. Still taking the user data of the modal of image as an example, the user and the user information in the image frames collected at multiple time points or the image frames in the video are described, please refer to Figure 6 :

[0178] Step 601, in response to the modal of the user data being image, determining the target in the image.

[0179] Specifically, the target in the image can be determined by processing the image by a target detection algorithm.

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

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

[0182] Therefore, in an embodiment, a pre-trained posture detection model can be used to detect the posture of the user to obtain the user posture information and the user information containing the user posture information.

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

[0184] In an embodiment, the face region of the target in the first image in the image sequence can be enhanced to obtain a face restoration image. The face restoration image is compared with the user face scan images in the preset user face list one by one to determine the target user corresponding to the user face scan image with a similarity greater than a similarity threshold value between the face restoration image.

[0185] Wherein, the images in the image sequence are sorted according to the time corresponding to the time mark carried by the image.

[0186] Then, for each image in the image sequence after the first image, the above-mentioned manner is used to compare the similarity with the preset user face list to obtain the target user corresponding to each image.

[0187] Comparing whether the target user corresponding to each image is consistent, the verification of the target is realized to obtain the user in the image.

[0188] To improve the verification efficiency, in an embodiment, a first image of the target as the user can be determined in a sequence of images containing at least two images. The images in the sequence are arranged in time order, and the sequence includes the first image and a second image after the first image.

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

[0190] The first to-be-verified information can be understood as the bounding 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 to-be-verified information of the user in the second image. The second to-be-verified information can be understood as the motion information and the position information of the user predicted by the trajectory prediction algorithm.

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

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

[0194] Further, to avoid the error caused by the above matching degree being less than the second threshold due to the user ID (Identity document, identity document) easily appearing in target detection, in an embodiment, in response to the matching degree between the first to-be-verified information and the second to-be-verified information being less than a preset second threshold, it is determined that the target in the second image is not the user. Then, whether the images before the second image contain the user and the number of the images containing the user before the second image can be used to determine whether the target detection jumps:

[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 sequence being greater than or equal to a third threshold, it can be determined that the error in the target detection leads to the error in determining that the target is not the user. Thus, a third image adjacent to the second image and before the second image in the sequence can be determined, and 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, at least a number of images is included, and the number is a third threshold.

[0197] According to the foregoing embodiment, when the target in the image in the image sequence is verified, it can be understood to be progressive: for example, when the third frame image is verified, it means that the target in the first frame image and the second frame image has passed the verification, and the first frame image and the second frame image both contain the same user. If the target in the second frame image does not pass the verification, that is, it is determined that the second frame image does not contain the user, it can be determined to stop controlling the suspension.

[0198] In step 603, based on the user posture information, the foregoing to-be-adjusted suspension and motion information are determined.

[0199] In an 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 to-be-adjusted suspension; and the to-be-adjusted suspension is controlled to return to the initial position.

[0200] Further, if the modality of the user data is an image, the image corresponding to the user data can be a wide-angle camera. In an embodiment, for the captured image obtained by the wide-angle camera facing the user, the intrinsic matrix and the distortion coefficient of the wide-angle camera can be obtained first. Then, the de-distortion coordinates of each pixel in the captured image are calculated by using the intrinsic matrix and the distortion coefficient, thereby obtaining the image corresponding to the user data for determining the user information.

[0201] The second embodiment will be described below by taking a specific use scenario as an example:

[0202] When the user outside the vehicle intends to interact with the vehicle, the user can select the "man-vehicle dance mode" through the corresponding APP (Application, application program) in the mobile terminal, and fill in the to-be-filled information in the "man-vehicle dance mode" to send the wake-up information to the vehicle through the APP. The foregoing to-be-filled information includes the specified number of suspensions participating in the interaction and the number of users. When the user fills in the single-person mode, the number of users is 1. When the user fills in the multi-person mode, the number of users is greater than 1. The following takes the specified number as 4 to illustrate the single-person mode and the multi-person mode respectively:

