Vehicle control method, storage medium, program product, electronic device, and vehicle

Abstract

The invention relates to a vehicle control method, a storage medium, a program product, an electronic device and a vehicle, and the vehicle control method comprises the steps that the height of a suspension is adjusted, the vehicle acts on a target object, the position of the target object can be changed under the action of the vehicle, and therefore the functions of the vehicle are enriched.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a vehicle control method, a storage medium, a program product, an electronic device, and a vehicle. Background Art

[0002] The automotive industry has increasingly high requirements in terms of chassis control and body dynamic adjustment, and even pursues some performance functions. In the current related technologies, there is no reasonable solution for controlling a vehicle to cooperate with some target objects for performance. Summary of the Invention

[0003] Embodiments of the present application provide a vehicle control method, a storage medium, a program product, an electronic device, and a vehicle, which perform motion control on the suspension of the vehicle to achieve motion control of the target object being acted on.

[0004] To achieve the above object, according to the first aspect of the present application, a vehicle control method is provided, including: adjusting the height of the suspension so that the vehicle acts on a target object, and the target object can change its position under the action of the vehicle, thereby enriching the functions of the vehicle.

[0005] In some embodiments, the target object can bounce under the action of the vehicle.

[0006] In some embodiments, the intermittently adjusting the height of the suspension includes one of the following: intermittently raising the height of the suspension; intermittently lowering the height of the suspension; intermittently raising or lowering the height of the suspension.

[0007] In some embodiments, the intermittently adjusting the height of the suspension includes: intermittently adjusting the actuating force of the suspension to intermittently adjust the height of the suspension.

[0008] In some embodiments, the intermittently adjusting the actuating force of the suspension includes: intermittently adjusting the actuating force of the suspension based on multiple frames of images of the target object. In some embodiments, the intermittently adjusting the actuating force of the suspension based on multiple frames of images of the target object includes: determining the control law of the suspension based on the images; intermittently adjusting the actuating force of the suspension based on the control law.

[0009] In some embodiments, the determining the control law of the suspension based on the images includes: obtaining the motion trajectory of the target object according to the images; determining the control law according to the target acting height of the target object and the motion trajectory; wherein the target acting height is the height of the contact position between the vehicle and the target object.

[0010] In some embodiments, the motion trajectory includes multiple centroid coordinates of the target object; obtaining the motion trajectory of the target object according to the image includes: obtaining a two-dimensional graphic area including the target object from multiple frames of the image; based on each of the two-dimensional graphic areas, determining multiple centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory.

[0011] In some embodiments, obtaining a two-dimensional graphic area including the target object from multiple frames of the image includes: performing target image segmentation on multiple frames of the image in an object video containing the target object to obtain the object image, where each frame of the image corresponds to a timestamp; extracting the contour of the target object in the object image to obtain the two-dimensional graphic area corresponding to each frame of the object image; the motion trajectory includes multiple centroid coordinates at multiple timestamps.

[0012] In some embodiments, based on each of the two-dimensional graphic areas, determining multiple centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory includes: for each of the two-dimensional graphic areas, determining a corresponding set of two-dimensional graphic boundary coordinates, the set of two-dimensional graphic boundary coordinates including multiple two-dimensional graphic boundary coordinates; based on the set of two-dimensional graphic boundary coordinates, determining the centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory.

[0013] In some embodiments, based on the set of two-dimensional graphic boundary coordinates, determining the centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory includes: projecting the set of two-dimensional graphic boundary coordinates into three-dimensional space to obtain a corresponding set of three-dimensional graphic boundary coordinates, the set of three-dimensional graphic boundary coordinates including multiple three-dimensional graphic boundary coordinates; based on the set of three-dimensional graphic boundary coordinates, determining the centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory.

[0014] In some embodiments, based on the set of three-dimensional graphic boundary coordinates, determining the centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory includes: fitting a three-dimensional surface based on the set of three-dimensional graphic boundary coordinates; estimating the centroid coordinates of the centroid of the target object in three-dimensional space based on the three-dimensional surface to obtain the motion trajectory.

[0015] In some embodiments, determining the control law according to the target action height and the motion trajectory of the target object includes: judging whether the vehicle responds to the impact target object instruction according to the motion trajectory and the target action height; if it is detected that the vehicle responds to the impact target object instruction, determining the motion speed of the target object when the vehicle responds to the impact target object instruction according to the motion trajectory and the target action height; and determining the control law according to the initial attitude information and the motion speed of the vehicle when the vehicle responds to the impact target object instruction.

[0016] In some embodiments, it further includes: if it is not detected that the vehicle responds to the impact target object instruction, determining the control law as a preset control law.

[0017] In some embodiments, judging whether the vehicle responds to the impact target object instruction according to the motion trajectory and the target action height includes: determining the impact time when the vehicle impacts the target object at the target action height according to the motion trajectory; and judging whether the vehicle responds to the impact target object instruction according to the impact time, the current time and a preset time.

[0018] In some embodiments, determining the impact time when the vehicle impacts the target object at the target action height according to the motion trajectory includes: selecting any two timestamps and the corresponding centroid coordinates from the motion trajectory, and determining the time when the target object is impacted to the target action height by using the displacement corresponding to the free fall motion of the target object, so as to obtain the impact time.

[0019] In some embodiments, judging whether the vehicle responds to the impact target object instruction according to the impact time, the current time and the preset time includes: determining the remaining time to respond to the impact target object instruction according to the impact time and the current time; and judging whether the vehicle responds to the impact target object instruction according to the comparison result between the remaining time and the current time.

[0020] In some embodiments, the motion speed includes three-axis motion speeds. Determining the motion speed of the target object when the vehicle responds to the impact target object instruction according to the motion trajectory and the target action height includes: selecting any two timestamps and the corresponding centroid coordinates from the motion trajectory, respectively performing difference processing on the horizontal axis coordinates and the vertical axis coordinates in the centroid coordinates to obtain a horizontal speed and a vertical speed; and determining a vertical speed according to the impact time and the displacement, where the three-axis motion speeds include the horizontal speed, the vertical speed and the vertical speed.

[0021] In some embodiments, determining the vertical velocity according to the impact time and the displacement includes: performing a derivative operation on the displacement to obtain a displacement derivative; and obtaining the vertical velocity according to the impact time and the displacement derivative.

[0022] In some embodiments, determining the control law according to the initial attitude information and the three-axis motion velocity of the vehicle when the vehicle responds to the impact target object instruction includes: determining the target attitude information of the vehicle when the vehicle impacts the target object in accordance with a preset impact direction, the preset impact direction being the vertical direction, according to the three-axis motion velocity; performing trajectory planning according to the initial attitude information, the target attitude information, and the remaining time to obtain the target attitude trajectory of the vehicle; and determining the control law according to the target attitude trajectory and the actuator parameters of the suspension.

