Vehicle control method, display device, vehicle and vehicle-mounted interaction system

Abstract

The invention discloses a vehicle control method, display equipment, a vehicle and a vehicle-mounted interaction system, relates to the technical field of vehicles, and is used for improving the user experience when a user uses the display equipment. The method comprises the steps that under the condition that display content of display equipment comprises a carrier, based on the virtual driving state of the carrier, a vehicle to which the display equipment belongs is controlled to execute a corresponding vehicle body posture adjusting action, so that the vehicle body posture of the vehicle is matched with the carrier posture of the carrier.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a vehicle control method, a display device, a vehicle, and an in-vehicle interaction system. Background Art

[0002] With the development of automotive intelligence and entertainment, in-vehicle display devices have gradually become an important tool for enhancing the passenger experience. Users can experience virtual reality content (such as 3D movies, virtual tours, games, etc.) through the display device when the vehicle is moving or stationary, thus enriching the travel scenario. However, current in-vehicle display devices still have some technical defects, resulting in insufficient user immersion and an inability to achieve an immersive audio-visual experience. Summary of the Invention

[0003] The present application provides a vehicle control method, a display device, a vehicle, and an in-vehicle interaction system for enhancing the user experience when using the display device in a vehicle.

[0004] To achieve the above object, the present application adopts the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method applied to a display device. The control method includes: when the display content of the display device includes a vehicle, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions so that the body attitude of the vehicle matches the vehicle attitude of the vehicle.

[0006] The vehicle control method provided by the embodiment of the present application, when the display content of the display device includes a vehicle, based on the virtual driving state of the vehicle, controls the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, so that the vehicle adjusts its own body attitude to match the vehicle attitude of the vehicle. That is to say, when a user uses the display device in a vehicle, the body attitude of the vehicle in which the user is riding matches the vehicle attitude of the vehicle of the virtual character in the display content, so that the user riding in the vehicle can personally experience the body attitude felt by the virtual character, and further enables the user to experience the display content more immersively, improving the user experience of the display device.

[0007] In some embodiments, the virtual driving state includes at least one of the following: a uniform speed state, a variable speed state, a turning state, a bumpy state, a collision state, or a leap state.

[0008] In some embodiments, the body attitude adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle; or, the body attitude adjustment action is a suspension takeoff action; the suspension takeoff action is used to achieve an instantaneous height jump of the vehicle body.

[0009] In some embodiments, when the vehicle body attitude adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform the corresponding vehicle body attitude adjustment action, including: determining attitude adjustment parameters based on the virtual driving state of the vehicle, and determining a speed increase multiple based on the vehicle speed of the vehicle; the attitude adjustment parameters include an initial roll angle and / or an initial pitch angle; correcting the attitude adjustment parameters based on the speed increase multiple, and controlling the vehicle to adjust the roll angle and / or pitch angle based on the corrected attitude adjustment parameters.

[0010] In some embodiments, the vehicle body attitude adjustment action includes at least one of the following: adjusting the height of multiple suspensions in the vehicle suspension system; controlling the tilt angle of the vehicle seat; controlling the vehicle roll mechanism to generate a corresponding roll angle.

[0011] In some embodiments, the vehicle body attitude adjustment action is used to make the vehicle body attitude of the vehicle synchronized or consistent with the vehicle attitude of the vehicle.

[0012] In some embodiments, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform the corresponding vehicle body attitude adjustment action, including: when the virtual driving state is a constant speed state, controlling the vehicle to adjust the roll angle within a preset roll angle range and adjust the pitch angle within a preset pitch angle range.

[0013] In some embodiments, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform the corresponding vehicle body attitude adjustment action, including: when the virtual driving state is a variable speed state, determining a target pitch angle of the vehicle based on the acceleration of the vehicle; controlling the vehicle to adjust the pitch angle to the target pitch angle.

[0014] In some embodiments, determining the target pitch angle of the vehicle based on the acceleration of the vehicle includes: determining the target pitch angle of the vehicle based on the vehicle speed and acceleration of the vehicle, and the vehicle speed is positively correlated with the target pitch angle.

[0015] In some embodiments, determining the target pitch angle of the vehicle based on the vehicle speed and acceleration of the vehicle includes: determining an initial pitch angle of the vehicle based on the acceleration of the vehicle; determining a speed increase multiple based on the vehicle speed of the vehicle; adjusting the initial pitch angle according to the speed increase multiple to obtain the target pitch angle.

[0016] In some embodiments, controlling the vehicle to adjust the pitch angle to the target pitch angle includes: controlling the vehicle to adjust the pitch angle to the target pitch angle within the duration corresponding to the variable speed state.

[0017] In some embodiments, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body attitude adjustment actions, including: when the virtual driving state is a turning state, determining a target roll angle corresponding to the vehicle based on a preset roll angle; controlling the vehicle to adjust the roll angle to the target roll angle.

[0018] In some embodiments, determining a target roll angle corresponding to the vehicle based on a preset roll angle includes: determining a target roll angle corresponding to the vehicle based on the vehicle speed of the vehicle and the preset roll angle, and the vehicle speed is positively correlated with the target roll angle.

[0019] In some embodiments, determining a target roll angle corresponding to the vehicle based on the vehicle speed of the vehicle and the preset roll angle includes: determining a speed increase multiple based on the vehicle speed of the vehicle; the vehicle speed is positively correlated with the speed increase multiple; adjusting the preset roll angle according to the speed increase multiple to obtain the target roll angle.

[0020] In some embodiments, controlling the vehicle to adjust the roll angle to the target roll angle includes: adjusting the roll angle to the target roll angle within the duration corresponding to the turning state.

[0021] In some embodiments, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body attitude adjustment actions, including: when the virtual driving state is a bumpy state or a collision state, within the duration of the bumpy state or the collision state, controlling the vehicle to adjust the roll angle within a target roll angle range and adjust the pitch angle within a target pitch angle range.

[0022] In some embodiments, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on the vehicle speed of the vehicle and the preset roll angle.

[0023] In some embodiments, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the vehicle speed of the vehicle and the preset pitch angle.

[0024] In some embodiments, when the virtual driving state is a collision state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on the target impact amplitude and the preset roll angle.

[0025] In some embodiments, when the virtual driving state is a collision state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the target impact amplitude and the preset pitch angle.

[0026] In some embodiments, the target impact amplitude is set by the user before using the display device to watch a movie; or, the target impact amplitude is a preset value.

[0027] In some embodiments, when the virtual driving state is the leap state, the vehicle body attitude adjustment action is the suspension takeoff action, and the suspension takeoff action is used to achieve an instantaneous increase in the height of the vehicle body.

[0028] In some embodiments, the control method further includes: in response to the viewing / game mode being enabled and the vehicle being in the parked state, outputting a first prompt message for prompting the user whether to enable the first viewing / game mode; the first viewing / game mode supports the display device to control the vehicle to perform vehicle body attitude adjustment actions during viewing / gaming.

[0029] In some embodiments, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions includes: when the display device enables the first viewing / game mode, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions.

[0030] In some embodiments, the control method further includes: when the vehicle is in a non-parked state, enabling a second viewing / game mode; the second viewing / game mode does not support the display device to control the vehicle to perform vehicle body attitude adjustment actions during viewing / gaming.

[0031] In some embodiments, the control method further includes: when the vehicle is in a non-parked state, outputting a second prompt message for prompting the user that the first viewing / game mode can only be enabled when the vehicle is in the parked state.

[0032] In some embodiments, the control method further includes: parsing the screen elements in the display content to determine whether there is a vehicle in the display content; when there is a vehicle, determining the virtual driving state of the vehicle at each time node.

[0033] In some embodiments, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions includes: based on the virtual driving state of the vehicle at the current time node, sending an attitude control instruction to the vehicle, and the attitude control instruction is used to make the vehicle perform vehicle body attitude adjustment actions.

[0034] In some embodiments, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions includes: when it is determined to adjust the roll angle of the vehicle based on the virtual driving state, adjusting the suspension height of the left suspension and / or the right suspension of the vehicle's active suspension system based on the virtual driving state.

[0035] In some embodiments, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body attitude adjustment actions, including: when it is determined based on the virtual driving state that the pitch angle of the vehicle needs to be adjusted, the suspension height of the front suspension and / or the rear suspension of the vehicle's active suspension system is adjusted based on the virtual driving state.

[0036] In a second aspect, an embodiment of the present application provides a display device, including a processor and a memory. The processor is connected to the memory, and the memory stores computer instructions. When the computer instructions run on the display device, the display device is caused to execute the method provided in the first aspect and its possible implementation manners.

[0037] In a third aspect, an embodiment of the present application provides a vehicle, including a processor and a memory. The processor is connected to the memory, and the memory stores computer instructions. When the computer instructions run on the vehicle, the vehicle is caused to execute the method provided in the first aspect and its possible implementation manners.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions run on a computer, the computer is caused to execute the method provided in the first aspect and its possible implementation manners.

[0039] In a fifth aspect, an embodiment of the present application provides an in-vehicle interaction system, including the display device provided in the second aspect and / or the vehicle provided in the third aspect.

[0040] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer is caused to execute the method provided in the first aspect and its possible implementation manners.

[0041] The technical effects brought by any of the implementation manners in the above second aspect to the sixth aspect can be referred to the corresponding implementation manners in the first aspect, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic structural diagram of an in-vehicle interaction system provided by an embodiment of the present application;

[0044] Figure 2Schematic diagram of an interaction process between a display device and a vehicle provided by an embodiment of the present application;

[0045] Figure 3 Schematic diagram of a processing flow of a domain control middleware provided by an embodiment of the present application;

[0046] Figure 4 Method flow of a vehicle control method provided by an embodiment of the present application Figure 1 ;

[0047] Figure 5 Schematic diagram of an attitude control instruction when a vehicle is in a uniform speed state provided by an embodiment of the present application;

[0048] Figure 6 Method flow of a vehicle control method provided by an embodiment of the present application Figure 2 ;

[0049] Figure 7 Schematic diagram of an attitude control instruction when a vehicle is in a variable speed state provided by an embodiment of the present application;

[0050] Figure 8 Method flow of a vehicle control method provided by an embodiment of the present application Figure 3 ;

[0051] Figure 9 Schematic diagram of an attitude control instruction when a vehicle is in a turning state provided by an embodiment of the present application;

[0052] Figure 10 Schematic diagram of an attitude control instruction when a vehicle is in a bumpy state provided by an embodiment of the present application;

[0053] Figure 11 Schematic diagram of an attitude control instruction when a vehicle is in an impact state provided by an embodiment of the present application;

[0054] Figure 12 Schematic diagram of an attitude control instruction when a vehicle is in a flying state provided by an embodiment of the present application;

[0055] Figure 13 Schematic diagram of a determination method for a speed increase multiple provided by an embodiment of the present application;

[0056] Figure 14 Usage flow chart of a display device provided by an embodiment of the present application;

[0057] Figure 15 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application belong to the scope of protection of the present application.

[0059] In the embodiments of the present application, the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of the present application.

[0060] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "plural" is two or more.