[0203] In single-user mode, upon receiving a wake-up message containing the user's selected single-user mode, the vehicle first activates the four fisheye cameras mounted on the vehicle body to capture pedestrian images from the corresponding azimuth angles using the four fisheye cameras with wide-angle lenses. Then, distortion correction is applied to the pedestrian images using camera intrinsics and pre-set distortion correction coefficients within the fisheye cameras, resulting in the captured images. Next, the pedestrian posture in the captured images is detected, and pedestrians whose posture matches a preset raised hand gesture are identified as the interaction object, i.e., the user. The captured image containing this user is used as the first frame image. Starting from this first frame image, the user is tracked in subsequent captured images to avoid a degraded user experience caused by misidentifying other pedestrians as users when controlling the suspension based on the user's posture in each captured image. The captured images after the first frame image are identified by the time stamp carried by the captured images. The control of the suspension based on the user posture in the aforementioned first frame image and subsequent captured images (hereinafter referred to as: image sequence) is explained as follows:

[0204] After identifying the user, the system continues to recognize the user's posture in the image sequence. When a clenched fist posture is detected, suspension control is initiated, and the clenched hand is designated as the first posture feature point. The other hand, besides the hand corresponding to the first posture feature point, can then be used as the second posture feature point.

[0205] By processing the aforementioned image sequence using an encoder-decoder architecture depth estimation model, the z-axis depth information of each pixel in the acquired images can be obtained. Therefore, by combining the z-axis depth information, the coordinates of the fisheye camera can be pre-labeled as O1(x1, y1, z1), the coordinates of the center reference point corresponding to the user's waist as O2(x2, y2, z2), and the coordinates of the pose feature points (first pose feature point or second pose feature point) as O3(x3, y3, z3). and The angle between the vectors is a spatial angle.

[0206] The threshold corresponding to the spatial angle is 75°. If the spatial angle is greater than 75°, the first group of suspensions to be adjusted corresponding to the first posture feature point is determined: the suspension that is on the same side as the first posture feature point relative to the user's body and is closest to the first posture feature point is determined as the first suspension to be adjusted. Furthermore, the suspension that is not adjacent to the first suspension to be adjusted is determined as the second suspension to be adjusted.

[0207] Or, if the spatial angle is less than or equal to 75°, the first set of the adjustable suspensions corresponding to the first gesture feature point is determined as follows: a suspension closest to the first gesture feature point on the same side of the first gesture feature point relative to the user's body is determined as the first adjustable suspension; and a suspension adjacent to the first adjustable suspension and still on the same side of the first gesture feature point relative to the user's body is determined as the second adjustable suspension.

[0208] The first adjustable suspension and the second adjustable suspension are determined as the first set of the adjustable suspensions corresponding to the first gesture feature point. The first adjustable suspension and the second adjustable suspension in the first set of the adjustable suspensions keep synchronous movement, i.e., the movement information (movement direction type and movement distance) of the first adjustable suspension and the second adjustable suspension is the same.

[0209] In this way, the movement information of the first set of the adjustable suspensions can be determined according to the relative position of the first gesture feature point of the user relative to the median reference point. For example, when the first gesture feature point is located above the median reference point, the movement direction type of the first set of the adjustable suspensions is determined as a movement upward.

[0210] When the first gesture feature point is located below the median reference point, the movement direction type of the first set of the adjustable suspensions is determined as a movement downward.

[0211] In addition, the movement distance in the movement information of the suspension can also be determined by the following method: the height difference between the boundary point corresponding to the direction and the median reference point, and the distance between the first gesture feature point and the median reference point are combined to determine the distance required for the suspension to move along its movement direction. For example, according to the height difference between the upper boundary reference point (i.e., the highest point that the first gesture 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 gesture feature point) and the median reference point among the reference points, and the ratio of the first distance between the first gesture feature point and the median reference point to the height difference, the movement distance of the suspension moving upward is determined. For another example, according to the height difference between the lower boundary reference point (i.e., the lowest point that the first gesture feature point can reach: when the user's arms naturally droop in a standing posture, and the upper arm and the lower arm are basically on the same vertical line, the position of the first gesture feature point) and the median reference point among the reference points, and the ratio of the first distance between the first gesture feature point and the median reference point to the height difference, the movement distance of the suspension moving downward is determined. In this way, the first set of the adjustable suspensions corresponding to the first gesture feature point can be determined according to the spatial angle of the first gesture feature point, and the movement information of the first set of the adjustable suspensions 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 gesture feature point.