[0023] In some embodiments, determining the target attitude information of the vehicle when the vehicle impacts the target object in accordance with a preset impact direction according to the three-axis motion velocity includes: determining the target pitch angle of the vehicle when impacting the target object according to the lateral velocity and the vertical velocity; determining the target roll angle of the vehicle when impacting the target object according to the longitudinal velocity and the vertical velocity; and determining the target vertical displacement of the vehicle when impacting the target object according to the vertical velocity, where the target attitude information includes the target pitch angle, the target roll angle, and the target vertical displacement.

[0024] In some embodiments, performing trajectory planning according to the initial attitude information, the target attitude information, and the remaining time to obtain the target attitude trajectory of the vehicle includes: using a preset trajectory planning method to determine the target attitude trajectory of the vehicle when changing from the initial attitude information to the target attitude information after experiencing the remaining time, the target attitude trajectory including a target pitch angle trajectory, a target roll angle trajectory, and a target vertical displacement trajectory.

[0025] In some embodiments, the preset trajectory planning method is at least one of Nth-degree polynomial planning, S-shaped planning, and Bezier curve planning, where N is a natural number greater than 2.

[0026] In some embodiments, determining the control law according to the target attitude trajectory and the actual actuator parameters of the actuator includes: determining a feedforward control law according to the target attitude trajectory; determining a feedback control law according to the target attitude trajectory and the actual actuator parameters; and obtaining the control law according to the feedforward control law and the feedback control law.

[0027] In some embodiments, determining the feedback control law according to the target attitude trajectory and the actual actuator parameters includes: determining the target actuator parameters of the actuator according to the target attitude trajectory; and determining the feedback control law according to the target actuator parameters and the actual actuator parameters.

[0028] In some embodiments, determining the target actuator parameters of the actuator according to the target attitude trajectory includes: analyzing the target attitude trajectory to determine the target actuator position of the actuator;

[0029] determining the target actuator speed of the actuator according to the target vertical displacement trajectory, where the target actuator parameters include the target actuator position and the target actuator speed.

[0030] In some embodiments, analyzing the target attitude trajectory to determine the target actuator position of the actuator includes: determining the target actuator position change amount corresponding to the target attitude trajectory according to the preset correspondence between the actuator position change amount and the attitude trajectory; and determining the target actuator position according to the target actuator position change amount.

[0031] In some embodiments, determining the feedforward control law according to the target attitude trajectory includes: determining the target actuator position change amount corresponding to the target attitude trajectory according to the preset correspondence between the actuator position change amount and the attitude trajectory; and obtaining the feedforward control law according to the target actuator position change amount.

[0032] In some embodiments, determining the target actuator speed of the actuator according to the target vertical displacement trajectory includes: performing a difference processing on the target vertical displacement trajectory to obtain the target actuator speed.

[0033] In some embodiments, determining the target actuator position according to the target actuator position change amount includes: determining the target actuator position according to the target actuator position change amount and the equilibrium position of the actuator.

[0034] In some embodiments, the actual actuator parameters include the actual actuator position and the actual actuator speed; determining the feedback control law according to the target actuator parameters and the actual actuator parameters includes: determining a first feedback control law according to the actual actuator position and the target actuator position; determining a second feedback control law according to the actual actuator speed and the target actuator speed; and obtaining the feedback control law according to the first feedback control law and the second feedback control law.

[0035] In some embodiments, determining the first feedback control law according to the actual actuator position and the target actuator position includes: performing at least one of proportional control, derivative control, or integral control based on the position difference between the actual actuator position and the target actuator position to obtain the first feedback control law.

[0036] In some embodiments, determining the second feedback control law according to the actual actuator speed and the target actuator speed includes: performing at least one of proportional control, derivative control, or integral control based on the speed difference between the actual actuator speed and the target actuator speed to obtain the second feedback control law. According to a second aspect of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0037] According to a third aspect of the present application, there is provided a computer program product including a computer program, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0038] According to a fourth aspect of the present application, there is provided an electronic device including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the above vehicle control method.

[0039] According to a fifth aspect of the present application, there is provided a vehicle including an actuator and a first controller;

[0040] The actuator is configured to adjust the height of the suspension under the control of the first controller so that the vehicle acts on a target object, causing the target object to change its position under the action of the vehicle, thereby enriching the functions of the vehicle.

[0041] In some embodiments, the actuator is further configured to: adjust the height of the suspension under the control of the first controller so that the vehicle acts on a target object, enabling the target object to bounce under the action of the vehicle. }

[0042] In some embodiments, the actuator is further configured to: intermittently adjust the height of the suspension under the control of the first controller, so that the vehicle intermittently acts on the target object.

[0043] In some embodiments, the actuator is an electromagnetic actuator.

[0044] In some embodiments, the vehicle further includes: a camera system for acquiring multiple frames of images of the target object; the actuator is configured to intermittently adjust the actuating force of the suspension based on the multiple frames of images of the target object.

[0045] In some embodiments, the vehicle further includes a central control screen and a chassis motion controller: the camera system is further configured to determine the motion trajectory of the target object and send the motion trajectory to the chassis motion controller; the central control screen is configured to receive the target action height of the target object and send the target action height to the chassis motion controller; the chassis motion controller is configured to determine the target actuation force of the suspension according to the motion trajectory and the target action height, and send the target actuation force to the first controller; the first controller is configured to adjust the height of the suspension according to the target actuation force.

[0046] In some embodiments, the camera system includes a camera and a second controller; the camera is configured to collect video information of the target object and send the video information to the second controller; the second controller is configured to determine the motion trajectory of the target object according to the video information. Other features and advantages of the present application will be described in detail in the following detailed description section. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0048] To more fully understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals in the following description represent the same parts.

[0049] Figure 1 is a schematic diagram of a vehicle provided by an embodiment of the present application;

[0050] Figure 2 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of a centroid coordinate determination method provided by an embodiment of the present application;

[0052] Figure 4 is a schematic diagram of a target actuator parameter determination method provided by an embodiment of the present application;

[0053] Figure 5 is a schematic diagram of a suspension actuation force determination method provided by an embodiment of the present application;

[0054] Figure 6 is a schematic diagram of another vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0056] The vehicle intermittently impacts an object, such as the ball juggling control of the vehicle. On the one hand, users can carry out the entertainment activity of vehicle ball juggling to enhance the user experience. On the other hand, the control level of the suspension reflected by the ball juggling control (including high precision, high speed, and multiple degrees of freedom) can ensure that the vehicle remains stable and comfortable under various driving conditions. To achieve accurate ball juggling, this usually involves complex engineering and precise control systems to ensure that the suspension system can adapt to different driving requirements.

[0057] In the related art, for a controller using a mechanism model, it is difficult to guarantee the accuracy of the mechanism model. There are too many partial derivative solutions in the controller, which amplifies the noise and reduces the accuracy of the ball juggling control, affecting the ball juggling control effect.

[0058] To solve the above problems, the embodiments of the present application provide a vehicle control method. By adjusting the height of the suspension, the vehicle acts on an object, and the object can change its position under the action of the vehicle, thereby enriching the functions of the vehicle.

[0059] Among them, the object can change its position under the action of the vehicle, which can be that the object moves in the height direction of the vehicle, or in the length direction of the vehicle, or the position of the vehicle changes in the width direction.