[0061] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0062] "A and / or B" includes the following three combinations: only A, only B, and the combination of A and B.

[0063] With the rapid development of automotive intelligence and entertainment, in-vehicle VR (virtual reality) devices are gradually becoming an important tool to enhance the travel experience of passengers. Users can experience diverse virtual reality content through a portable display device, whether the vehicle is moving or stationary, such as realistic 3D movies, immersive virtual travel, interactive games, etc., thus transforming the traditional monotonous riding scenario into an entertaining space full of fun and personalization. This innovative application can not only relieve the fatigue during long-distance travel but also add a sense of technology and freshness to scenarios such as family travel and business pick-up and drop-off.

[0064] However, current in-vehicle display devices mainly provide users with visual and auditory immersion through high-resolution displays, head tracking, and stereo technology, such as realistic 3D scenes, surround sound, etc. However, this experience is still limited to eye viewing and head turning, lacking body movement feedback, tactile interaction, and environmental simulation, resulting in insufficient immersion and making it difficult for users to truly "be in" the virtual world.

[0065] Based on this, the embodiments of the present application provide a vehicle control method. When the display content of the display device includes a vehicle, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body attitude adjustment actions, so that the vehicle adjusts its own body attitude to match the vehicle attitude of the vehicle. That is to say, when the user uses the display device, the vehicle in which the user is riding matches the vehicle attitude of the vehicle of the virtual character in the display content, so that the user riding in the vehicle can personally experience the body posture felt by the virtual character, thereby enabling the user to experience the display content more immersively and improving the user experience of using the display device.

[0066] It can be seen that the solution provided by the embodiments of the present application can control the vehicle to perform corresponding body attitude adjustment actions (such as vibration, tilt, acceleration / deceleration simulation) in real time according to the virtual content, so that the passenger's vision, hearing, touch, and vestibular sense (sense of balance) are synchronized and matched, thereby achieving a full-body immersive experience and further improving the user experience of using the display device.

[0067] The vehicle control method provided by the embodiments of the present application will be introduced below with reference to the accompanying drawings.

[0068] The vehicle control method provided by the embodiments of the present application can be applied to Figure 1 the in-vehicle interaction system shown. Please refer to Figure 1 , this in-vehicle interaction system includes: vehicle 100 and display device 200. The vehicle and the display device can be communicatively connected in various ways, and the embodiments of the present application do not limit this.

[0069] It should be understood that the embodiments of the present application do not limit the specific type of the display device. The display device includes a head-mounted display device (headset device), a terminal device (such as a smart phone, a smart watch), and a vehicle center console screen, etc. The user can view the display content in or on the vehicle through these display devices.

[0070] In some embodiments, since the head-mounted device can provide a broader field of view and 3D stereoscopic display, enabling users to be fully immersed in virtual or augmented reality environments, it is applicable to scenarios such as gaming, film and television, and simulation training. Moreover, in a narrow space such as inside a vehicle, the head-mounted device is more flexible than a fixed center console screen or a handheld device, can provide a stable visual experience, and reduce motion sickness or visual fatigue. Therefore, as a feasible implementation method, in order to better provide users with an immersive usage experience, the display device is a head-mounted device.

[0071] Exemplarily, as a feasible implementation method, when the display device is a head-mounted device, the head-mounted device can be a virtual reality (VR), an augmented reality (AR), or a mixed reality (MR) head-mounted device, and the embodiments of the present application do not limit this.

[0072] In the embodiments of the present application, when the display device is in an operating state, it can detect whether the displayed picture content includes a vehicle, that is, whether the virtual character corresponding to the user is riding in a vehicle. If so, the display device can determine the virtual driving state of the vehicle according to the virtual state information of the vehicle.

[0073] In some embodiments, according to information such as the driving parameters corresponding to the virtual vehicle and the road conditions, the virtual driving state can be divided into at least one of the following: uniform speed state, variable speed state, turning state, bumpy state, impact state, or leap state. Furthermore, different body posture adjustment actions (or posture control instructions) are set for each virtual driving state to achieve the control of different body postures.

[0074] As a feasible implementation method, the display device can send the detected virtual driving state to the vehicle controller, so that the vehicle controller performs body posture adjustment actions based on the virtual driving state.

[0075] As another feasible implementation method, the display device can generate corresponding state control instructions based on the virtual driving state and send the state control instructions to the vehicle to control the vehicle to perform corresponding body posture adjustment actions, so that the body posture of the vehicle matches the vehicle posture of the vehicle.

[0076] Exemplarily, the display device can send a posture control instruction to the vehicle. The posture control instruction includes the pitch angle and roll angle for adjustment. After receiving the posture control instruction, the vehicle controller can adjust its own pitch angle and roll angle based on the posture control instruction to perform body posture adjustment actions to achieve the purpose of matching the vehicle posture of the virtual vehicle.

[0077] In some embodiments, the domain controller middleware of a vehicle is the core software layer in the vehicle's electronic architecture, located between the application layer (such as autonomous driving, in-vehicle entertainment systems) and the hardware layer (such as sensors, actuators). It is responsible for coordination, management, and communication to ensure efficient data flow between different domains (such as the powertrain domain, body domain, cockpit domain).

[0078] Therefore, as an implementation, the connection between the display device and the vehicle's controller needs to be achieved through the vehicle's domain controller middleware, which forwards the signals sent by the display device to the controller.

[0079] As an implementation, the domain controller middleware can authenticate and parse the control instructions and signals sent by the display device through network authentication and then forward them to the controller.

[0080] At the beginning when the display device attempts to establish a connection with the vehicle controller, the domain controller middleware will first perform strict network authentication. This includes verifying the identity of the display device, authenticating its legitimacy, and checking its access rights to the vehicle control system. Through this step, unauthorized device access can be effectively prevented, ensuring the security of the vehicle system.

[0081] Once the display device passes the authentication, the domain controller middleware will start to receive and parse the control instructions and signals it sends. These instructions can include some state values that the vehicle needs to adjust, such as the target roll angle, etc. The domain controller middleware needs to have efficient data parsing capabilities to accurately understand and process these instructions to ensure they can be correctly forwarded to the vehicle's controller.

[0082] Exemplarily, please refer to Figure 2 , the display device is connected to the vehicle controller by wired or wireless means. The signals sent by the display device need to be authenticated and parsed by the domain controller middleware and then forwarded to the vehicle controller, and the vehicle controller controls the active suspension system to act. After the user determines the display content of the display device, an attitude control instruction needs to be generated according to the virtual driving state corresponding to the vehicle in the display content, so that the vehicle's active suspension system can adjust the vehicle body attitude according to the attitude control instruction.

[0083] In some embodiments, please refer to Figure 3, when the display device establishes a connection with the vehicle controller, the vehicle first needs to start the domain control middleware, initialize the linkage module (such as the network module and the CAN transceiver module, etc.) through the domain control middleware, and then determine whether the initialization of the linkage module is successful. In the case of successful initialization, the domain control middleware performs network authentication on the display device. After successful network authentication, it can enter the ready state, that is, waiting for the display device to send an attitude control instruction. In the case of failed initialization or failed network authentication, the domain control middleware needs to output corresponding prompt information through the host computer, such as "Initialization failed" or "Authentication failed".

[0084] After the vehicle enters the ready state, the display device can send corresponding attitude control instructions to the domain control middleware according to the virtual driving state of the vehicle. Please continue to refer to Figure 3 , the domain control middleware receives and parses the attitude control instruction, sends it to the suspension system, and determines whether the instruction is sent successfully. In the case of successful sending, it can continue to receive new attitude control instructions; in the case of failed sending, it can output fault information in the form of voice, etc., and send the failed fault that has not been sent successfully to the suspension system again.

[0085] It can be understood that, in order to enhance the user experience, the domain control middleware can introduce a real-time feedback mechanism. When the display device sends a control instruction, while the vehicle controller performs the corresponding operation, it can feedback the operation result or status information to the domain control middleware, and then forward it back to the display device. In this way, the user can see the operation result in real time on the display device, improving the intuitiveness and satisfaction of the interaction. The specific control process of the domain control middleware in the embodiments of this application is not limited.

[0086] It should be noted that Figure 1 the structure shown does not constitute a limitation on the vehicle-mounted interaction system. The vehicle-mounted interaction system may include fewer or more components than shown in the figure, or combine certain components, or have different component arrangements. The embodiments of this application do not make any restrictions on this.

[0087] The vehicle control method provided by the embodiments of this application can be applied to Figure 1 the display device shown, such as the controller of the display device; it can also be used in the vehicle shown in Figure 1 , such as the vehicle-mounted controller of the vehicle. The embodiments of this application do not make any restrictions on this. For the convenience of description in the embodiments of this application, the vehicle control method is taken as an example of being applied to the Figure 1 display device shown for illustration.

[0088] Please refer to Figure 4 , Figure 4 is the method flow chart of the vehicle control method provided by the embodiments of this application. As Figure 4 shown, the vehicle control method includes:

[0089] S101. When the display content of the display device includes a vehicle, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, so that the body attitude of the vehicle matches the vehicle attitude of the vehicle.

[0090] It can be understood that the display content of the display device can be divided into types such as pre-loaded content and real-time rendered content. Among them, the pre-loaded content refers to that developers store complete 3D scenes, models and animations in the device or cloud in advance, and directly load them when the user starts the application. The real-time rendered content refers to dynamically generating or adjusting content according to user actions or environmental changes. The embodiments of the present application do not limit this.

[0091] In the development stage corresponding to the display content of the display device, developers usually assign unique identifiers or add metadata tags (such as "vehicle", "building") to each virtual object. Therefore, as an implementation manner, the display device can determine whether there is a vehicle in the scene by parsing the data tags corresponding to the display content.

[0092] As another implementation manner, for other display content, such as dynamically generated game content or played movies, etc., the display device can analyze the geometric shapes and motion patterns in the scene in real time. If it detects an object with characteristics such as wheels and cockpits, or recognizes an object that conforms to the movement law of a vehicle (such as translation, rotation), it can be determined that the display content of the display device includes a vehicle.

[0093] When the display content of the display device includes a vehicle, it can be determined that the virtual character corresponding to the user is riding on the vehicle. In order to improve the user experience of using the display device, it is necessary to first determine the virtual driving state of the vehicle.

[0094] It should be understood that the embodiments of the present application do not limit the method for determining the virtual driving state of the vehicle. The display device can obtain virtual state information through methods such as content engine data extraction, physical simulation calculation, and real-time sensor feedback, and then determine the virtual driving state based on the virtual state information.

[0095] Exemplarily, as an implementation manner, when the engine in the display device renders the virtual vehicle, it will calculate its physical state (speed, acceleration, suspension force, etc.) in real time. Therefore, the controller can directly obtain the virtual state information through the Application Programming Interface (API).

[0096] As another feasible implementation method, the rendered image can be analyzed through computer vision, such as the Optical Flow method, which is used to track pixel displacement and estimate the movement direction and acceleration of the virtual vehicle; semantic segmentation, which is used to identify the vehicle and road surface type (such as flat / bumpy) in the image, and infer the virtual driving state of the vehicle in combination with the movement trajectory of the vehicle.