[0212] As the first attitude feature point, the second attitude feature point can also be determined by the foregoing method to correspond to the second group of suspension to be adjusted. Alternatively, the remaining suspension except the first group of suspension to be adjusted can be directly determined as the second group of suspension to be adjusted. Then, the relative position relationship between the second attitude feature point and the aforementioned median reference point, upper boundary reference point and lower boundary reference point is determined to correspond to the movement information of the second group of suspension to be adjusted corresponding to the second attitude feature point.

[0213] In this way, by detecting the position change of the attitude feature point in the collected image in the image sequence, the precise control of the suspension is realized until the hand gesture of the user is detected as a thumbs-up gesture, and the interaction is determined to be paused; until the user clicks to end the "man-car dance mode" through the mobile terminal, and the vehicle receives the notification of ending the suspension control, and stops the suspension control.

[0214] The following describes the multi-person mode: first, the pedestrian image is still collected by the four-way fisheye camera mounted on the vehicle. And through the camera internal parameter and the distortion correction coefficient pre-installed in the fisheye camera, the pedestrian image is corrected for distortion to obtain a plurality of azimuth collected images.

[0215] Then, in the multi-person mode, the front, rear, left and right four window lamps are turned on in turn according to a preset order, and the mode of randomly stopping the light rotation is stopped. In the foregoing collected image, the target image matching the azimuth irradiated by the only one bright window after stopping is selected, and the interactive object with a hand-raising gesture in the target image is determined as a user. Then, according to the determination method of the first attitude feature point and the second attitude feature point in the foregoing single-person mode, and the first group of suspension to be adjusted and the second group of suspension to be adjusted corresponding to the first attitude feature point and the second attitude feature point respectively, the movement information of the first group of suspension to be adjusted and the second group of suspension to be adjusted is determined to control the movement of the first group of suspension to be adjusted and the second group of suspension to be adjusted.

[0216] Until the hand gesture of the user is detected as a thumbs-up gesture, it is determined that the user ends the interaction with the vehicle. At this time, the vehicle pauses the control of the suspension, and re-elects the user as the interaction object of the raised hand gesture by turning on the lamps of the four front, rear, left and right windows in turn according to the aforementioned preset sequence, and randomly stopping the mode of lamp rotation. For the user, the aforementioned method is used to determine the first group of suspension to be adjusted corresponding to the first gesture feature point of the user and the second group of suspension to be adjusted corresponding to the second gesture feature point, and the motion of the first group of suspension to be adjusted is controlled according to the position change of the first gesture feature point, and the motion of the second group of suspension to be adjusted is controlled according to the position change of the second gesture feature point; until the hand gesture of the first gesture feature point or the second gesture feature point of the user is detected as a thumbs-up gesture, it is determined that the user ends the interaction with the vehicle. Then continue to start the light of the window to replace the interaction object… until the user selects the "end dance with the car" mode through the mobile phone terminal, and the vehicle receives the notification of ending the suspension control, and stops the suspension control.

[0217] It should be understood that, although Figure 1 、 Figure 3 、 Figure 6 The flowchart in the figure shows the steps in sequence according to the direction of the arrow, but these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 1 、 Figure 3 、 Figure 6 At least part of the steps in

[0218] Based on the same inventive concept, as shown in Figure 7 The embodiment of the present application provides a suspension control device, which comprises a data module 701, a suspension module 702 and a motion module 703, wherein:

[0219] The data module 701 is used for acquiring user data in response to receiving wake-up information.

[0220] The suspension module 702 is used for determining a suspension to be adjusted in a plurality of suspensions based on user information in the user data, and determining motion information of the suspension to be adjusted.

[0221] The motion module 703 is used for controlling the motion of the suspension to be adjusted based on the motion information.

[0222] In an 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 gesture information in the user information.

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

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

[0226] In an embodiment, the user information includes a specified number of the to-be-adjusted suspensions, and a spatial angle of the first posture feature point in the user posture, the spatial angle indicating an angle change range of a gesture and / or an arm of the user; 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 from a plurality of preset rules based on a relative size relationship between the spatial angle and a preset first angle threshold; determine a second to-be-adjusted suspension based on the first target rule; and determine the motion information of the first to-be-adjusted suspension as the motion information of the second to-be-adjusted suspension.