[0060] In some embodiments, when the height of the suspension changes, the vehicle acts on the object, causing the object to bounce in the height direction of the vehicle.

[0061] In some embodiments, when the height of the suspension changes, the vehicle acts on the object, and the object can change its position in the length direction or width direction of the vehicle under the action of the vehicle, such as realizing the vehicle suspension playing badminton.

[0062] According to the first aspect of the present application, the embodiments of the present application provide a vehicle control method.

[0063] Please refer to Figure 1 , Figure 1Schematic diagram of a vehicle provided in some embodiments of the present application. The vehicle includes a vehicle body 1, an actuator 2, a spring 3, a wheel 4, a camera 5, a second controller 6, a PAD (central control screen) 7, a first controller 8, a chassis motion controller 9, a ball-juggling tooling 10 installed on the front hood, and a target object 11. Among them, the actuator 2 is a key component for implementing active vibration control and an important link in the active control system. Its main function is to apply a control force to the controlled object according to a determined control law. The camera 5 is used to collect the motion video of the target object, and thus can detect the object space coordinates of the target object. The camera 5 can be a binocular camera, or a combination of a monocular camera and a depth camera, a trinocular camera, a lidar, or other vision devices capable of detecting object space coordinates and their combinations, etc. The second controller 6 is a camera controller for controlling the camera. The PAD 7 is the central control screen of the vehicle, and the user can input the state information acting on the target object through the PAD 7, such as the target action height. The first controller 8 is a suspension controller for controlling the suspension. When the vehicle is stationary on the platform wheel surface, the upper surface of the ball-juggling tooling 10 installed on the front hood needs to be horizontal. The target object 11 can be a ball-like object, such as a football, a table tennis ball, etc., or a non-ball-like object such as a badminton or a shuttlecock.

[0064] Please refer to Figure 2 , Figure 2 which is a flowchart of a vehicle control method provided in an embodiment of the present application. The vehicle control method may include the following step S100:

[0065] Step S100: Adjust the height of the suspension so that the vehicle acts on the target object, and the target object can change its position under the action of the vehicle.

[0066] Among them, the target object can be a target sphere, such as a football, a basketball, a volleyball, etc., which are circular spheres with a certain elasticity. The suspension can be an active suspension. The number of active suspensions in the vehicle can be 4, namely the left front wheel active suspension, the right front wheel active suspension, the left active rear wheel suspension, and the right active rear wheel suspension.

[0067] Among them, the action relationship between the vehicle and the target object can be realized in various ways, specifically including direct impact or non-contact action. The non-contact action can be realized through a force field (such as a magnetic field, an electric field, or an aerodynamic field) to achieve mutual interaction.

[0068] The mutual interaction through a magnetic field can be: The vehicle is equipped with an electromagnetic device, and by generating a controllable magnetic field, a force is applied to the target object. The target object can be an object with a magnetic material or a device that can be induced by a magnetic field. For example, the vehicle can make the target object float, move, or jump through the attraction or repulsion of the magnetic field, and by adjusting the height of the vehicle suspension, the follow-up change of the target object height is realized.

[0069] The interaction achieved through an electric field can be that the vehicle generates an electrostatic field to exert a force on a charged target object.

[0070] The interaction achieved through an aerodynamic field can be that the vehicle generates an aerodynamic field through a jet device or an air flow control system to exert a force on a target object. For example, the vehicle can make the target object float or move through the blowing or suction of the air flow.

[0071] Specifically, by adjusting the height of the vehicle suspension, the vehicle can interact with the target object in a specific manner, and the specific manner can be determined according to the specific scenario. For example, in the scenario of testing the performance of the target object, the specific manner can be to adjust the suspension height to simulate different contact forces; in the entertainment scenario, by adjusting the suspension height to contact the target object, making it jump. When the height of the vehicle suspension is adjusted to an appropriate position, the force generated when the vehicle contacts the target object will act on the target object, causing it to produce a jumping effect. The jumping of the target object is achieved through the control of the vehicle suspension height, which can ensure that the target object changes its position according to a predetermined trajectory and amplitude under the action of the vehicle. In some embodiments, the target object can jump under the action of the vehicle. This can not only meet the requirements of specific usage scenarios but also improve the interaction efficiency between the vehicle and the target object.

[0072] In the embodiments of the present application, the height of the suspension is adjusted so that the vehicle acts on the target object, and the target object can change its position under the action of the vehicle, thereby enriching the functions of the vehicle.

[0073] In some embodiments, adjusting the height of the suspension may include: intermittently adjusting the height of the suspension so that the vehicle intermittently acts on the target object.

[0074] In the embodiments of the present application, by intermittently adjusting the height of the vehicle suspension, the vehicle can act on the target object in an intermittent manner.

[0075] Specifically, the first controller of the vehicle intermittently changes the height of the suspension according to a preset control strategy. For example, through an electric or hydraulic device, the suspension can be raised or lowered at set time intervals, thereby achieving intermittent action on the target object. By intermittently adjusting the height of the vehicle suspension, the vehicle can interact with the target object in a more intelligent and precise manner, improving the control effect of the vehicle on the target object being acted upon.

[0076] In some embodiments, intermittently adjusting the height of the suspension includes one of the following:

[0077] Intermittently raising the height of the suspension;

[0078] Intermittently lowering the height of the suspension;

[0079] Intermittently raise or lower the height of the suspension.

[0080] Specifically, the height of the suspension is intermittently adjusted, and the adjustment method can be divided into the following three modes:

[0081] The first mode: Intermittently raise the height of the suspension. The first controller of the vehicle can intermittently raise the suspension height according to a preset period or condition. Specifically, it can be to raise the suspension more than twice in a row to act on the target. For example, the first time the suspension is raised, the distance between the vehicle and the target is reduced, and the target begins to feel the approaching force of the vehicle. The second time and above the suspension is raised, on the basis of the first time the suspension is raised, the suspension continues to rise to a higher set height. This continuous raising of the suspension can further increase the interaction force between the vehicle and the target. By continuously raising the suspension, the vehicle can exert a gradually increasing force on the target. If the vehicle is in direct contact with the target, this continuous raising action can cause the target to receive a continuous upward impact force, thus realizing the jumping of the target; if it is a non-contact action, the target can move or be displaced with the vehicle by the enhancement of the magnetic field.

[0082] The second mode: Intermittently lower the height of the suspension. The first controller of the vehicle can intermittently lower the suspension height according to a preset period or condition. Specifically, it can be to lower the suspension more than twice in a row to act on the target. For example, the first time the suspension is lowered, the distance between the vehicle and the target is increased, and the target begins to feel the away force of the vehicle. The second time and above the suspension is lowered, on the basis of the first time the suspension is lowered, the suspension continues to lower to a lower set height. This continuous lowering of the suspension can further reduce the interaction force between the vehicle and the target. By continuously lowering the suspension, the vehicle can exert a gradually decreasing force on the target. If the vehicle is in direct contact with the target, this continuous lowering action can cause the target to receive a continuous downward impact force, thus realizing the movement of the target; if it is a non-contact action, the target can move or be displaced with the vehicle by the weakening of the magnetic field.