[0097] As a feasible implementation method, the virtual driving state includes at least one of the following: uniform speed state, variable speed state, turning state, bumpy state, impact state or leap state.

[0098] Exemplarily, as an implementation method, it can be determined that the vehicle is in a uniform speed state when the speed of the vehicle is constant (the absolute value of the acceleration is less than a preset threshold), or when the scene flow rate is stable, there is no pixel mutation, or the vehicle is driving in a straight line without external interference.

[0099] As an implementation method, it can be determined that the vehicle is in a variable speed state when the rate of change of the vehicle's speed (acceleration) is not zero, or when the vehicle adjusts its speed according to the player's operation (such as throttle / brake).

[0100] As an implementation method, it can be determined that the vehicle is in a turning state by monitoring the steering angle of the vehicle or the input of the virtual steering wheel when the driving direction of the vehicle changes, the angular velocity is not zero, or the curvature of the driving path is greater than a certain threshold.

[0101] As an implementation method, it can be determined whether the vehicle passes through an uneven area (such as when the vehicle is driving on a rough mountain road or off-road terrain) based on the collision detection between the vehicle and the terrain, and then it can be determined that the vehicle is in a bumpy state when the vehicle passes through an uneven area.

[0102] As an implementation method, it can be determined that the vehicle is in an impact state when the vehicle collides with an object such as a wall, an obstacle or another vehicle.

[0103] As an implementation method, it can be determined whether the vehicle leaves the ground by judging the terrain height or collision detection, and it can be determined that the vehicle is in a leap state when the vehicle leaves the ground and is in the air.

[0104] After obtaining the virtual driving state of the vehicle, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs can be controlled to perform corresponding body posture adjustment actions so that the body posture of the vehicle matches the vehicle posture of the vehicle.

[0105] Specifically, as an implementation method, the display device can generate corresponding attitude control instructions according to the virtual driving state, and then send the attitude control instructions to the vehicle's on-vehicle controller, so that the on-vehicle controller controls the vehicle to perform corresponding body attitude adjustment actions based on the attitude control instructions, so as to achieve the purpose of matching the body attitude of the vehicle with the vehicle attitude of the vehicle carrier.

[0106] It can be understood that the attitude control instructions are not simple switch signals, but precise control parameters calculated through complex algorithms. For example, when the vehicle carrier makes a high-speed turn in the virtual environment, the system will calculate specific instructions such as the pitch angle change amount and roll angle change amount required by the vehicle according to factors such as the turning radius and vehicle speed.

[0107] As a feasible implementation method, in the case where it is necessary to control the pitch angle of the vehicle to change, the attitude control instructions can include "_P". For example, the nod instruction is "_Pf" and the lift instruction is "_Pb".

[0108] As a feasible implementation method, in the case where it is necessary to control the pitch angle of the vehicle to change, the attitude control instructions can include a preset pitch angle ∠α and a speed increase multiple, so that the vehicle adjusts ∠α according to the speed increase multiple. It should be understood that the speed increase multiple can be determined according to the vehicle speed, and the specific determination method can be seen in the following embodiments.

[0109] As a feasible implementation method, in the case where it is necessary to control the roll angle of the vehicle to change, the attitude control instructions can include "_R". For example, the left swing instruction first is "_Rl" and the right swing first is "_Rr".

[0110] As a feasible implementation method, in the case where it is necessary to control the roll angle of the vehicle to change, the attitude control instructions can include a preset roll angle ∠β and a speed increase multiple, so that the vehicle adjusts ∠β according to the speed increase multiple.

[0111] Furthermore, the obtained attitude control instructions of the display device will be sent to the actual vehicle in real time. After the vehicle receives the attitude control instructions, the control unit in the vehicle will respond quickly and precisely adjust each system of the vehicle. Taking the suspension system as an example, according to the attitude control instructions, the suspension system can adjust the height of the front, rear, left, and right suspensions respectively, so that the vehicle body can maintain a stable tilt angle, enabling the user to experience the state change of the vehicle. In this way, the body attitude of the vehicle, including attitude, driving stability, etc., can be highly matched with the body attitude of the vehicle carrier in the virtual environment, as if the vehicle is driving in a simulated driving scenario of the vehicle carrier.

[0112] As another feasible implementation, the display device can send the virtual driving state of the vehicle carrier to the in-vehicle controller of the vehicle. The in-vehicle controller controls the suspension system and other components to perform corresponding body attitude adjustment actions according to the virtual driving state of the vehicle carrier, so as to achieve the purpose of matching the body attitude of the vehicle with the vehicle attitude of the vehicle carrier.

[0113] It can be understood that the function of the body attitude adjustment action is to make the body attitude of the vehicle match the vehicle attitude of the vehicle carrier. The embodiments of the present application do not specifically limit the body attitude adjustment action. As a feasible implementation, the body attitude adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle; so that the body attitude is tilted to a specific angle. As another feasible implementation, the body attitude adjustment action is a suspension jump action; the suspension jump action is used to realize an instantaneous height jump of the body; so that the body attitude is instantly raised.

[0114] As yet another feasible implementation, the body attitude adjustment action includes at least one of the following: adjusting the height of multiple suspensions in the vehicle suspension system; controlling the tilt angle of the vehicle seat; controlling the vehicle roll mechanism to generate a corresponding roll angle.

[0115] It can be understood that by means of the adjustment components of the suspension system (such as air springs, hydraulic cylinders, etc.), the height of multiple suspensions can be accurately controlled, thereby changing the position and angle of the body in the vertical direction. By adjusting the suspension height, the body height can be made to match the attitude height set by the virtual vehicle carrier. For example, when the virtual vehicle carrier is in an off-road attitude, the suspension can be raised to simulate the height and ground clearance of the vehicle during off-road driving; when the virtual vehicle carrier is in a high-speed driving attitude, the suspension height can be lowered to make the body attitude match the low and stable attitude of the virtual vehicle carrier during high-speed driving, enhancing the realism of the virtual experience.

[0116] By using an electric or manual adjustment mechanism to change the tilt angle of the seat, the sitting posture and body attitude of the passenger can be affected. This enables the user to better experience the display content of the display device. From the perspective of matching the virtual vehicle carrier attitude, controlling the tilt angle of the seat can make the body attitude of the passenger coordinated with the attitude environment created by the virtual vehicle carrier. For example, when the virtual vehicle carrier simulates a racing car attitude, the tilt angle of the seat can be adjusted to a posture more in line with racing car driving, enabling the passenger to better integrate into the virtual racing car scene both visually and physically, enhancing the immersion.

[0117] Use roll mechanisms (such as active anti-roll bars, hydraulic roll control systems, etc.) to actively and precisely control the roll angle of the vehicle body when turning or in a specific posture. In the virtual vehicle posture simulation, when the virtual vehicle is in a turning, tilting, etc. posture, by controlling the roll mechanism to produce a corresponding roll angle, the body posture can be completely matched with the roll posture of the virtual vehicle. For example, when the virtual vehicle simulates the tilted flight posture of the aircraft, the body also rolls accordingly, allowing passengers to feel the same posture changes as the virtual aircraft, further enhancing the authenticity and fun of the virtual experience.

[0118] As a feasible implementation method, the body posture adjustment action is used to keep the body posture of the vehicle and the vehicle posture of the vehicle synchronized or consistent.

[0119] It should be understood that the above-mentioned "synchronization or consistency" does not refer to the exact same consistency at the real physical level, but synchronization and consistency in the sense of simulation. Specifically, since the vehicle is a real entity, and the vehicle posture may be virtual and simulated. The body posture adjustment action is to make the body posture of the real vehicle as close as possible to the posture set by the virtual vehicle through various technical means (such as adjusting the suspension height, seat angle, roll angle, etc.), so this is a kind of synchronization and consistency in the sense of simulation, not that the two are exactly the same in physical form, structure, etc.

[0120] Moreover, from the perspective of the purpose of functional realization, this "synchronization or consistency" is to meet specific needs, such as providing a more realistic driving experience, conducting simulation training, etc. As long as the adjustment of the body posture can achieve the effect of making the user feel that the vehicle posture matches the vehicle posture, it can be considered that synchronization or consistency is achieved, and it is not required to strictly correspond in all details. Therefore, the "synchronization or consistency" in the embodiments of the present application is more of a relative consistency based on specific purposes and experience requirements, rather than an absolute true consistency.

[0121] It can be seen that in the vehicle control method provided in the embodiment of the present application, when the display content includes a vehicle, the display device controls the vehicle to which the display device belongs to perform corresponding body posture adjustment actions based on the virtual driving state of the vehicle, so that the vehicle adjusts its own body posture to match the vehicle posture of the vehicle. In other words, when the user uses the display device, the vehicle that the user is riding in matches the vehicle posture of the vehicle of the virtual character in the display content, so that the user can personally experience the body posture felt by the virtual character, so that the user can experience the display content more immersively, and enhance the user's experience of using the display device.

[0122] In some embodiments, when the vehicle is in different virtual driving states, it is necessary to control the vehicle to adjust to different body postures. When the virtual vehicle is driving smoothly, in order to enhance the user's perception experience, the road feeling of the vehicle driving can be simulated by adjusting the body posture.

[0123] As a feasible implementation method, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body posture adjustment actions, including: when the virtual driving state is a uniform speed state, control the vehicle to adjust the roll angle within a preset roll angle range and adjust the pitch angle within a preset pitch angle range.

[0124] It can be understood that during the process of the vehicle driving at a constant speed, the body of the vehicle is not always stable. There will be front-back, left-right shaking due to various vehicle reasons or road surface reasons. For example, the springs and shock absorbers in the suspension system will continuously compress and rebound when the vehicle is driving. When the vehicle passes over small undulations on the road surface, the springs are compressed to store energy and then release the energy to make the body rebound, resulting in the body shaking up and down. The tires will deform during driving, especially when the tire pressure is insufficient or the tire wear is uneven, the deformation will be more obvious. The deformation of the tires will cause the vehicle to shake left and right during driving. And unevenness such as potholes, cracks, and bumps on the road will cause the vehicle's suspension system to be impacted, resulting in the body shaking.

[0125] Therefore, as a feasible implementation method, in order to better control the characteristics of the vehicle simulating the movement of the virtual vehicle, when the virtual driving state of the vehicle is a uniform speed state, control the vehicle to continuously adjust the roll angle within a preset roll angle range and continuously adjust the pitch angle within a preset pitch angle range to enhance the realism of the user's driving of the virtual vehicle.

[0126] It should be understood that the preset pitch angle range and the preset roll angle range are preset and can be determined according to the type of the vehicle and the usage requirements in the actual application process. Exemplarily, as a feasible implementation method, the preset pitch angle range can be [-3°, +3°]; the preset roll angle range can be [-5°, +5°].

[0127] It should be noted that the first posture control instruction can also include the frequency and speed of the vehicle adjusting the pitch angle and the roll angle, etc. For example, a roll angle change curve can be generated through a sine wave function, and the frequency range is 0.1Hz - 0.5Hz. That is, the vehicle can complete a complete roll cycle every preset time interval to enhance the realism of the driving experience.