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

[0229] In response to the spatial angle being greater than the first angle threshold, determine a second rule from the plurality of preset rules as the first target rule; wherein the second rule indicates that a suspension adjacent to the first to-be-adjusted suspension in the plurality of suspensions is the second to-be-adjusted suspension; or in response to the spatial angle being less than or equal to the first angle threshold, determine a third rule from the plurality of preset rules as the first target rule; wherein the third rule indicates that a suspension adjacent to the first posture feature point relative to the position of the user in the plurality of suspensions is the second to-be-adjusted suspension.

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

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

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

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

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

[0235] determine the first coordinate information of the first attitude feature point and the second coordinate information of the median reference point in the user attitude information; and 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.

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

[0237] determine the motion direction type based on the relative size relationship between the longitudinal coordinate of the first attitude feature point and the longitudinal coordinate of the median reference point.

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

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

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

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

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

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

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

[0245] In an image sequence including at least two images of the images, a first image in which the target is the user is determined; wherein the images in the image sequence are in time sequence, and the image sequence includes the first image and a second image located after the first image; target detection is performed on the second image to obtain first to-be-verified information of at least one target in the second image; and trajectory prediction is performed on the user in the first image to obtain second to-be-verified information of the user in the second image; in response to the matching degree between the second to-be-verified information and target to-be-verified information in the first to-be-verified information being greater than or equal to the second threshold value, the target corresponding to the target to-be-verified information in the second image is determined as 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 being other than the user, and the number of images including the user in the image sequence located before the second image being greater than or equal to a third threshold value, a third image located before the second image and adjacent to the second image in the image sequence is determined; and the user posture information of the user in the third image is determined as the user posture information in the second image.

[0248] The specific limitations on the suspension control device can refer to the limitations on the suspension control method in the foregoing, which will not be repeated here. Each module in the suspension control device described above can be realized by software, hardware, or a combination thereof, in whole or in part. Each module described above can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory in the electronic device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0249] Based on the same inventive concept, see Figure 8 The embodiments of the present application further provide an electronic device. In one embodiment, the electronic device can include a memory 801, a communication module 803, and one or more processors 802, as shown in the figure.

[0250] The memory 801 is configured to store computer programs executed by the processor 802. The memory 801 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, and the data storage area can store various operation instruction sets, etc.

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

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

[0253] The communication module 803 is used to communicate with terminal equipment, site equipment or other network equipment.

[0254] This application embodiment does not limit the specific connection medium between the memory 801, communication module 803, and processor 802 described above. This application embodiment... Figure 8 The memory 801 and the processor 802 are connected via a bus 804, and the bus 804 is in Figure 6 The diagram uses thick lines to describe the connections between other components; these are for illustrative purposes only and should not be considered limiting. The 804 bus can be divided into address bus, data bus, control bus, etc. For ease of description, Figure 8 The 804 is described using only a thick line, but it does not describe a single bus or a single type of bus.

[0255] The memory 801 stores a computer storage medium, which in turn stores computer-executable instructions for implementing the suspension control method of the embodiments of this application. The processor 802 is used to execute the suspension control methods of the embodiments described above in the computer-executable instructions.

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

[0257] Upon receiving a wake-up message, retrieve user data;

[0258] 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;

[0259] control the suspension motion to be adjusted based on the motion information.

[0260] In an embodiment, the computer-executable instructions, when executed by the processor 802, implement the following steps:

[0261] The modal of the user data is an image, the suspension to be adjusted is determined based on user information in the user data, and the motion information of the suspension to be adjusted is determined, including: in response to the modal of the user data being the image, the suspension to be adjusted and the motion information are determined based on gesture information in the user information.

[0262] In an embodiment, the computer-executable instructions, when executed by the processor 802, implement the following steps:

[0263] The user information includes position information of each of a first posture feature point of a user and a reference point, the suspension to be adjusted is determined based on user information in the user data, and the motion information of the suspension to be adjusted is determined, including: a first suspension to be adjusted is selected from the plurality of suspensions based on a first rule, wherein the first rule indicates that a suspension closest to the first posture feature point on the same side as the position of the first posture feature point relative to the user is the first suspension to be adjusted, and the motion information of the first suspension to be adjusted is determined based on a relative position relationship between the first posture feature point and the reference point.