[0083] The third mode: intermittently raising or lowering the height of the suspension. The first controller of the vehicle can intermittently raise or lower the suspension height according to a preset period or condition. This mode combines the above-mentioned first mode and second mode, enabling the vehicle to achieve more complex dynamic control. Specifically, it can be to first raise the suspension and then lower it, or first lower the suspension and then raise it, applying complex dynamic forces to the target object. Among them, through the adjustment method of first raising the suspension and then lowering it, the vehicle can apply a dynamic force to the target object that first goes upward and then downward. This dynamic effect can cause the target object to bounce, vibrate or displace. Through the adjustment method of first lowering the suspension and then raising it, the vehicle can apply a dynamic force to the target object that first goes downward and then upward. This dynamic effect can cause the target object to bounce, vibrate or displace.

[0084] In some embodiments, the above step S100 may include the following steps:

[0085] Intermittently adjust the driving force of the suspension to control the vehicle to intermittently impact the target object. In the embodiment of the present application, the driving force of the suspension is intermittently adjusted to control the vehicle to intermittently impact the target object. By performing motion control on the suspension of the vehicle, the accuracy of controlling the running trajectory of the impacted target object can be improved, and the control effect of the vehicle on the impact target object can be enhanced. It should be noted that by intermittently adjusting the driving force of the suspension, the driving force drives the body and the tooling to move, intermittently impacting the target object, achieving the effect of the vehicle accurately impacting the target object and enhancing the control effect of the vehicle suspension. In this embodiment, the driving force of each active suspension is intermittently adjusted. When all the active suspensions act together, the vehicle realizes three-degree-of-freedom motion in the vertical direction (Z direction), rotation around the transverse axis (dx direction), and rotation around the longitudinal axis (y direction), thereby realizing the control of the motion direction and height of the target object during the impact on the target object, and ensuring the control effect of the vehicle on the impact target object.

[0086] In summary, the vehicle control method provided by the embodiment of the present application intermittently adjusts the driving force of the suspension to control the vehicle to intermittently impact the target object, which can make the control of the vehicle suspension more accurate and improve the accuracy of controlling the running trajectory of the impacted target object by the vehicle. Moreover, in the embodiment of the present application, intermittently adjusting the driving force of the suspension belongs to motion control of the suspension, and there is no need for motor control, realizing precise control of the vehicle suspension and enhancing the control effect of the vehicle suspension.

[0087] In some embodiments, the above step S100 may include the following steps:

[0088] Step S100A: Intermittently adjust the driving force of the suspension based on multiple frames of images of the target object.

[0089] The image is an image containing a target. In this embodiment, the image is multiple frames, and the binocular camera 50 in Figure 1 can be used to collect a video containing the target, and multiple frames of images are obtained from the video. Figure 1 The binocular camera 50 in and

[0090] can be used to collect a video containing the target, and multiple frames of images are obtained from the video.

[0090] The motion trajectories of multiple frames of images can be analyzed, and the actuator force of the suspension when the vehicle impacts the target can be determined according to the analysis results, so as to realize intermittent adjustment of the actuator force of the suspension. Since the control of the suspension is not based on a dynamic model and no complex partial derivative solving operations are required, therefore, intermittent adjustment of the actuator force of the suspension according to the target can improve the accuracy of the actuator force, realize precise control of the vehicle suspension, and improve the control effect of the vehicle suspension.

[0091] In some embodiments, the above step S100A may include the following steps:

[0092] Step S100A1: Determine the control law of the suspension based on the image;

[0093] Step S100A2: Intermittently adjust the actuator force of the suspension based on the control law.

[0094] The actuator force in this embodiment is an actuator force command. The control law is a set of rules or algorithms in an automatic control system, which can be a simple set of rules or algorithms (such as proportional control) or a complex set of rules or algorithms (such as PID control, adaptive control, fuzzy control, etc.).

[0095] The motion trajectories of the target in multiple frames of images can be analyzed, the control law of the actuator of the suspension when the vehicle impacts the target can be determined, and this control law is used as the actuator force of the suspension, so as to accurately adjust the actuator force of the suspension. In some embodiments, the above step S100A1 may include the following steps:

[0096] S100A11: Obtain the motion trajectory of the target according to the image;

[0097] S100A12: Determine the control law according to the target action height and motion trajectory of the target.

[0098] The target action height is a preset height used to indicate the impact height of the target, and it can be obtained from the information input by the user into the PAD70 in Figure 1 . The motion trajectory can be a set of centroid coordinates of the centroid of the target at different timestamps. Figure 1 The motion trajectory can be a set of centroid coordinates of the centroid of the target at different timestamps. It can be obtained from the information input by the user into the PAD70 in Figure 1 .

[0099] Image processing techniques can be used to track and analyze the movement of an object in two - dimensional or three - dimensional space. Then, image recognition and analysis algorithms are used to determine the position and movement direction of the object. Obtaining the movement trajectory is crucial for analyzing the movement of the object and predicting its future position. After obtaining the movement trajectory of the object, a control law is designed based on the expected impact height of the object and its movement trajectory to guide the suspension to intermittently adjust the driving force to ensure that the vehicle impacts the object at a specific height and position.

[0100] In the embodiments of this application, the three - axis movement speed of the object and the vehicle response impact object instruction are calculated based on the target action height and movement trajectory of the object, that is, the impact time when starting to enter the impact object program. Then, based on the three - axis movement speed of the object and the impact time, the target attitude trajectory of the vehicle that changes after a certain time from the attitude information at the start of the impact time is planned, and the control law is determined according to the target attitude trajectory.

[0101] In some embodiments, the movement trajectory includes multiple centroid coordinates of the object; the above step S100A11 may include the following steps:

[0102] S100A111: Obtain the two - dimensional graphic area including the object from multiple frames of images; S100A112: Based on each two - dimensional graphic area, determine the centroid coordinates of the object's centroid in three - dimensional space to obtain the movement trajectory.

[0103] Among them, the movement trajectory includes the centroid coordinates of the object in three - dimensional space at different timestamps, such as (t k , S x，ball，k , S y，ball，k , S z，ball，k ), where t k represents the timestamp, and S x，ball，k , S y，ball，k , S z，ball，k respectively represent the coordinate values of the centroid on the X - axis, Y - axis, and Z - axis. That is, the movement trajectory is a coordinate set formed by the centroid coordinates at different timestamps.

[0104] The two - dimensional graphic area is the graphic area corresponding to the object in two - dimensional space, that is, the contour in two - dimensional space. The contour of the object in two - dimensional space in the object image can be extracted through an edge extraction algorithm such as the Canny algorithm to obtain the two - dimensional graphic area. Exemplarily, for the case where the object is a target sphere, the two - dimensional graphic area can be represented by the following coordinate set:

[0105]

[0106] Among them, (x l，i , y l，i ) and (x r，i, y r，i ) represent the point coordinates of the boundary points on the left and right sides of the boundary of the graphic area (such as the boundary of the graphic area), where i represents the i-th boundary point on the left and right sides of the boundary of the two-dimensional graphic area, and i = 1, 2,..., N. N is the number of the left and right boundary points on the boundary of the two-dimensional graphic area. N is related to the number of feature points extracted.