[0128] As a feasible implementation method, when the virtual driving state is a constant speed state, the display device can send a first posture control instruction to the vehicle, wherein the first control instruction is used to instruct the vehicle to continuously adjust the roll angle within a preset roll angle range, and continuously adjust the pitch angle within a preset pitch angle range.

[0129] For example, see Figure 5 , when the virtual driving state of the vehicle is a uniform speed state, the first posture control instruction sent by the display device to the vehicle is x_J. After receiving the instruction, the domain control middleware determines that the shaking of the vehicle caused by driving in a uniform speed state is usually unrelated to the vehicle speed, so the speed increase multiple can be directly determined to be 1. Then the domain control middleware can send 1x_J to the controller by the display device, which is used to indicate that the controller controls the pitch angle of the vehicle to continuously adjust between [+∠α, -∠α], and controls the roll angle of the vehicle to continuously adjust between [+∠β, -∠β]. Among them, ∠α represents the preset pitch angle, and ∠β represents the preset roll angle. Since the road feel of the vehicle needs to be simulated when there is a vehicle in the picture, the first posture control instruction is sent continuously.

[0130] It can be seen that the solution provided in this embodiment, when the vehicle is in the process of uniform speed driving, by controlling the vehicle to adjust the roll angle within a preset roll angle range, and adjust the pitch angle within a preset pitch angle range, so that the vehicle can simulate the changes in the roll angle and pitch angle of the virtual vehicle when the vehicle is in the process of uniform speed driving, thereby enabling the user using the display device to feel a more realistic driving experience, as if they were in the driving environment of the virtual vehicle.

[0131] In some embodiments, during actual driving, due to the inertia of the vehicle and the dynamic response of the suspension system, the acceleration or deceleration of the vehicle will cause a large change in the pitch angle of the vehicle. Therefore, when the virtual vehicle is in a speed change state, the pitch angle of the vehicle can be adjusted so that the vehicle can accurately simulate the speed change of the virtual vehicle.

[0132] For details, please refer to Figure 6 Based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body posture adjustment actions, which can be specifically implemented as the following steps S601-S602:

[0133] S601: When the virtual driving state is a speed change state, determine a target pitch angle corresponding to the vehicle based on the acceleration of the vehicle.

[0134] It should be understood that the virtual driving state is a variable speed state, that is, the acceleration of the vehicle is not 0, and the vehicle may be in an accelerating state or a braking state. During actual driving, when the vehicle accelerates or brakes, the body will tend to pitch forward or backward due to inertia. For example, when accelerating, the inertial force pulls the body backward, causing the front of the vehicle to lift (the pitch angle increases). When braking, the inertial force pushes the body forward, causing the front of the vehicle to sink (the pitch angle decreases).

[0135] Since there is a direct physical relationship between the acceleration of the vehicle and its attitude (such as the pitch angle), the target pitch angle can be determined based on the acceleration of the vehicle.

[0136] As a feasible implementation method, when the acceleration of the vehicle is greater than 0 (the vehicle is accelerating), the value of the target pitch angle can be determined to be positive (taking the body coordinate system as an example); when the acceleration of the vehicle is less than 0 (the vehicle is decelerating), the value of the target pitch angle can be determined to be negative.

[0137] Exemplarily, the preset pitch angle can be set to 5°. When the acceleration of the vehicle is greater than 0, the target pitch angle is determined to be 5°; when the acceleration of the vehicle is greater than 0, the target pitch angle is determined to be -5°.

[0138] As another feasible implementation method, since the change amount of the pitch angle is positively correlated with the acceleration, the target pitch angle can be determined based on the acceleration of the vehicle and a preset proportional relationship.

[0139] It can be understood that the higher the vehicle speed, the greater the inertial force during acceleration or deceleration, resulting in a more significant change in the pitch angle. Therefore, when determining the target pitch angle, the vehicle speed of the vehicle can be combined.

[0140] Therefore, as a feasible implementation method, determining the target pitch angle corresponding to the vehicle based on the acceleration of the vehicle can be specifically implemented as: determining the target pitch angle corresponding to the vehicle based on the vehicle speed and acceleration of the vehicle. Among them, the vehicle speed is positively correlated with the target pitch angle.

[0141] When the vehicle speed increases, the inertial force pulls the body backward, and the front of the vehicle lifts more; when the vehicle speed decreases, the inertial force pushes the body forward, and the front of the vehicle sinks more. Therefore, the target pitch angle corresponding to the vehicle can be determined based on the vehicle speed of the vehicle.

[0142] As a feasible implementation method, determining the target pitch angle corresponding to the vehicle based on the vehicle speed and acceleration of the vehicle can be specifically implemented as the following steps:

[0143] S6011. Determine the initial pitch angle corresponding to the vehicle based on the acceleration of the vehicle.

[0144] Specifically, as a feasible implementation, the positive and negative values of the initial pitch angle can be determined based on the acceleration of the vehicle. That is to say, when the acceleration of the vehicle is greater than 0, the value of the initial pitch angle can be determined as positive; when the acceleration of the vehicle is less than 0, the value of the target pitch angle can be determined as negative.

[0145] S6012. Determine the speed increase multiple based on the vehicle speed of the vehicle.

[0146] Since the vehicle speed of the vehicle is positively correlated with the target pitch angle, the speed increase multiple can be determined based on the vehicle speed of the vehicle.

[0147] Exemplarily, as a feasible implementation, when the vehicle speed of the vehicle is 0 - 30 km / h, the speed increase multiple can be determined as 1; when the vehicle speed of the vehicle is 30 - 60 km / h, the speed increase multiple can be determined as 2; when the vehicle speed of the vehicle is 60 - 90 km / h, the speed increase multiple can be determined as 3; when the vehicle speed of the vehicle is above 90 km / h, the speed increase multiple can be determined as 4.

[0148] S6013. Adjust the initial pitch angle according to the speed increase multiple to obtain the target pitch angle.

[0149] Specifically, as an implementation, the speed increase multiple can be multiplied by the initial pitch angle to obtain the target pitch angle.

[0150] S602. Control the vehicle to adjust the pitch angle to the target pitch angle.

[0151] In this way, the pitch angle of the vehicle is adjusted to the target pitch angle so that the vehicle can simulate the body posture when the vehicle changes speed.

[0152] As a feasible implementation, S602 can be implemented as: the display device generates a second posture control instruction based on the target pitch angle and sends the second posture control instruction to the vehicle. Among them, the second posture control instruction is used to instruct the vehicle to adjust the pitch angle to the target pitch angle.

[0153] It should be noted that, as a feasible implementation, the second posture control instruction can be: Nx_Pf / Nx_Pb. Wherein, Nx_Pf is used to indicate that the vehicle needs to perform a head-up action, that is, the front suspension needs to be lifted; Nx_Pb is used to indicate that the vehicle needs to perform a nodding action, that is, the rear suspension needs to be lifted; N is used to represent the above speed increase multiple.

[0154] That is to say, when the second attitude control instruction is Nx_Pf, the vehicle needs to control the front suspension lift height so that the pitch angle of the vehicle reaches N*∠α; when the second attitude control instruction is Nx_Pb, the vehicle needs to control the rear suspension lift height so that the pitch angle of the vehicle reaches -N*∠α. It should be understood that ∠α is a preset pitch angle.

[0155] As a feasible implementation method, S602 can be specifically implemented as: controlling the vehicle to adjust the pitch angle to the target pitch angle within the duration corresponding to the gear change state.

[0156] The duration corresponding to the gear change state is used to indicate the running duration of the vehicle in a specific gear change mode (such as acceleration, deceleration). To better achieve the user's immersive experience, the vehicle can be controlled to maintain the target pitch angle within the duration corresponding to the gear change state, so that the user's experience is better.

[0157] Exemplarily, please refer to Figure 7 , when the virtual driving state of the vehicle is a gear change state, it is necessary to determine the initial vehicle speed when the vehicle speed changes, and then determine the speed increase multiple as N based on the initial vehicle speed. Then, send the second attitude control instruction Nx_Pf / Nx_Pb to the controller, which is used to represent adjusting the pitch angle of the vehicle to reach N*∠α or -N*∠α. Since the state change of the vehicle in the gear change state will not be repeatedly executed, the second attitude control instruction only needs to be executed once.

[0158] It can be seen that the solution provided in this embodiment determines the target pitch angle of the vehicle based on the acceleration of the virtual vehicle when the virtual vehicle is in a gear change state, so that the vehicle can adjust the pitch angle to the target pitch angle. That is, adjust the angle of the front of the vehicle tilting up and down, so that the user's driving experience of driving a virtual vehicle using the display device is more real and more like a real vehicle, enhancing the user's immersion when using the display device.

[0159] In some embodiments, when the vehicle is turning, due to the action of centrifugal force, the vehicle body will tilt outward. When the virtual vehicle shown on the display device is turning, the vehicle will also tilt left and right. To better simulate the tilting state of the vehicle when turning and the centrifugal feeling when turning, the roll angle of the vehicle can be adjusted.

[0160] As a feasible implementation method, please refer to Figure 8 , based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions, including:

[0161] S801. When the virtual driving state is a turning state, determine the target roll angle corresponding to the vehicle based on the preset roll angle.

[0162] It is understandable that the embodiment of the present application does not limit the method of determining that the virtual driving state is a turning state. For example, the virtual driving state of the vehicle can be determined to be a turning state when the coordinate point of the next frame of the vehicle forms an angle with the current orientation (such as >5°), or the wheels of the vehicle model visually deflect (such as the front wheel deflection >10°), or if the vehicle model presents a roll animation (such as a tilt angle >5°).

[0163] When the vehicle is in a turning state, in order to better simulate the body posture of the vehicle when turning, the vehicle can be controlled to produce a certain roll angle.

[0164] As a feasible implementation method, since the roll angle of a vehicle when turning is related to parameters such as centrifugal force and lateral acceleration, parameters such as the lateral acceleration of the vehicle and the curvature of the road curve can be considered when determining the target roll angle. The embodiments of the present application do not impose any restrictions on this.

[0165] As a feasible implementation method, determining the target roll angle corresponding to the vehicle based on the preset roll angle includes: determining the target roll angle corresponding to the vehicle based on the vehicle speed and the preset roll angle, wherein the vehicle speed is positively correlated with the target roll angle.

[0166] Since the inertia generated at higher speeds is also higher, the vehicle speed can be used to determine the target roll angle.

[0167] As a feasible implementation method, based on the vehicle speed and roll angle, the target roll angle corresponding to the vehicle is determined, including: determining the speed increase multiple based on the vehicle speed; the vehicle speed is positively correlated with the speed increase multiple; adjusting the preset roll angle according to the speed increase multiple to obtain the target roll angle.

[0168] It should be understood that the method for determining the speed increase multiple can refer to the above embodiment, and the present application will not repeat it here. After obtaining the speed increase multiple, the speed increase multiple can be multiplied by the preset roll angle to obtain the target roll angle.

[0169] S802: Control the vehicle to adjust the roll angle to a target roll angle.

[0170] It should be understood that since the vehicle performs a turning action, which is divided into a left turn and a right turn, each requires the vehicle to tilt in different directions, that is, to adjust the vehicle's roll angle.