[0264] In an embodiment, the computer-executable instructions, when executed by the processor 802, implement the following steps:

[0265] The user information includes a specified number of the suspension to be adjusted, and the user posture information includes a spatial angle of the first posture feature point, the spatial angle indicating a change amplitude of a gesture and / or an arm of the user, the suspension to be adjusted is determined based on user information in the user data, and the motion information of the suspension to be adjusted is determined, including: in response to the specified number of the suspension to be adjusted being 2, a first target rule is determined from a plurality of preset rules based on a relative size relationship between the spatial angle and a preset first angle threshold, the second suspension to be adjusted is determined based on the first target rule, and the motion information of the first suspension to be adjusted is determined as the motion information of the second suspension to be adjusted.

[0266] In an embodiment, the computer-executable instructions, when executed by the processor 802, implement the following steps:

[0267] In response to the spatial angle being greater than the first angle threshold, a second rule in the plurality of preset rules is determined as the first target rule; the second rule indicates that, in the plurality of suspensions, a suspension adjacent to the first to-be-adjusted suspension is the second to-be-adjusted suspension; or in response to the spatial angle being less than or equal to the first angle threshold, a third rule in the plurality of preset rules is determined as the first target rule; the third rule indicates that, on a same side of the first attitude feature point relative to a position of the user and adjacent to the first to-be-adjusted suspension, a suspension is the second to-be-adjusted suspension.

[0268] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

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

[0270] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

[0271] In response to the specified number of to-be-adjusted suspensions being greater than 2, based on the user information, a first suspension number corresponding to the first attitude feature point and a second suspension number corresponding to the second attitude feature point are determined; a sum of the first suspension number and the second suspension number is equal to the specified number; in the plurality of suspensions, a first group of to-be-adjusted suspensions corresponding to the first attitude feature point and matching the first suspension number is determined, and a second group of to-be-adjusted suspensions corresponding to the second attitude feature point and matching the second suspension number is determined; based on a relative position relationship between the first attitude feature point and the reference point, the motion information of the first group of to-be-adjusted suspensions is determined, and based on a relative position relationship between the second attitude feature point and the reference point, the motion information of the second group of to-be-adjusted suspensions is determined.

[0272] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

[0273] determine the first coordinate information of the first posture feature point in the user posture information, and second coordinate information of a median reference point; 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 a motion direction corresponding to the first direction type is opposite to a motion direction corresponding to the second direction type.

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

[0275] determine the motion direction type based on a relative size relationship between a longitudinal coordinate of the first posture feature point and a longitudinal coordinate of the median reference point.

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

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

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

[0279] determine a motion parameter corresponding to the motion direction type 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 a correspondence relationship between the first direction type and the first parameter, and a correspondence relationship between the second direction type and the second parameter; and determine a product of the motion parameter and the distance coefficient as the motion distance.

[0280] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

[0281] In response to the modality of the user data being an image, determining the suspension to be adjusted and the motion information of the suspension to be adjusted based on the user information in the user data 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; the user information is user posture information of the target in the image; and determining the suspension to be adjusted and the motion information based on gesture information in the user information.

[0282] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

[0283] In an image sequence containing at least two images of the image, a first image in which the target is determined to be the user; 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; target detection is performed on the second image to obtain first verification information of at least one target in the second image; and trajectory prediction is performed on the user in the first image to obtain second verification information of the user in the second image; in response to the matching degree between the second verification information and the target verification information in the first verification information being greater than or equal to the second threshold value, the target in the second image corresponding to the target verification information is determined to be the user.

[0284] In an embodiment, the computer executable instructions, when executed by the processor 802, implement the following steps:

[0285] In response to the target in the second image not being the user, and the number of images containing the user in the image sequence being greater than or equal to a third threshold value before the second image, in the image sequence, a third image adjacent to the second image and located before the second image is determined; the user posture information of the user in the third image is determined as the user posture information in the second image.

[0286] Those skilled in the art can understand that, Figure 8 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0287] Based on the same inventive concept, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0288] In response to receiving the wake-up information, user data is acquired;

[0289] Based on user information in the user data, a to-be-adjusted suspension is determined from a plurality of suspensions, and motion information of the to-be-adjusted suspension is determined.

[0290] Based on the motion information, the to-be-adjusted suspension is controlled to move.

[0291] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0292] The response to the modal of the user data is an image, based on the user information in the user data, a to-be-adjusted suspension is determined from a plurality of suspensions, and motion information of the to-be-adjusted suspension is determined, which includes: in response to the modal of the user data being the image, based on gesture information in the user information, the to-be-adjusted suspension and the motion information are determined.