[0107] The centroid coordinates are the coordinates of the centroid of the target object in the three-dimensional space, such as the coordinates of the center of the sphere. The set of the centroid coordinates of the object images in all frames is the motion trajectory of the target object.

[0108] In some embodiments, the above step S100A111 may include the following steps:

[0109] S100A1111: Obtain a plurality of object images containing the target object from a plurality of frames of images, where each frame of image corresponds to a time stamp;

[0110] S100A1112: Extract the contour of the target object in the object image to obtain a two-dimensional graphic area corresponding to each frame of object image; The motion trajectory includes a plurality of centroid coordinates at a plurality of time stamps.

[0111] In some embodiments, the above step S100A1111 may include the following steps:

[0112] S100A11111: Perform target image segmentation on a plurality of frames of images in the object video containing the target object to obtain object images.

[0113] The object video can be collected by the binocular camera in the figure. The target object can be segmented from the image through a pre-trained Mask R-CNN network model to obtain object images.

[0114] In some embodiments, the above step S100A112 may include the following steps:

[0115] Step S100A1121: For each two-dimensional graphic area, determine the corresponding set of two-dimensional graphic boundary coordinates, and the set of two-dimensional graphic boundary coordinates includes a plurality of two-dimensional graphic boundary coordinates;

[0116] Step S100A1122: Based on the set of two-dimensional graphic boundary coordinates, determine the centroid coordinates of the centroid of the target object in the three-dimensional space to obtain the motion trajectory.

[0117] The set of the boundary point coordinates in the two-dimensional graphic area is the set of two-dimensional graphic boundary coordinates, and the set of two-dimensional graphic coordinates includes a plurality of two-dimensional graphic boundary coordinates, such as (x l，i , y l，i ) and (x r，i , yr，i )。Then, determine the centroid coordinates of the object in three-dimensional space based on the set of two-dimensional graphic boundary coordinates to obtain the motion trajectory.

[0118] In some embodiments, the above step S100A1132 may include the following steps:

[0119] S100A11321: Project the set of two-dimensional graphic boundary coordinates into three-dimensional space to obtain the corresponding set of three-dimensional graphic boundary coordinates, and the set of three-dimensional graphic boundary coordinates includes a plurality of three-dimensional graphic boundary coordinates;

[0120] S100A11322: Determine the centroid coordinates of the object in three-dimensional space based on the set of three-dimensional graphic boundary coordinates to obtain the motion trajectory.

[0121] The three-dimensional graphic boundary coordinates are the boundary coordinates corresponding to the three-dimensional graphic boundary coordinates obtained after projecting the set of two-dimensional graphic boundary coordinates into three-dimensional space in three-dimensional space.

[0122] The centroid coordinates of the object in three-dimensional space can be calculated by a binocular vision system according to the two-dimensional graphic area. First, project the set of two-dimensional graphic boundary coordinates into three-dimensional space, and then estimate the centroid coordinates by fitting the three-dimensional surface using the least squares method.

[0123] In some embodiments, the above step S100A11322 may include the following steps:

[0124] S100A113221: Fit a three-dimensional surface based on the set of three-dimensional graphic boundary coordinates;

[0125] S100A113222: Estimate the centroid coordinates of the object in three-dimensional space based on the three-dimensional surface to obtain the motion trajectory.

[0126] By fitting the set of three-dimensional graphic boundary coordinates, a three-dimensional surface is obtained, and then, the centroid coordinates of the object in three-dimensional space are determined according to the parametric equation of the three-dimensional surface.

[0127] In a specific embodiment, taking the object as a target sphere as an example for illustration, correspondingly, the three-dimensional surface is a three-dimensional spherical surface, and its corresponding parametric equation is the spherical parametric equation. The centroid coordinates can be calculated by the following steps:

[0128] R1: According to the binocular camera projection formula, determine the three-dimensional graphic boundary coordinates. Given the baseline b and focal length f of the binocular camera, the pixel coordinates of a certain point on the left camera and the right camera geometrically corresponding to the two-dimensional graphic boundary coordinates at the current moment are (x l，i , y l，i ) and (x r，i , yr，i ), that is, the point coordinates of the boundary points on the left and right sides of the boundary of the three-dimensional graphic area. When projected into the three-dimensional space, the corresponding three-dimensional graphic boundary coordinates are

[0129]

[0130] where i = 1, 2, 3, …, N represents the i-th pixel.

[0131] R2: For all the three-dimensional graphic boundary coordinates (X i , Y i , Z i ) projected into the three-dimensional space, theoretically they should satisfy the parametric equation of a sphere:

[0132] F(X i , Y i , Z i , S x , S y , S z , r) = (X i - S x ) 2 + (Y i - S y ) 2 + (Z i - S z ) 2 - r 2 = 0

[0133] where (S x , S y , S z ) is the centroid coordinate and r is the radius of the sphere.

[0134] R3: Due to the existence of target detection and projection errors in practice, these points, i.e., the three-dimensional graphic boundary coordinates, do not exactly satisfy the above equation, that is, F(X i , Y i , Z i , S x , S y , S z , r) ≠ 0. Therefore, the least squares method is used to fit these points, which is transformed into an optimization problem, and the estimator (S x，ball , S y，ball , S z，ball ) of the centroid coordinate at the current moment is obtained:

[0135]

[0136] Thus, the centroid coordinate is estimated, and the set of centroid coordinates corresponding to each frame of the object image is the motion trajectory.

[0137] As shown Figure 3 in the figure, it is a schematic diagram of the centroid coordinate determination method. The specific implementation process is as follows: First, from multiple frames of images, object images containing the target object are obtained by target segmentation. Each frame of image corresponds to a timestamp. Then, the contour of the target object in the object image is extracted to obtain the two-dimensional graphic area corresponding to each frame of object image. Finally, the centroid coordinates of the two-dimensional graphic area are determined.

[0138] In some embodiments, the above step S100A12 may include the following steps:

[0139] Step S100A121: Determine whether the vehicle responds to the instruction to impact the target object according to the motion trajectory and the target action height;

[0140] Step S100A122: If it is detected that the vehicle responds to the instruction to impact the target object, determine the motion speed of the target object when the vehicle responds to the instruction to impact the target object according to the motion trajectory and the target action height;

[0141] Step S100A123: Determine the control law according to the initial attitude information and the motion speed of the vehicle when the vehicle responds to the instruction to impact the target object.

[0142] When it is detected that the vehicle responds to the instruction to impact the target object, that is, when it is detected that the vehicle starts to enter the program of impacting the target object, it is necessary to determine the motion speed of the target object at the moment of impact, such as the three-axis motion speed (such as the X, Y, and Z axes). This can be achieved by analyzing the motion trajectory of the target object and the target action height.

[0143] In some embodiments, the following steps may also be included:

[0144] Step S100A13: If it is not detected that the vehicle responds to the instruction to impact the target object, determine the control law as the preset control law.