[0171] As a feasible implementation, S802 may be specifically implemented as follows: the display device generates a third posture control instruction based on the target roll angle, and sends the third posture control instruction to the vehicle, wherein the third posture control instruction is used to instruct the vehicle to adjust the roll angle to the target roll angle.

[0172] Therefore, as a feasible implementation, the third attitude control command can be: Nx_Rl / Nx_Rr. Wherein, Nx_Rl is used to indicate that the vehicle needs to tilt to the left, that is, the right suspension needs to increase in height; Nx_Rr is used to indicate that the vehicle needs to tilt to the right, that is, the left suspension needs to increase in height; N is used to represent the above speed increase multiple.

[0173] That is to say, when the third attitude control command is Nx_Rl, the vehicle needs to control the right suspension to increase in height so that the roll angle of the vehicle reaches N * ∠β; when the third attitude control command is Nx_Rr, the vehicle needs to control the left suspension to increase in height so that the roll angle of the vehicle reaches -N * ∠β. It should be understood that ∠β is a preset roll angle.

[0174] Exemplarily, please refer to Figure 9 , when the virtual driving state of the vehicle is in a turning state, it is necessary to determine the initial vehicle speed when the vehicle turns, and then determine the speed increase multiple as N based on the initial vehicle speed. Then send the third attitude control command Nx_Rl / Nx_Rr to the controller, which is used to indicate that the roll angle of the vehicle is adjusted to N * ∠β or -N * ∠β. Since the state change of the vehicle in the turning state will not be repeatedly executed, the third attitude control command only needs to be executed once.

[0175] As a feasible implementation, controlling the vehicle to adjust the roll angle to the target roll angle includes: adjusting the roll angle to the target roll angle within the duration corresponding to the turning state.

[0176] In order to better achieve the user's immersive experience, the vehicle can be controlled to maintain the target roll angle within the duration corresponding to the turning state, so that the user's experience is better.

[0177] It can be seen that the solution provided in this embodiment adjusts the roll angle of the vehicle to the target roll angle when the virtual vehicle is in a turning state. That is, the angles of the left and right tilts of the vehicle are adjusted, so that the driving experience of the user driving the virtual vehicle using the display device is more real and more like a real vehicle, enhancing the immersion of the user using the display device.

[0178] In some embodiments, when the vehicle bumps or is impacted, the vehicle is unevenly stressed, resulting in the body rotating around different axes, causing changes in the pitch angle and roll angle of the vehicle. Exemplarily, when the road surface on which the vehicle travels is uneven (such as a speed bump, pothole), the front of the vehicle raises when the front wheels encounter an obstacle, and the rear of the vehicle raises when the rear wheels pass, like a "wave undulation". When one side of the wheels is suspended or there is a left - right height difference (such as one side of the tire passing over an obstacle), the body will tilt to the lower side, similar to a "see - saw effect". Therefore, in order to simulate the body posture of the vehicle in the bumpy state and the impact state, the vehicle can be controlled to continuously adjust the pitch angle and roll angle.

[0179] As a feasible implementation method, based on the virtual driving state of the vehicle, the vehicle to which the display device belongs is controlled to perform corresponding body posture adjustment actions, including: when the virtual driving state is a bumpy state or a collision state, during the duration of the bumpy state or the collision state, controlling the vehicle to adjust the roll angle within the target roll angle range, and adjusting the pitch angle within the target pitch angle range.

[0180] It should be understood that the embodiments of the present application do not limit the method for determining whether the vehicle is in a bumpy state or a crashed state. As an implementation method, it can be determined that the vehicle is in a bumpy state or a crashed state when the display screen appears to be temporarily blurred or jittered, or the wheels of the vehicle jump up and down.

[0181] Since the bumping or impacting state usually lasts, and the vehicle usually shakes continuously during this duration, the vehicle can be controlled to continuously adjust the roll angle within the target roll angle range and the pitch angle within the target pitch angle range during the bumping or impacting state. This allows the user to feel the vehicle body shaking left and right, similar to driving in waves.

[0182] That is to say, the left and right tilt angles of the vehicle body change repeatedly within the target roll angle range. For example: left tilt → return to center → right tilt → return to center, forming a "swaying" effect. In addition, the up and down angles of the front / rear of the vehicle change repeatedly within the target pitch angle range. For example: the front of the vehicle rises → returns to center → the front of the vehicle sinks → returns to center, forming a "nodding" effect. This allows users to feel the ups and downs of the front / rear of the vehicle, similar to driving on a rough road.

[0183] When the roll angle and pitch angle of the vehicle are adjusted at the same time, complex posture changes can be formed. For example: left tilt + front of the vehicle rises → return to the center + front of the vehicle sinks → right tilt + front of the vehicle rises → return to the center + front of the vehicle sinks. The body posture will appear "distorted" or "irregularly moving" to simulate the bumpy or impact state of the vehicle.

[0184] It is understandable that when the vehicle is in a bumpy state, the sway amplitude of the vehicle is indeed closely related to the vehicle speed. When the vehicle speed is low, the sway amplitude of the vehicle is relatively small; when the vehicle speed is high, the sway amplitude of the vehicle increases significantly. Therefore, the target roll angle range and / or target pitch angle range can be determined based on the vehicle speed.

[0185] As a feasible implementation method, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target roll angle range is determined based on the vehicle speed and the preset roll angle.

[0186] Exemplarily, the speed increase multiple can be determined based on the vehicle speed of the vehicle first, and then the upper limit value of the target roll angle range is determined to be N*∠β, and the lower limit value is -N*∠β.

[0187] As a feasible implementation manner, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the vehicle speed of the vehicle and a preset pitch angle.

[0188] Exemplarily, the speed increase multiple can be determined based on the vehicle speed of the vehicle first, and then the upper limit value of the target pitch angle range is determined to be N*∠α, and the lower limit value is -N*∠α.

[0189] It can be understood that since the vehicle is in a collision state, the vehicle is subjected to forces in the front and rear directions (such as a frontal collision or a rear-end collision), which will cause the vehicle to decelerate rapidly. Therefore, it is not feasible to determine the increase multiple in the collision state based on the vehicle speed.

[0190] Based on this, as a feasible implementation manner, when the virtual driving state is a collision state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on the target impact amplitude and a preset roll angle.

[0191] As a feasible implementation manner, when the virtual driving state is a collision state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the target impact amplitude and a preset pitch angle.

[0192] Wherein, the target impact amplitude is set by the user before watching a movie using the display device; or, the target impact amplitude is a preset value.

[0193] That is to say, the target impact amplitude is preset by the system or the user. The user can set it according to the impact feeling they want to experience. The embodiments of the present application do not limit this. It can be understood that the operation of the user setting the target impact amplitude needs to be set before watching a movie on the display device, and the target impact amplitude n is set to the multiple level that the player wants.

[0194] As a feasible implementation manner, the display device can continuously send a fourth attitude control instruction to the vehicle when the vehicle is in a bumpy state or a collision state. Wherein, the fourth attitude control instruction is used to instruct the vehicle to continuously adjust the roll angle within the target roll angle range and continuously adjust the pitch angle within the target pitch angle range.

[0195] Exemplarily, when the virtual driving state is a bumpy state, the fourth attitude control instruction can be Nx_J. Wherein, N is used to represent the speed increase multiple. When the virtual driving state is a collision state, the fourth attitude control instruction can be nx_J. Wherein, n is used to represent the target impact amplitude.

[0196] Exemplarily, refer to Figure 10 , when the virtual driving state of the vehicle is a bumpy state, it is necessary to determine the initial vehicle speed of the vehicle when the vehicle is bumpy, and then determine the speed increase multiple as N based on the initial vehicle speed. Then, a fourth attitude control instruction Nx_J is sent to the controller, which is used to indicate that the controller continuously adjusts the pitch angle of the vehicle between [+N*∠α, -N*∠α], and controls the roll angle of the vehicle to continuously adjust between [+N*∠β, -N*∠β]. Since the state change of the vehicle in the bumpy state needs to be repeatedly executed, the fourth attitude control instruction needs to be cyclically sent during the bumpy process of the vehicle.

[0197] Another exemplarily, refer to Figure 11 , when the virtual driving state of the vehicle is an impact state, since the speed increase multiple n during impact is preset. Then, a fourth attitude control instruction nx_J is sent to the controller, which is used to indicate that the controller continuously adjusts the pitch angle of the vehicle between [+n*∠α, -n*∠α], and controls the roll angle of the vehicle to continuously adjust between [+n*∠β, -n*∠β]. Since the state change of the vehicle in the impact state needs to be repeatedly executed, the fourth attitude control instruction is sent to the vehicle controller according to the number of impacts of the vehicle.

[0198] It can be seen that the solution provided in this embodiment controls the vehicle to adjust the pitch angle and roll angle when the virtual driving state of the vehicle is a bumpy state or an impact state, so that the body posture of the vehicle will sway left and right and shake back and forth, appearing "twisted" or "irregular movement", so as to accurately simulate the virtual driving state of the vehicle, so that the user who rides in the vehicle and uses the display device can more immersively experience the display content of the display device.

[0199] In some embodiments, it is difficult for users to experience the vehicle leap state during actual driving. This limitation promotes games and movies to become important carriers for realizing such scenarios. Users usually experience the vehicle leap state in the virtual scene provided by the display device to achieve sufficient visual impact and stimulation. In order to better provide an immersive viewing experience for users, when the virtual driving state of the vehicle is a leap state, the vehicle can be controlled to perform a suspension takeoff action.

[0200] Specifically, as a feasible implementation method, when the virtual driving state is a leap state, the body posture adjustment action is a suspension takeoff action, and the suspension takeoff action is used to realize an instantaneous height jump of the body.

[0201] It should be understood that the embodiments of the present application do not limit the method for determining that the virtual driving state of the vehicle is a leap state. Exemplarily, in the case where the vehicle motion trajectory presents a parabola rather than a planar movement, the virtual driving state of the vehicle can be determined as a leap state.

[0202] When the vehicle is in a leap state, the vehicle will present a visual effect of "lifting off the ground". In order to make the real vehicle simulate this "leap" state, the body can be lifted off the ground briefly through the suspension takeoff action.

[0203] It can be understood that the vehicle usually performs the suspension takeoff action relying on active suspension technology. By utilizing the telescopic ability of the suspension (such as air suspension inflation, motor-driven suspension lifting), the body height is changed within a very short time (usually <1 second) to simulate the "leap" posture, so that the body quickly rises within a short time to achieve the effect of "lifting off the ground".

[0204] It should be understood that the suspension takeoff action requires the vehicle to have a powerful suspension system (such as a fully active suspension or an air suspension), and a high-power power source (such as a motor or an air compressor) to provide the lifting force. In practical applications, the vehicle can determine whether to execute the fifth attitude control instruction according to its own specific configuration, and the present application will not elaborate on this.

[0205] As a feasible implementation method, when the display device determines that the vehicle is in a leap state, it can obtain the parameters of the vehicle takeoff (such as height, angle, speed) from the virtual scene, and then generate the control parameters of the vehicle suspension system (such as the takeoff height, etc.). The vehicle controls the suspension system through the control parameters to adjust the body posture to match the virtual state of the vehicle.