[0293] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0294] The user information includes position information of each of a first posture feature point and a reference point in a user posture; the to-be-adjusted suspension is determined from a plurality of suspensions based on the user information in the user data, and the motion information of the to-be-adjusted suspension is determined, which includes: based on a first rule, a first to-be-adjusted suspension is selected from the plurality of suspensions; wherein the first rule indicates that a suspension on the same side of the first posture feature point relative to the position of the user and closest to the first posture feature point is the first to-be-adjusted suspension; based on the relative position relationship between the first posture feature point and the reference point, the motion information of the first to-be-adjusted suspension is determined.

[0295] In one embodiment, the computer program is executed by the processor to further implement the following steps:

[0296] The user information includes a specified number of the suspension to be adjusted, and a spatial angle of the first attitude feature point in the user attitude, the spatial angle indicating a change range of a gesture and / or arm of the user; and determining the suspension to be adjusted and determining motion information of the suspension to be adjusted based on the user information in the user data, including: in response to the specified number of the suspension to be adjusted being 2, determining 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; 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, the computer program, when executed by the processor, further implements the following steps:

[0298] In response to the spatial angle being greater than the first angle threshold, determining a second rule in the plurality of preset rules as the first target rule; wherein the second rule indicates that, in the plurality of suspensions, a suspension 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 a third rule in the plurality of preset rules as the first target rule; wherein the third rule indicates that, in the plurality of suspensions, a suspension adjacent to the first attitude feature point on a same side of the user and adjacent to the first suspension to be adjusted is the second suspension to be adjusted.

[0299] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0300] In a preset spatial coordinate system, a first vector between the coordinate origin and a median reference point is determined, and a second vector between the median reference point and the first attitude feature point is determined; wherein the spatial coordinate system takes a position of a collection device of the user data as the coordinate origin; and a vector included angle between the first vector and the second vector is determined as the spatial angle.

[0301] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0302] In response to the specified number of the suspension to be adjusted being greater than 2, determining, based on the user information, a first number of suspensions corresponding to the first gesture feature point and a second number of suspensions corresponding to the second gesture feature point, wherein the sum of the first number of suspensions and the second number of suspensions is equal to the specified number; determining, in the plurality of suspensions, a first group of suspensions to be adjusted corresponding to the first gesture feature point and matching the first number of suspensions, and a second group of suspensions to be adjusted corresponding to the second gesture feature point and matching the second number of suspensions; determining the motion information of the first group of suspensions to be adjusted based on the relative positional relationship between the first gesture feature point and the reference point, and determining the motion information of the second group of suspensions to be adjusted based on the relative positional relationship between the second gesture feature point and the reference point.

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

[0304] determining the first coordinate information of the first gesture feature point in the user gesture information and the second coordinate information of the median reference point; 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.

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

[0306] determining the motion direction type based on the relative size relationship between the longitudinal coordinate of the first gesture feature point and the longitudinal coordinate of the median reference point.

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

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

[0309] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

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

[0311] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0312] determining a suspension to be adjusted and determining motion information of the suspension to be adjusted based on user information in the user data, including: determining a target in the image in response to the modality of the user data being an image; verifying the target to determine that the target is the user; the user information is user posture information of the target in the image; and determining the suspension to be adjusted and the motion information based on gesture information in the user information.

[0313] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0314] The verifying the target to determine that the target is the user further includes: determining, in an image sequence including at least two images of the images, a first image in which the target is the user; the images in the image sequence are in time sequence, 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 to-be-verified information of at least one target in the second image; and performing trajectory prediction on the user in the first image to obtain second to-be-verified information of the user in the second image; and in response to the matching degree between the second to-be-verified information and target to-be-verified information in the first to-be-verified information being greater than or equal to the second threshold, determining that the target corresponding to the target to-be-verified information in the second image is the user.

[0315] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0316] In response to the target in the second image being other than the user, and the number of images including the user in the image sequence located before the second image 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 of the user in the second image.

[0317] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various 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, the embodiments of the present application also provide a computer program product comprising a computer program, which, when executed by a processor, implements the suspension control method according to any one of the preceding embodiments.