[0145] The preset control law is a pre-set control law. Exemplarily, the preset control law is zero, that is, the driving force is 0 N (Newton).

[0146] If it is not detected that the vehicle responds to the instruction to impact the target object, it indicates that the vehicle has not started to enter the program of impacting the target object. At this time, there is no need to calculate the control law, and the control law is directly determined as the preset control law.

[0147] In some embodiments, the above step S100A121 may include the following steps:

[0148] Step S100A1211: Determine the impact time when the vehicle impacts the target object at the target action height according to the motion trajectory;

[0149] Step S100A1212: Determine whether the vehicle responds to the impact target object instruction according to the impact time, the current time, and the preset time.

[0150] The preset time is a critical value of the time difference between the impact time and the current time that is preset for determining whether the vehicle responds to the impact target object instruction.

[0151] It is possible to determine whether the vehicle has started to enter the procedure of impacting the target object by comparing the impact time, the current time, and the preset time. If the difference between the impact time and the current time is less than or equal to the preset time, it indicates that the vehicle has started to enter the procedure of impacting the target object.

[0152] In some embodiments, the above step S100A1211 may include the following steps:

[0153] Step S100A12111: Select any two timestamps and the corresponding centroid coordinates from the motion trajectory, and use the displacement corresponding to the free fall motion of the target object to determine the time when the target object is impacted to the target action height, so as to obtain the impact time.

[0154] The falling process of the target object is a free fall process. Therefore, the Z-direction displacement of the target object can be described as (the positive direction of Z is upward):

[0155] Formula 1:

[0156] In Formula 1, g is the acceleration due to gravity, b and c are parameters to be determined, and S z，ball is the Z-direction displacement of the target object. At the kth sampling moment, substitute the sampling points (t k-1 , S x,ball,k-1 , S y,ball,k-1 , S z,ball,k-1 ), (t k , S x,ball,k , S y,ball,k , S z,ball,k ) into Formula 1 to obtain b and c, and then obtain Formula 1. According to Formula 1, the time at the preset impact height can be obtained, that is, the impact time t hit .

[0157] In some embodiments, the above step S100A1212 may include the following steps:

[0158] Step S100A12121: Determine the remaining time until responding to the impact target object instruction according to the impact time and the current time;

[0159] Step S100A12122: Determine whether the vehicle responds to the impact target object instruction according to the comparison result of the remaining time and the current time.

[0160] Calculate the remaining time t until impact res = t hit - t k (the difference between the impact time and the current time), when t res ≤ t res,crt , determine that the vehicle starts the program of hitting the target object, and t res,crt is a preset time.

[0161] In some embodiments, the above step S100A122 may include the following steps:

[0162] Step S100A1221: Select any two timestamps and their corresponding centroid coordinates from the motion trajectory, and perform difference processing on the horizontal and vertical coordinates in the centroid coordinates respectively to obtain the horizontal velocity and the vertical velocity;

[0163] Step S100A1222: Determine the vertical velocity according to the impact time and the displacement. The three-axis motion velocity includes the horizontal velocity, the vertical velocity, and the vertical velocity.

[0164] Specifically, taking the front of the vehicle as the positive X direction and the left side of the vehicle as the positive Y direction, the horizontal velocity, the vertical velocity, and the vertical velocity are the Y-direction velocity, the X-direction velocity, and the Z-direction velocity respectively.

[0165] The vertical velocity V x，ball，hit , the horizontal velocity V y，ball，hit can be obtained by differential calculation through the following formula:

[0166]

[0167] In some embodiments, the above step S100A1222 may include the following steps:

[0168] Step S100A12221: Perform derivative processing on the displacement to obtain the displacement derivative;

[0169] [[ID=4)), step S100A12222: Obtain the vertical velocity according to the impact time and the displacement derivative.

[0170] Taking the derivative of the displacement in the above formula 1, the Z-direction velocity curve of the target object falling can be obtained, as shown in formula 2:

[0171] Formula 2: v z,ball = gt hit + b;

[0172] Substitute the impact time t hit into formula 2 to obtain the vertical velocity (Z-direction velocity) of the target object at the time of impact.

[0173] In some embodiments, the above step S100A123 may include the following steps:

[0174] Step S100A1231: Determine the target attitude information of the vehicle when hitting the target according to the triaxial motion speed in the preset impact direction;

[0175] Step S100A1232: Perform trajectory planning according to the initial attitude information, the target attitude information, and the remaining time to obtain the target attitude trajectory of the vehicle;

[0176] Step S100A1233: Determine the control law according to the target attitude trajectory and the actuator parameters of the suspension.

[0177] The preset impact direction may be the opposite direction of the target's running direction. The target is in free-fall operation in its natural state. Therefore, the preset impact direction may be the vertical direction, so as to ensure that the vehicle hits the target vertically. In this way, the target will not rotate, and the problem of difficult control of hitting the target caused by the rotation of the target can be avoided.

[0178] The initial attitude information of the vehicle is the attitude information when the vehicle starts to enter the program of hitting the target, including the current pitch angle, the current roll angle, and the current Z-direction position of the vehicle, which can be obtained by real-time acquisition through the corresponding sensors on the vehicle. The actuator parameters include the actual position and the actual speed of the actuator at the current moment.

[0179] In some embodiments, the above step S100A1231 may include the following steps:

[0180] Step S100A12311: Determine the target pitch angle of the vehicle when hitting the target according to the lateral speed and the vertical speed;

[0181] Step S100A12312: Determine the target roll angle of the vehicle when hitting the target according to the longitudinal speed and the vertical speed;

[0182] Step S100A12313: Determine the target vertical displacement of the vehicle when hitting the target according to the vertical speed. The target attitude information includes the target pitch angle, the target roll angle, and the target vertical displacement.

[0183] Target pitch angle and target roll angle can be calculated by the following formula 3 (the positive direction of the angle follows the right-hand rule):

[0184] Formula 3:

[0185] Target vertical displacement It can be calculated based on the vertical speed and the shape and size of the target object. That is, substituting the impact time into Formula 1 to obtain the vertical displacement including the size of the target object. Subtract this vertical displacement from the size of the target object to obtain the target vertical displacement. In the case where the target object is a sphere, the target vertical displacement trajectory is (where r is the radius of the sphere).

[0186] In some embodiments, the above step S100A1232 may include the following steps:

[0187] Step S100A12321: Using a preset trajectory planning method, determine the target attitude trajectory of the vehicle when changing from the initial attitude information to the target attitude information during the remaining time. The target attitude trajectory includes the target pitch angle trajectory, the target roll angle trajectory, and the target vertical displacement trajectory.

[0188] Among them, the target pitch angle trajectory is the set of target pitch angles after the target pitch angle experiences the remaining time t res , that is . Similarly, the target roll angle trajectory is . Similarly, the target vertical displacement trajectory is . Similarly, the target vertical displacement trajectory is

[0189] In some embodiments, the preset trajectory planning method is at least one of N - degree polynomial planning, S - type planning, and Bezier curve planning, where N is a natural number greater than 2.