[0206] As a feasible method, when the virtual driving state is a leap state, the display device can send a fifth attitude control instruction to the vehicle. Among them, the fifth attitude control instruction is used to control the vehicle to perform the suspension takeoff action.

[0207] Exemplarily, please refer to Figure 12 , when the virtual driving state of the vehicle is a leap state, a fifth attitude control instruction 1x_T can be sent to the controller, which is used to indicate that the controller controls the vehicle to perform the suspension takeoff action, and it only needs to be executed once.

[0208] It can be seen that the solution provided by this embodiment controls the vehicle to perform the suspension takeoff action when the virtual driving state of the vehicle is a leap state, so that the user can personally experience the pleasure of "leaping" and bring the excitement in the virtual scene into reality.

[0209] In some embodiments, as the vehicle speed increases, the physical effects such as centrifugal force and inertial force on the vehicle increase significantly, resulting in an increase in the amplitudes of actions such as roll and pitch. That is to say, the higher the vehicle speed, the more obvious the vehicle actions are, and thus the user's feeling will also be more obvious. Therefore, in order to better make the vehicle simulate the posture when the virtual vehicle is driving, the posture of the vehicle can be controlled based on the vehicle speed of the virtual vehicle.

[0210] As a feasible implementation method, when the body posture adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform the corresponding body posture adjustment action, including:

[0211] S1011. Determine the posture adjustment parameters based on the virtual driving state of the vehicle, and determine the speed increase multiple based on the vehicle speed of the vehicle.

[0212] Among them, the posture adjustment parameters include the initial roll angle and / or the initial pitch angle.

[0213] That is to say, when it is determined which parameter of the vehicle needs to be adjusted based on the virtual driving state of the vehicle, determine the specific content of the posture adjustment parameters. Exemplarily, when the vehicle is in a variable speed state, at this time, only the pitch angle of the vehicle needs to be adjusted, and at this time, the posture adjustment parameters include the initial pitch angle.

[0214] Since the vehicle speed increases, the amplitudes of actions such as roll and pitch of the vehicle will increase. Therefore, as a implementation method, the vehicle speed of the vehicle is positively correlated with the speed increase multiple. The vehicle speed can be converted into the speed increase multiple through a preset conversion relationship, and the specific conversion method is not limited in the embodiments of the present application.

[0215] As another feasible implementation method, each vehicle speed range can correspond to a speed increase multiple. As Figure 13 shown, when the vehicle speed is 0 - 30 km / h, the corresponding speed increase multiple is 1; when the vehicle speed is 30 - 60 km / h, the corresponding speed increase multiple is 2; when the vehicle speed is 60 - 90 km / h, the corresponding speed increase multiple is 3; when the vehicle speed is above 90 km / h, the corresponding speed increase multiple is 4.

[0216] S1012. Correct the posture adjustment parameters based on the speed increase multiple, and control the vehicle to adjust the roll angle and / or pitch angle based on the corrected posture adjustment parameters.

[0217] It should be understood that the method of correcting the attitude adjustment parameter based on the speed increase multiple can refer to the above embodiment, and this application will not repeat it here. Exemplarily, as an implementation method, after obtaining the speed increase multiple, the speed increase multiple can be multiplied by the initial roll angle to obtain the target roll angle, and then the vehicle is controlled to adjust the roll angle to the target roll angle.

[0218] It can be seen that the solution provided in this embodiment adjusts the movement amplitude of the vehicle when performing the body posture adjustment action based on the vehicle speed. By adjusting the body posture amplitude of the real vehicle in real time, it is accurately matched with the dynamic state of the virtual vehicle, eliminating the "sense of separation" between virtual and reality, and enhancing the immersive experience and training effect.

[0219] In some embodiments, when the display device is linked to the vehicle to move, the vehicle's body posture will change. If the vehicle's body posture changes during driving, there will be certain safety hazards. Therefore, the vehicle needs to be stationary before the vehicle can be linked to improve the viewing experience.

[0220] As a feasible implementation method, the vehicle control method provided in the embodiment of the present application also includes: in response to the movie viewing / game mode being enabled, when the vehicle is in a parking state, outputting a first prompt message.

[0221] The first prompt information is used to prompt the user whether to enable the first viewing / game mode. The first viewing / game mode supports the display device to send a gesture control instruction to the vehicle during the viewing / game process.

[0222] When the user enables the viewing / gaming mode in the display device, in order to enhance the user's immersive viewing experience, the vehicle body can be linked to the vehicle so that it changes with the posture of the vehicle in the display content. However, the change in the body posture may manifest as bumps, tilts, shakes, loss of control, etc., which will pose a threat to driving safety. For example, if the vehicle body tilts excessively when driving at high speed or turning, it may cause the vehicle to roll over, causing a serious accident.

[0223] Therefore, it is necessary to detect whether the vehicle is in a parking state. When the vehicle is in a parking state, it indicates that the adjustment of the vehicle body posture will not cause danger.

[0224] It should be understood that the display device can obtain the gear position of the vehicle by communicating with the vehicle, and then determine that the vehicle is in the parking state when the vehicle gear is in the parking gear. For example, for an automatic transmission vehicle, the gear position should be in the "P" gear (parking gear). For a manual transmission vehicle, the gear position should be in neutral (N gear) and the handbrake has been pulled.

[0225] The embodiments of the present application do not limit the display mode of the first prompt message. The first prompt message can be displayed in one or more forms such as text, voice, animation, etc., and the present application does not limit this.

[0226] When the vehicle is in a parked state, in order to enhance the user's immersive viewing experience at this time, the display device can prompt the user to enable the first viewing / game mode, that is, whether to link the vehicle to change the body posture during the viewing process.

[0227] Since there are usually multiple passengers in the vehicle, and the change of the vehicle body posture will be sensed by multiple passengers at the same time. Therefore, when the vehicle is in a parked state, it is necessary to output the first prompt message for the user using the display device to select whether to enable the first viewing mode.

[0228] The embodiments of the present application do not limit the way for the user to enable the first viewing / game mode. Exemplarily, as an implementation manner, the first prompt message may further include a selection control corresponding to the first viewing / game mode, and the user can enable the first viewing / game mode by triggering the selection control.

[0229] As another implementation manner, the user can speak a voice control instruction related to "start the first viewing / game mode", and the display device can enable the first viewing / game mode after receiving the voice control instruction.

[0230] As an implementation manner, the above-mentioned controlling the vehicle to which the display device belongs to perform corresponding body posture adjustment actions based on the virtual driving state of the vehicle includes: when the display device enables the first viewing / game mode, controlling the vehicle to which the display device belongs to perform corresponding body posture adjustment actions based on the virtual driving state of the vehicle.

[0231] When the display device enables the first viewing / game mode, it can be determined at this time that the vehicle is in a parked state, and the user needs to link the vehicle control to enhance the immersive viewing experience. At this time, the display device can control the vehicle to which the display device belongs to perform corresponding body posture adjustment actions based on the virtual driving state of the vehicle, so that the body posture of the vehicle matches the vehicle posture of the vehicle in the display content of the display device. Enable the user to enjoy high-quality viewing and game content in a safer and more stable environment, thus significantly improving the user experience.

[0232] As another implementation manner, the control method provided by the embodiments of the present application further includes: when the vehicle is in a non-parked state, enabling the second viewing / game mode.

[0233] Among them, the second viewing / game mode does not support the display device to control the vehicle to perform body posture adjustment actions during the viewing / game process.

[0234] When the vehicle is in a non-parked state, to ensure driving safety, the second viewing / game mode is directly enabled. That is, during the use of the display device, the body posture of the vehicle is not adjusted to ensure driving safety.

[0235] It should be noted that in some embodiments, the above-mentioned first viewing / game mode can also be referred to as the 5D viewing / game mode, and the above-mentioned second viewing / game mode can also be referred to as the ordinary viewing / game mode. The embodiments of the present application do not limit this.

[0236] As a feasible implementation method, the control method further includes: outputting a second prompt message when the vehicle is in a non-parked state.

[0237] Wherein, the second prompt message is used to prompt the user that the first viewing / game mode can only be enabled when the vehicle is parked.

[0238] Since the first ordinary viewing / game mode provides a better user experience, it is possible to prompt the user when the vehicle is in a non-parked state that they can use the first viewing / game mode for an immersive experience after parking. This demonstrates the system's consideration and care for user safety, and helps to enhance the user's trust in the vehicle intelligent system. Further, through reasonable prompts and guidance, users can be encouraged to try and use the first viewing / game mode, thereby enhancing the user's trust in the vehicle and the display device.

[0239] Combined with the above embodiments, it can be seen that the solution provided by the embodiments of the present application only allows the first viewing / game mode to be enabled when the vehicle is parked, enabling users to enjoy high-quality viewing and gaming content in a safer and more stable environment, thereby significantly improving the user experience. When the vehicle is in a non-parked state, only the second viewing / game mode is enabled to ensure user safety, and the user is prompted that the first viewing / game mode can only be enabled when the vehicle is parked, demonstrating the system's consideration and care for user safety, and helping to enhance the user's trust in the vehicle intelligent system.

[0240] In some embodiments, since some of the display content played by the display device is pre-set, such as movie and other display content where all elements such as scenes, characters, and actions have been set during the production stage. Among them, the driving state of the vehicle, including speed, direction, acceleration, etc., is pre-planned to ensure the coherence of the story and the visual effect.

[0241] Contents such as games are usually pre-set as well, but there are differences in the "degree of setting" and "dynamic nature" among different types of games. However, all game contents need to be pre-designed by developers, and only the "degree of setting" varies depending on the type. Moreover, even for vehicle behaviors generated dynamically, they are based on pre-set physical models and rules. The "degree of freedom" and "immersive feeling" felt by players depend on the balance between pre-set contents and dynamic interactions.

[0242] Therefore, in order to ensure the real-time nature of the linkage between the display device and the vehicle, multiple time points that need to be linked and corresponding attitude control instructions can be determined in advance according to the display content.

[0243] Specifically, as a feasible implementation method, the vehicle control method provided by the embodiments of the present application further includes:

[0244] S11. Analyze the screen elements in the display content to determine whether there is a vehicle in the display content.

[0245] Perform visual analysis on the display content with the aim of identifying various elements in the screen, such as vehicles, people, objects, backgrounds, etc. In this embodiment, the main focus is on the element of "vehicle", which can be any movable transportation means such as a car, an airplane, or a ship.

[0246] The features of the vehicle can be identified through pattern recognition, image recognition, machine learning algorithms, etc., and distinguished from other elements in the screen to determine whether there is a vehicle in the display content.

[0247] S12. In the case where there is a vehicle, determine the corresponding virtual driving state of the vehicle at each time node.

[0248] If there is indeed a vehicle in the display content, it is necessary to determine the motion state of the vehicle in the screen. The position of the vehicle needs to be located in each frame of the video or animation, and its motion parameters such as speed and direction are calculated. Furthermore, the "virtual driving state" of the vehicle at each time node is constructed, that is, the motion trajectory and state of the vehicle in the virtual world.