[0319] Wherein, the program code of the computer program product for executing the present application can be written in any combination of one or more programming languages, and can be executed completely on the user equipment, partially on the user equipment, as an independent software package, partially on the user equipment and partially on a remote device, or completely 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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0321] The present application is described with reference to 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 flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more blocks.

[0322] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more blocks.

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

[0324] The above-described embodiments are merely illustrative for several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A suspension control method characterized by, The method comprises: in response to receiving wake-up information of a user located outside the vehicle, acquiring user data; based on user information in the user data, determining a to-be-adjusted suspension among multiple suspensions, and determining motion information of the to-be-adjusted suspension; based on the motion information, controlling the motion of the to-be-adjusted suspension; wherein the user information in the user data comprises position information of each of a first posture feature point in a user posture and a reference point, the first posture feature point corresponding to a hand of the user, and the reference point comprising at least a middle reference point corresponding to a middle region in the user posture; the method of determining a to-be-adjusted suspension among multiple suspensions based on user information in the user data, and determining motion information of the to-be-adjusted suspension, comprises: based on a first rule, selecting a first to-be-adjusted suspension among the multiple suspensions; wherein the first rule indicates that, on the same side of the first posture feature point relative to the position of the user, and the suspension closest to the first posture feature point is the first to-be-adjusted suspension; based on the relative positional relationship between the first posture feature point and the reference point, determining the motion information of the first to-be-adjusted suspension.

2. The method of claim 1, wherein, The user information further comprises a specified number of the to-be-adjusted suspension, and a spatial angle of the first posture feature point in the user posture, the spatial angle indicating the angle change range of the user's hand gesture and / or arm; the method of determining a to-be-adjusted suspension among multiple suspensions based on user information in the user data, and determining motion information of the to-be-adjusted suspension, comprises: in response to the specified number of the to-be-adjusted suspension being 2, based on the relative size relationship between the spatial angle and a preset first angle threshold, determining a first target rule among a plurality of preset rules; based on the first target rule, determining a second to-be-adjusted suspension; determining the motion information of the first to-be-adjusted suspension as the motion information of the second to-be-adjusted suspension.

3. The method of claim 2, wherein, the method of determining a first target rule among a plurality of preset rules based on the 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 multiple suspensions, the suspension adjacent to the first to-be-adjusted suspension is the second to-be-adjusted suspension; or, in response to the spatial angle being less than or equal to the first angle threshold, determining a third rule among the plurality of preset rules as the first target rule; wherein the third rule indicates that, among the multiple suspensions, the suspension adjacent to the first to-be-adjusted suspension on the same side of the first posture feature point relative to the position of the user is the second to-be-adjusted suspension.

4. The method of claim 2, wherein, The spatial angle is determined by the following method: in a preset spatial coordinate system, determining a first vector between a coordinate origin and the middle reference point corresponding to the middle region in the user posture, and determining a second vector between the middle reference point and the first posture feature point; wherein the spatial coordinate system takes the position of the data acquisition device of the user data as the coordinate origin; Determine a vector angle between the first vector and the second vector as the spatial angle.

5. The method of claim 2, wherein, The determining the to-be-adjusted suspensions from the plurality of suspensions based on the user information in the user data, and the determining the motion information of the to-be-adjusted suspensions comprises: In response to the specified number of the to-be-adjusted suspensions being greater than 2, determining a first number of suspensions corresponding to the first gesture feature point and a second number of suspensions corresponding to the second gesture feature point based on the user information, wherein the sum of the first number of suspensions and the second number of suspensions is equal to the specified number; In the plurality of suspensions, determining a first group of to-be-adjusted suspensions corresponding to the first gesture feature point and matching the first number of suspensions, and determining a second group of to-be-adjusted suspensions corresponding to the second gesture feature point and matching the second number of suspensions; Determining the motion information of the first group of to-be-adjusted suspensions based on the relative positional relationship between the first gesture feature point and the reference point, and determining the motion information of the second group of to-be-adjusted suspensions based on the relative positional relationship between the second gesture feature point and the reference point.