[0190] The preset trajectory planning method can be a cubic polynomial planning method, a fifth - degree polynomial, an S - type planning, or a Bezier curve planning, etc. By using the trajectory planning method, the continuity and smoothness of the target pitch angle trajectory, the target roll angle trajectory, and the target vertical displacement trajectory of the vehicle can be ensured, thereby ensuring the effect of the vehicle's control of the impact target object.

[0191] In this embodiment, taking the cubic polynomial planning method as an example for illustration:

[0192] First, define the polynomial form: The general form of a cubic polynomial is: p(t)=a0 + a1t + a2t 2 + a3t 3 where p(t) is a function of time t, and a0, a1, a2, a3 are the coefficients of the polynomial.

[0193] Then, determine the boundary conditions: To plan the trajectory from the initial state to the target state, the following boundary conditions need to be determined:

[0194] The initial position p(0)=p start ;

[0195] The initial velocity p′(0) = v start ;

[0196] The initial acceleration p″(0) = a start ;

[0197] The target position p(T) = p end ;

[0198] The target velocity p′(T) = v end ;

[0199] The target acceleration p″(T) = a end ;

[0200] Next, according to the boundary conditions, a system of equations can be constructed to solve for the coefficients of the polynomial. For example, if only the continuity of position and velocity is required, the following system of equations can be obtained:

[0201] p(0) = a0 = p start ;

[0202] p′(0) = a1 = v start ;

[0203] p(T) = a0 + a1T + a2T 2 + a3T 3 = p end ;

[0204] p′(T) = a1 + 2a2T + 3a3T 2 = v end ;

[0205] Finally, solve the system of equations: Solving this system of equations can obtain the coefficients a0, a1, a2, a3. With the coefficients determined, the cubic polynomial function p(t) can be used to generate the trajectory from t = 0 to t = t res .

[0206] In the above manner, cubic polynomial trajectories are respectively planned for the target pitch angle, target roll angle, and target vertical displacement to obtain the corresponding target pitch angle trajectory, target roll angle trajectory, and target vertical displacement trajectory.

[0207] In some embodiments, the above step S100A1233 may include the following steps:

[0208] Step S100A12331: Determine the feedforward control law according to the target attitude trajectory;

[0209] Step S100A12332: Determine the feedback control law according to the target attitude trajectory and the actual actuator parameters;

[0210] Step S100A12333: Obtain the control law according to the feedforward control law and the feedback control law.

[0211] Feedforward control is an open-loop control strategy that directly calculates the control signal based on the system model and the desired input without relying on the system output feedback. The feedforward control law in this embodiment can be determined according to the target attitude trajectory.

[0212] Feedback control is a closed-loop control strategy that compares the system output with the desired reference value (setpoint) and adjusts the control signal according to the error. The feedback control law in this embodiment can be determined according to the target attitude trajectory and the actual actuator parameters.

[0213] The feedforward control law and the feedback control law can be summed up, and the summation result is used as the control law.

[0214] In some embodiments, the above step S100A12332 may include the following steps:

[0215] Step S100A123321: Determine the target actuator parameters of the actuator according to the target attitude trajectory;

[0216] Step S100A123322: Determine the feedback control law according to the target actuator parameters and the actual actuator parameters.

[0217] The target actuator parameters are the target parameters of the actuator when the vehicle changes from the initial attitude information to the target attitude information during the remaining time, including the target actuator position and the target actuator speed.

[0218] In some embodiments, the above step S100A123321 may include the following steps:

[0219] Step S100A1233211: Analyze the target attitude trajectory to determine the target actuator position of the actuator;

[0220] Step S100A1233212: Determine the target actuator speed of the actuator according to the target vertical displacement trajectory. The target actuator parameters include the target actuator position and the target actuator speed.

[0221] In some embodiments, the above step S100A1233211 may include the following steps:

[0222] S100A12332111: Determine the target actuator position change amount corresponding to the target attitude trajectory according to the preset corresponding relationship between the actuator position change amount and the attitude trajectory;

[0223] S100A12332112: Determine the target actuator position according to the target actuator position change amount.

[0224] Among them, the preset corresponding relationship between the actuator position change amount and the attitude trajectory is the preset corresponding relationship between the actuator position change amount and the attitude trajectory, which can be represented by the following formula 4:

[0225] Formula 4:

[0226]

[0227] In Formula 4, the attitude information includes the pitch angle tanθ pch , the roll angle tanθ roll , the vertical displacement S z，veh , L a , L b is the distance from the vehicle's center of mass to the front axle and the rear axle, L w,f , L w,r are the front wheel track and the rear wheel track of the vehicle respectively, i f , i r are the leverage ratios of the front suspension and the rear suspension respectively. ΔH act，lf , ΔH act，rf , ΔH act，lr , ΔH act，rr are the actuator position change amounts of the actuators of the left front wheel suspension, the actuator position change amounts of the actuators of the right front wheel suspension, the actuator position change amounts of the actuators of the left rear wheel suspension, and the actuator position change amounts of the actuators of the right rear wheel suspension respectively.

[0228] Therefore, the relationship between the target pitch angle trajectory, the target roll angle trajectory, the target vertical displacement trajectory of the vehicle and the position change amount of the target actuator position can be represented by Formula 5:

[0229]

[0230] In Formula 5, are the target actuator position change amounts of the actuators of the left front wheel suspension, the target actuator position change amounts of the actuators of the right front wheel suspension, the target actuator position change amounts of the actuators of the left rear wheel suspension, and the target actuator position change amounts of the actuators of the right rear wheel suspension.

[0231] In some embodiments, the above step S100A12332112 may include the following steps:

[0232] S100A123321121: Determine the target actuator position according to the target actuator position change amount and the balance position of the actuator.

[0233] In a specific embodiment, taking the actuator of the left front wheel suspension as an example for illustration, the target actuator position of the actuator of the left front wheel suspension can be represented by Formula 6:

[0234] Formula 6:

[0235] In Formula 6, is the target actuator position, and H act,s,lf is the actuator balance position, that is, the position of the actuator when the vehicle is stationary on a flat road surface.

[0236] In some embodiments, the above step S100A1233212 may include the following steps:

[0237] Step S100A12332121: Perform a difference operation on the target vertical displacement trajectory to obtain the target actuator speed.

[0238] Select the target vertical displacement trajectories at two moments, calculate the ratio of the difference between the two target vertical displacement trajectories to the difference between the two moments to obtain the target actuator speed.

[0239] In some embodiments, the above step S100A12331 may include the following steps:

[0240] Step S100A123311: Determine the target actuator position change amount corresponding to the target attitude trajectory according to the preset corresponding relationship between the actuator position change amount and the attitude trajectory;

[0241] Step S100A123312: Obtain the feedforward control law according to the target actuator position change amount.

[0242] The feedforward control law can be expressed by the following Formula 7:

[0243] Formula 7:

[0244] In Formula 7, F act，forward，lf is the feedforward control law, where k f is the front suspension stiffness, is the square of the lever ratio of the front suspension.