[0249] As a feasible implementation method, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, including: sending an attitude control instruction to the vehicle based on the virtual driving state of the vehicle at the current time node.

[0250] Among them, the attitude control instruction is used to make the vehicle perform body attitude adjustment actions.

[0251] It can be understood that by accurately determining the virtual driving state of the vehicle corresponding to each time node, the display device can generate a more accurate attitude control instruction corresponding to the current time node, making the change of the vehicle body attitude more matching with the change of the vehicle state, and enabling the user to experience a more realistic driving experience.

[0252] As a feasible implementation method, the time node interval can be dynamically adjusted according to the driving state data of the virtual vehicle, and the sampling frequency can be encrypted when the vehicle state changes violently.

[0253] Exemplarily, when the user uses the display device to experience a racing game, when the speed of the virtual vehicle exceeds a threshold (such as 120 km / h) or the steering wheel angle exceeds 30 degrees, the display device can automatically increase the time node density to ensure accurate calculation of the vehicle attitude during sharp turns.

[0254] It can be seen that the chain logic of "real-time calculation - instruction issuance - execution response" needs to wait for the change of the virtual vehicle state to trigger the actuator layer by layer, resulting in the superposition of delays (such as virtual state calculation time + communication delay + suspension action response). However, the solution provided in this embodiment adjusts the control logic to a "state prediction - instruction pre-cache - actuator standby" mechanism. Before the driving state of the virtual vehicle changes, the attitude control instruction is sent to the vehicle in advance, which can reduce the delay and make the generation and sending of the attitude control instruction more accurate. Furthermore, the time for the vehicle to adjust its body attitude will be more matching with the time of the vehicle attitude change of the vehicle carrier, and the user will feel that the response of the vehicle is completely synchronized with the vehicle carrier change in the displayed content, as if directly controlling a physical vehicle, that is, the immersive experience effect of the user is significantly improved.

[0255] In some embodiments, please refer to Figure 14 , the vehicle control method provided by the embodiment of the present application can be implemented by the following steps when the user uses the display device in the vehicle:

[0256] a1. The display device communicates with the vehicle.

[0257] It should be understood that the display device and the vehicle can communicate through connection methods such as Bluetooth, wifi or wire harness, and the present application does not limit this.

[0258] a2. The user selects to start the viewing / game mode on the display device.

[0259] The user can enable the viewing / game mode through the buttons or display controls of the display device.

[0260] a3. Detect whether the vehicle is currently in a parked state.

[0261] When in the parked state, the display device can activate the 5D viewing / game mode; when in the non-parked state, the display device needs to activate the normal viewing / game mode. At this time, the display device will show which mode is activated and prompt that only in the parked state can the full active suspension function be linked to enable the 5D viewing / game mode.

[0262] It should be understood that if the 5D viewing / game mode is activated: during the process of watching a movie or playing a game, the vehicle's full active suspension system can respond according to the movie or game content. If the normal viewing / game mode is activated, the linkage of the vehicle's active suspension system is not carried out.

[0263] a4. Prompt the user to select the movie / game to watch.

[0264] a5. Display the content loading and interact with the environmental device (suspension).

[0265] It should be understood that if it is the 5D viewing / game mode, it is necessary to load the display content and carry out linkage interaction according to the display content with the environmental device (the vehicle's full active suspension system); if it is the normal viewing / game mode, it is necessary to shield the linkage interaction function and directly start playing the display content selected by the user.

[0266] a6. The progress bar shows in real time whether the loading and interaction are completed.

[0267] If the loading and interaction are successful, the movie / game can be experienced, and it is necessary to send attitude control instructions to the vehicle according to the display content; if the loading and interaction fail, it is necessary to re-select the movie / game for loading and interaction.

[0268] a7. After the movie viewing is over, the user takes off the display device and disconnects the connection between the display device and the vehicle.

[0269] In some embodiments, to improve the full-scenario driving and riding experience, the vehicle can adopt a four-wheel independent suspension architecture to achieve complete isolation of the movement trajectories of each wheel through physical decoupling. On the basis of wheel trajectory isolation, through actuators such as air springs, solenoid valves or hydraulic pumps, the ground clearance (height) of each wheel can be dynamically adjusted to achieve active control of the vehicle body attitude. That is, it can independently adjust the height of each suspension system, so that the vehicle can perform body attitude adjustment actions more accurately.

[0270] As a feasible implementation method, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, including: when it is determined based on the virtual driving state to adjust the roll angle of the vehicle, adjust the suspension height of the left suspension and / or the right suspension of the vehicle's active suspension system based on the virtual driving state.

[0271] Adjusting the roll angle of the vehicle, i.e., adjusting the height difference between the left and right suspensions of the vehicle, so that there is a certain angle difference between the left and right suspensions and the horizontal direction. If the roll angle is used to represent that the vehicle leans to the left, the right suspension can be raised and the left suspension can be lowered. If the roll angle is used to represent that the vehicle leans to the right, the left suspension can be raised and the right suspension can be lowered.

[0272] As a feasible implementation method, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, including: when it is determined to adjust the pitch angle of the vehicle based on the virtual driving state, adjust the suspension height of the front suspension and / or the rear suspension of the active suspension system of the vehicle based on the virtual driving state.

[0273] Adjusting the pitch angle of the vehicle, i.e., adjusting the height difference between the front and rear suspensions of the vehicle, so that there is a certain angle difference between the front and rear suspensions and the horizontal direction. If the pitch angle is used to represent that the front of the vehicle sinks, the rear suspension can be raised and the front suspension can be lowered. If the roll angle is used to represent that the rear of the vehicle sinks, the front suspension can be raised and the rear suspension can be lowered.

[0274] It should be understood that in practical applications, the vehicle can push the piston through the oil pump in the hydraulic system to change the suspension length, or directly drive the suspension joint with electromagnetic force to achieve the purpose of adjusting the suspension height. The embodiments of the present application do not limit the way of adjusting the suspension height of the vehicle.

[0275] The embodiments of the present application can divide the functional modules of the vehicle control device or the electronic device according to the above method. For example, the vehicle control device or the electronic device can include each functional module corresponding to each functional division, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. There may be other division methods in actual implementation.

[0276] The embodiments of the present application also provide a control device for a vehicle. The control device is arranged in the display device. The control device for the vehicle includes: a control module, configured to, when the display content of the display device includes a vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle.

[0277] In some embodiments, the virtual driving state includes at least one of the following: a uniform speed state, a variable speed state, a turning state, a bumpy state, an impact state, or a flying state.

[0278] In some embodiments, the vehicle body attitude adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle; or, the vehicle body attitude adjustment action is a suspension jump action; the suspension jump action is used to achieve an instantaneous height jump of the vehicle body.

[0279] In some embodiments, when the vehicle body attitude adjustment action is used to adjust the roll angle and / or pitch angle of the vehicle, the control module is specifically configured to determine attitude adjustment parameters based on the virtual driving state of the vehicle, and determine a speed increase multiple based on the vehicle speed of the vehicle; the attitude adjustment parameters include an initial roll angle and / or an initial pitch angle; correct the attitude adjustment parameters based on the speed increase multiple, and control the vehicle to adjust the roll angle and / or pitch angle based on the corrected attitude adjustment parameters.

[0280] In some embodiments, the vehicle body attitude adjustment action includes at least one of the following: adjusting the heights of multiple suspensions in the vehicle suspension system; controlling the tilt angle of the vehicle seat; controlling the vehicle roll mechanism to generate a corresponding roll angle.

[0281] In some embodiments, the vehicle body attitude adjustment action is used to make the vehicle body attitude of the vehicle synchronized or consistent with the vehicle attitude of the vehicle.

[0282] In some embodiments, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform a corresponding vehicle body attitude adjustment action, including: when the virtual driving state is a constant speed state, controlling the vehicle to adjust the roll angle within a preset roll angle range and adjust the pitch angle within a preset pitch angle range.

[0283] In some embodiments, the control module is specifically configured to, when the virtual driving state is a variable speed state, determine a target pitch angle of the vehicle based on the acceleration of the vehicle; control the vehicle to adjust the pitch angle to the target pitch angle.

[0284] In some embodiments, the control module is specifically configured to determine a target pitch angle of the vehicle based on the vehicle speed and acceleration of the vehicle, and the vehicle speed is positively correlated with the target pitch angle.

[0285] In some embodiments, the control module is specifically configured to determine an initial pitch angle of the vehicle based on the acceleration of the vehicle; determine a speed increase multiple based on the vehicle speed of the vehicle; adjust the initial pitch angle according to the speed increase multiple to obtain a target pitch angle.

[0286] In some embodiments, the control module is specifically configured to control the vehicle to adjust the pitch angle to the target pitch angle within the duration corresponding to the variable speed state.

[0287] In some embodiments, the control module is specifically configured to, when the virtual driving state is a turning state, determine the target roll angle corresponding to the vehicle based on a preset roll angle; control the vehicle to adjust the roll angle to the target roll angle.

[0288] In some embodiments, the control module is specifically configured to determine the target roll angle corresponding to the vehicle based on the vehicle speed of the vehicle and a preset roll angle, and the vehicle speed is positively correlated with the target roll angle.

[0289] In some embodiments, the control module is specifically configured to determine a speed increase multiple based on the vehicle speed of the vehicle; the vehicle speed is positively correlated with the speed increase multiple; and adjust the preset roll angle according to the speed increase multiple to obtain the target roll angle.

[0290] In some embodiments, the control module is specifically configured to adjust the roll angle to the target roll angle during the duration corresponding to the turning state.

[0291] In some embodiments, the control module is specifically configured to, when the virtual driving state is a bumpy state or an impact state, control the vehicle to adjust the roll angle within a target roll angle range and adjust the pitch angle within a target pitch angle range during the duration of the bumpy state or the impact state.

[0292] In some embodiments, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on the vehicle speed of the vehicle and a preset roll angle.

[0293] In some embodiments, when the virtual driving state is a bumpy state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the vehicle speed of the vehicle and a preset pitch angle.

[0294] In some embodiments, when the virtual driving state is an impact state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on a target impact amplitude and a preset roll angle.

[0295] In some embodiments, when the virtual driving state is an impact state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on a target impact amplitude and a preset pitch angle.

[0296] In some embodiments, the target impact amplitude is set by the user before watching a movie using the display device; or, the target impact amplitude is a preset value.

[0297] In some embodiments, when the virtual driving state is a leap state, the body attitude adjustment action is a suspension takeoff action, and the suspension takeoff action is used to achieve an instantaneous height jump of the body.

[0298] In some embodiments, the control device further includes: an output module, configured to, in response to the movie / game mode being enabled and when the vehicle is in a parked state, output a first prompt message for prompting the user whether to enable the first movie / game mode; the first movie / game mode supports the display device to control the vehicle to perform body attitude adjustment actions during movie watching / gaming.

[0299] In some embodiments, the control module is specifically configured to, when the display device enables the first movie / game mode, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions.