6. The method of claim 5, wherein, The first gesture feature point and the second gesture feature point are determined by the following method: According to the user information, determining a number of users corresponding to the gesture feature point; According to a preset rule, the lamps at a plurality of preset positions of the vehicle body are turned on in turn, and the time is counted, and when the time reaches a time limit value, a target lamp is turned on; wherein the preset rule comprises a generation rule of the time limit value and a turn-on sequence of the lamps at the plurality of preset positions of the vehicle body. In the illumination range of the target lamp, the users of the user number are determined, and the first gesture feature point and the second gesture feature point matching a preset gesture posture are determined.

7. The method according to any one of claims 1 to 6, characterized in that, The motion information comprises a motion direction type. The determining the motion information of the first to-be-adjusted suspension based on the relative positional relationship between the first gesture feature point and the reference point comprises: Determining first coordinate information of the first gesture feature point and second coordinate information of the median reference point corresponding to a middle region of the user posture; Determining the motion direction type based on the first coordinate information and the second coordinate information; Wherein, the motion direction type comprises a first direction type and 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.

8. The method of claim 7, wherein, The determining the motion direction type based on the first coordinate information and the second coordinate information comprises: Determining the motion direction type based on the relative size relationship between the longitudinal coordinate of the first gesture feature point and the longitudinal coordinate of the median reference point.

9. The method of claim 7, wherein, The motion information comprises a motion distance, and the reference point comprises a gesture extreme reference point; the gesture extreme reference point comprises a first extreme reference point corresponding to the first direction type and a second extreme reference point corresponding to the second direction type; The determining the motion information of the to-be-adjusted suspensions comprises: determine a target extreme reference point corresponding to the motion direction type as a target extreme reference point based on a preset first correspondence relationship, wherein the first correspondence relationship comprises a correspondence relationship between the first direction type and the first extreme reference point, and a correspondence relationship between the second direction type and the second extreme reference point; determine a distance coefficient as a ratio of a first distance between the first attitude feature point and the median reference point to a height difference between the target extreme reference point and the median reference point; determine a motion distance as a product of the motion parameter of the suspension to be adjusted and the distance coefficient.

10. The method of claim 9, wherein, The determination of the motion distance as the product of the motion parameter of the suspension to be adjusted and the distance coefficient comprises: determine a motion parameter corresponding to the motion direction type based on a preset second correspondence relationship, wherein the second correspondence relationship comprises a correspondence relationship between the motion direction type and the motion parameter; determine the motion distance as the product of the motion parameter and the distance coefficient.

11. The method of claim 1, wherein, The user determines according to the following method: determine a target in the image in response to the modality of the user data being an image; verify the target to determine that the target is the user.

12. The method of claim 11, wherein, The verification of the target to determine that the target is the user comprises: determine a first image in which the target is the user in an image sequence containing at least 2 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; perform target detection on the second image to obtain first to-be-verified information of at least one target in the second image, and perform trajectory prediction on the user in the first image to obtain second to-be-verified information of the user in the second image; determine that the target corresponding to the target to-be-verified information in the second image is the user in response to a matching degree between the second to-be-verified information and the target to-be-verified information in the first to-be-verified information being greater than or equal to a second threshold.

13. The method of claim 12, wherein, After the verification of the target, the method further comprises: determine a third image adjacent to the second image and located before the second image in the image sequence in response to the target in the second image not being the user, and a number of images containing the user before the second image in the image sequence being greater than or equal to a third threshold. determine user attitude information of the user in the third image as the user attitude information in the second image.

14. A suspension control device characterized by comprising: The method comprises: a data module configured to acquire user data in response to receiving wake-up information of a user located outside a vehicle; a suspension module configured to determine a suspension to be adjusted from a plurality of suspensions based on user information in the user data, and determine motion information of the suspension to be adjusted; a motion module configured to control the suspension to be adjusted to move based on the motion information. The user information in the user data includes position information of each of a first posture feature point in a user posture and a reference point, the first posture feature point corresponds to a hand of the user, and the reference point at least includes a middle reference point corresponding to a middle region in the user posture. The suspension module is further configured to select a first to-be-adjusted suspension from the plurality of suspensions based on a first rule, wherein the first rule indicates that a suspension closest to the first posture feature point on a same side of the first posture feature point relative to the user is the first to-be-adjusted suspension, and determine motion information of the first to-be-adjusted suspension based on a relative position relationship between the first posture feature point and the reference point.

15. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the steps of the method in any one of claims 1 to 13.

16. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method in any one of claims 1 to 13.

17. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the method in any one of claims 1 to 13.

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