[0300] In some embodiments, the control device further includes: an enabling module, configured to enable the second movie / game mode when the vehicle is in a non-parked state; the second movie / game mode does not support the display device to control the vehicle to perform body attitude adjustment actions during movie watching / gaming.

[0301] In some embodiments, the control device further includes: an output module, configured to, when the vehicle is in a non-parked state, output a second prompt message for prompting the user that the first movie / game mode can only be enabled when the vehicle is in a parked state.

[0302] In some embodiments, the control device further includes: a determination module, configured to parse the picture elements in the display content to determine whether there is a vehicle in the display content; when there is a vehicle, determine the virtual driving state corresponding to the vehicle at each time node.

[0303] In some embodiments, the control module is specifically configured to, based on the virtual driving state of the vehicle at the current time node, send an attitude control instruction to the vehicle, and the attitude control instruction is used to make the vehicle perform body attitude adjustment actions.

[0304] In some embodiments, the control module is specifically configured to, when it is determined to adjust the roll angle of the vehicle based on the virtual driving state, adjust the suspension height of the left suspension and / or the right suspension of the vehicle's active suspension system based on the virtual driving state.

[0305] In some embodiments, the control module is specifically configured to, when it is determined to adjust the pitch angle of the vehicle based on the virtual driving state, adjust the suspension height of the front suspension and / or the rear suspension of the vehicle's active suspension system based on the virtual driving state.

[0306] Figure 15 This is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 15 shown, the electronic device 130 includes but is not limited to: a processor 1301 and a memory 1302.

[0307] Among them, the above-mentioned memory 1302 is used to store the executable instructions of the above-mentioned processor 1301. It can be understood that the above-mentioned processor 1301 is configured to execute instructions to implement the control method of the vehicle or the control method of the active suspension system in the above-mentioned embodiments. That is to say, the electronic device 130 can be a display device or a vehicle, and the embodiments of the present application do not limit this.

[0308] The processor 1301 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines. By running or executing the software programs and / or modules stored in the memory 1302, and calling the data stored in the memory 1302, it executes various functions of the electronic device and processes data, thereby controlling the electronic device as a whole. The processor 1301 may include one or more processing modules. Optionally, the processor 1301 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 1301 either.

[0309] The memory 1302 can be used to store software programs and various data. The memory 1302 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required by at least one functional module (such as the acquisition unit, determination module, processing unit), etc. In addition, the memory 1302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0310] The present application also provides a vehicle, including the above-mentioned electronic device or the control device of the vehicle.

[0311] The present application also provides a display device, including the above-mentioned electronic device or the control device of the vehicle.

[0312] The present application also provides an in-vehicle interaction system, including the above-mentioned vehicle and / or display device.

[0313] In some embodiments, the present application also provides a computer program product. The computer program product includes a computer program. When the computer program is executed by a device, the device is caused to execute the method as described in any one of the above.

[0314] In this way, through the computer program in the computer program product, it can be customized according to the specific requirements and operating conditions of the device, implementing a personalized control method and improving the adaptability and flexibility of device control.

[0315] In addition, the computer program product can be executed on different devices or systems, achieving cross-platform applicability, providing a unified control method for different types of devices, and improving the integration and interoperability of the system.

[0316] Although the present application has been described in connection with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

[0317] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, The control method includes: When the display content of the display device includes a vehicle, based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions, so that the body attitude of the vehicle matches the vehicle attitude of the vehicle.

2. The control method according to claim 1, characterized in that, The virtual driving state includes at least one of the following: uniform speed state, variable speed state, turning state, bumpy state, impact state or leap state.

3. The control method according to claim 1, wherein The body attitude adjustment actions are used to adjust the roll angle and / or pitch angle of the vehicle; Alternatively, the body attitude adjustment action is a suspension takeoff action; the suspension takeoff action is used to achieve an instantaneous height jump of the body.

4. The control method according to claim 3, wherein, When the body attitude adjustment actions are used to adjust the roll angle and / or pitch angle of the vehicle, the controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: Determining attitude adjustment parameters based on the virtual driving state of the vehicle, and determining a speed increase multiple based on the vehicle speed of the vehicle; the attitude adjustment parameters include an initial roll angle and / or an initial pitch angle; Correcting the attitude adjustment parameters based on the speed increase multiple, and controlling the vehicle to adjust the roll angle and / or pitch angle based on the corrected attitude adjustment parameters.

5. The control method according to claim 1, wherein The body attitude adjustment actions include at least one of the following: Adjusting the heights of multiple suspensions in the vehicle suspension system; Controlling the tilt angle of the vehicle seat; Controlling the vehicle roll mechanism to generate a corresponding roll angle.

6. The control method according to claim 1, wherein The body attitude adjustment actions are used to keep the body attitude of the vehicle synchronized or consistent with the vehicle attitude of the vehicle.

7. The control method according to claim 2, wherein The controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: When the virtual driving state is the uniform speed state, controlling the vehicle to adjust the roll angle within a preset roll angle range and adjust the pitch angle within a preset pitch angle range.

8. The control method according to claim 2, wherein The controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: When the virtual driving state is the variable speed state, determining the target pitch angle of the vehicle based on the acceleration of the vehicle; Controlling the vehicle to adjust the pitch angle to the target pitch angle.

9. The control method according to claim 8, wherein, The determining the target pitch angle of the vehicle based on the acceleration of the vehicle includes: Determining the target pitch angle of the vehicle based on the vehicle speed and acceleration of the vehicle, and the vehicle speed is positively correlated with the target pitch angle.

10. The control method according to claim 9, characterized in that, The determining the target pitch angle of the vehicle based on the vehicle speed and acceleration of the vehicle includes: Determining the initial pitch angle of the vehicle based on the acceleration of the vehicle; Determining a speed increase multiple based on the vehicle speed of the vehicle; Adjusting the initial pitch angle according to the speed increase multiple to obtain the target pitch angle.

11. The control method according to claim 8, wherein The controlling the vehicle to adjust the pitch angle to the target pitch angle includes: Controlling the vehicle to adjust the pitch angle to the target pitch angle within the duration corresponding to the variable speed state.

12. The control method according to claim 2, characterized in that, Based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions, including: In the case where the virtual driving state is the turning state, determining a target roll angle corresponding to the vehicle based on a preset roll angle; Controlling the vehicle to adjust the roll angle to the target roll angle.

13. The control method according to claim 12, wherein The determining a target roll angle corresponding to the vehicle based on a preset roll angle includes: Determining a target roll angle corresponding to the vehicle based on the vehicle speed of the vehicle and the preset roll angle, where the vehicle speed is positively correlated with the target roll angle.

14. The control method according to claim 13, characterized in that, The determining a target roll angle corresponding to the vehicle based on the vehicle speed of the vehicle and the preset roll angle includes: Determining a speed increase multiple based on the vehicle speed of the vehicle; the vehicle speed is positively correlated with the speed increase multiple; Adjusting the preset roll angle according to the speed increase multiple to obtain the target roll angle.

15. The control method according to claim 12, wherein The controlling the vehicle to adjust the roll angle to the target roll angle includes: within the duration corresponding to the turning state, adjusting the roll angle to the target roll angle.

16. The control method according to claim 2, wherein, Based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions, including: In the case where the virtual driving state is the bumpy state or the impact state, within the duration of the bumpy state or the impact state, controlling the vehicle to adjust the roll angle within a target roll angle range and adjust the pitch angle within a target pitch angle range.

17. The control method according to claim 16, wherein In the case where the virtual driving state is the bumpy state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on the vehicle speed of the vehicle and a preset roll angle.

18. The control method according to claim 16, wherein In the case where the virtual driving state is the bumpy state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on the vehicle speed of the vehicle and a preset pitch angle.

19. The control method according to claim 16, wherein, In the case where the virtual driving state is the impact state, the upper limit value and / or the lower limit value of the target roll angle range are determined based on a target impact amplitude and a preset roll angle.

20. The control method according to claim 16, characterized in that, In the case where the virtual driving state is the impact state, the upper limit value and / or the lower limit value of the target pitch angle range are determined based on a target impact amplitude and a preset pitch angle.

21. The control method according to claim 19 or 20, characterized in that, The target impact amplitude is set by the user before using the display device to watch a movie; or, the target impact amplitude is a preset value.

22. The control method according to claim 2, wherein In the case where the virtual driving state is the leap state, the vehicle body attitude adjustment action is a suspension takeoff action, and the suspension takeoff action is used to realize an instantaneous height jump of the vehicle body.

23. The control method according to claim 1, wherein The control method further includes: In response to the movie / game mode being enabled, when the vehicle is in a parked state, outputting a first prompt message, where the first prompt message is used to prompt the user whether to enable the first movie / game mode; the first movie / game mode supports the display device to control the vehicle to perform vehicle body attitude adjustment actions during movie watching / gaming.

24. The control method according to claim 23, characterized in that, Based on the virtual driving state of the vehicle, controlling the vehicle to which the display device belongs to perform corresponding vehicle body attitude adjustment actions, including: When the first viewing / game mode is enabled on the display device, based on the virtual driving state of the vehicle, control the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions.

25. The control method according to claim 23, wherein The control method further includes: When the vehicle is in a non-parked state, enable the second viewing / game mode; the second viewing / game mode does not support the display device to control the vehicle to perform body attitude adjustment actions during viewing / gaming.

26. The control method according to claim 23, wherein The control method further includes: When the vehicle is in a non-parked state, output a second prompt message, which is used to prompt the user that the first viewing / game mode can only be enabled when the vehicle is parked.

27. The control method according to claim 1, wherein The control method further includes: Analyze the screen elements in the display content to determine whether there is a vehicle in the display content; When there is a vehicle, determine the virtual driving state corresponding to the vehicle at each time node.

28. The control method according to claim 27, wherein The controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: Based on the virtual driving state of the vehicle at the current time node, send an attitude control instruction to the vehicle, and the attitude control instruction is used to make the vehicle perform the body attitude adjustment action.

29. The control method according to claim 1, characterized in that The controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: When it is determined to adjust the roll angle of the vehicle based on the virtual driving state, adjust the suspension height of the left suspension and / or the right suspension of the vehicle's active suspension system based on the virtual driving state.

30. The control method according to claim 1, characterized in that The controlling the vehicle to which the display device belongs to perform corresponding body attitude adjustment actions based on the virtual driving state of the vehicle includes: When it is determined to adjust the pitch angle of the vehicle based on the virtual driving state, adjust the suspension height of the front suspension and / or the rear suspension of the vehicle's active suspension system based on the virtual driving state.

31. A display device, characterized in that, It includes a processor and a memory, the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions run on the display device, the display device is caused to execute the method according to any one of claims 1-30.

32. A vehicle, characterized in that, It includes a processor and a memory, the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions run on the vehicle, the vehicle is caused to execute the method according to any one of claims 1-30.

33. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions run on a computer, the computer is caused to execute the method according to any one of claims 1-30.

34. A vehicle-mounted interaction system, characterized in that, It includes the display device according to claim 31 and / or the vehicle according to claim 32.

35. A computer program product, the computer program product comprising instructions, characterized in that, When the instructions are executed on a computer, the computer executes the method according to any one of claims 1-30.

Images