[0245] Such as Figure 4As shown, it is a schematic diagram of the method for determining the parameters of the target actuator. Taking a football as the target object, the determination process of the parameters of the target actuator is described. The chassis motion controller 9 includes a football impact speed estimation module, a vehicle body impact attitude analysis module, a trajectory planning module, a trajectory analysis module, and a position tracking module. First, using the football impact speed estimation module, the impact time and the three-axis motion speed of the football are determined according to the football centroid coordinates and the corresponding timestamps (i.e., the motion trajectory of the football). Then, using the vehicle body impact attitude analysis module, the hitting state command (including two situations, the start hitting state and the waiting state) and the target pitch angle, target roll angle, and target Z-direction displacement of the vehicle are judged according to the impact time and the three-axis motion speed of the football. When the hitting state command is judged to be the waiting state, the actuating forces of the 4 suspensions are directly determined to be 0. When the hitting state command is judged to be the start hitting state, the target pitch angle trajectory, target roll angle trajectory, and target Z-direction displacement trajectory of the vehicle are planned through the trajectory planning module according to the target pitch angle, target roll angle, and target Z-direction displacement of the vehicle. Then, the parameters of the target actuator are analyzed according to the target pitch angle trajectory, target roll angle trajectory, and target Z-direction displacement trajectory.

[0246] In some embodiments, the above step S100A123322 may include the following steps:

[0247] Step S100A1233221: Determine the first feedback control law according to the actual actuator position and the target actuator position;

[0248] Step S100A1233222: Determine the second feedback control law according to the actual actuator speed and the target actuator speed;

[0249] Step S100A1233223: Obtain the feedback control law according to the first feedback control law and the second feedback control law.

[0250] The first feedback control law and the second feedback control law can be subjected to a summation calculation, and the summation result is determined as the feedback control law.

[0251] In some embodiments, the above step S100A1233221 may include the following steps:

[0252] S100A12332211: Perform at least one of proportional control, derivative control, or integral control according to the position difference between the actual actuator position and the target actuator position to obtain the first feedback control law.

[0253] In a specific embodiment, the position difference between the actual actuator position and the target actuator position is respectively subjected to proportional control calculation and integral control. At this time, the first feedback control law can be expressed by formula 8:

[0254] Formula 8:

[0255]

[0256] In Formula 8, is the actual actuator position, is the target actuator position, s is the Laplace transform symbol, and k p，H is the proportional gain of the position difference, and k i，H is the integral gain of the position difference.

[0257] In some embodiments, the above step S100A1233222 may include the following steps:

[0258] S100A12332221: Perform at least one of proportional control, derivative control, or integral control according to the speed difference between the actual actuator speed and the target actuator speed to obtain a second feedback control law.

[0259] In a specific embodiment, proportional control is performed on the speed difference between the actual actuator speed and the target actuator speed. At this time, the second feedback control law can be expressed by Formula 9:

[0260]

[0261] Formula 9:

[0262] In Formula 9, is the target actuator speed, is the actual actuator speed, s is the Laplace transform symbol, and k p，V is the proportional gain of the speed difference.

[0263] As shown in Figure 5 , it is a schematic diagram of the suspension actuation force determination method. The specific implementation process is as follows: Use the camera 5 to collect the video of the target object, analyze the video through the second controller 6 to determine the centroid coordinates and the corresponding timestamps; the chassis motion controller 9 determines the actuator parameters of the 4 suspensions according to the target action height input by the user to the PAD 7 to determine the actuation forces of the 4 suspensions. The first controller 8 calculates the current of the actuator according to the actuation force and drives the active suspension to achieve the target actuation force, thereby driving the vehicle body 1 and the tooling 10 to move and intermittently impact the target object (such as a football) to achieve the effect of juggling the ball.

[0264] In summary, the vehicle control method provided by the embodiments of the present application adjusts the height of the suspension so that the vehicle acts on the target object, and the target object can change its position under the action of the vehicle, thereby enriching the functions of the vehicle.

[0265] According to a second aspect of the present application, embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented. This non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned vehicle control method, and the present application will not elaborate herein.

[0266] According to a third aspect of the present application, embodiments of the present application further provide an electronic device, including: a memory and a processor, and a computer program is stored on the memory; the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned vehicle control method. This electronic device has all the beneficial effects of the above-mentioned vehicle control method, and the present application will not elaborate herein.

[0267] The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. The present application does not make specific limitations in this regard. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0268] In some embodiments of the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0269] The above-mentioned computer-readable storage medium can be included in the above-mentioned electronic device; it can also exist separately without being assembled into the electronic device. The above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device is caused to:

[0270] Adjust the height of the suspension so that the vehicle acts on a target object, and the target object can change its position under the action of the vehicle.

[0271] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or may be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0272] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing a specified logical function.

[0273] It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings.

[0274] For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0275] The units described in some embodiments of the present application may be implemented in software or in hardware. The described units may also be provided in a processor. For example, it may be described as: a processor includes a control module. Among them, the names of these units do not constitute a limitation on the unit itself in some cases. For example, the control module may also be described as "for adjusting the height of the suspension so that the vehicle acts on a target object, and the target object can change its position under the action of the vehicle".

[0276] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chip (SOCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0277] According to the fifth aspect of the present application, as Figure 6 shown, an embodiment of the present application further provides a vehicle 20, which includes the above-mentioned electronic device. The vehicle includes an actuator and a first controller; the actuator is configured to, under the control of the first controller, adjust the height of the suspension so that the vehicle acts on the target object, causing the target object to change its position under the action of the vehicle.

[0278] In some embodiments, the actuator is further configured to: under the control of the first controller, adjust the height of the suspension so that the vehicle acts on the target object, enabling the target object to bounce under the action of the vehicle.

[0279] In some embodiments, the actuator is further configured to: under the control of the first controller, intermittently adjust the height of the suspension so that the vehicle intermittently acts on the target object.

[0280] In some embodiments, the actuator is an electromagnetic actuator. It can be understood that the electromagnetic actuator can achieve fast dynamic response, which makes it perform excellently in scenarios that require rapid adjustment and control. For example, in an active suspension system, the electromagnetic actuator can complete height adjustment in a short time, effectively improving the vehicle's handling performance.

[0281] In some embodiments, the vehicle 20 further includes: a camera system for acquiring multiple frames of images of the target object; the actuator is configured to intermittently adjust the driving force of the suspension based on the multiple frames of images of the target object.

[0282] In some embodiments, the vehicle 20 further includes a central control screen and a chassis motion controller: the camera system is further configured to determine the motion trajectory of the target object and send the motion trajectory to the chassis motion controller; the central control screen is configured to receive the target action height of the target object and send the target action height to the chassis motion controller; the chassis motion controller is configured to determine the target driving force of the suspension according to the motion trajectory and the target action height and send the target driving force to the first controller; the first controller is configured to adjust the height of the suspension according to the target driving force.

[0283] In some embodiments, the imaging system includes a camera and a second controller; the camera is configured to collect video information of the target object and send the video information to the second controller; the second controller is configured to determine the motion trajectory of the target object according to the video information.

[0284] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present application does not make specific limitations thereto.

[0285] In the description 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 features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0286] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0287] The embodiments, implementation manners and related technical features of the present application can be combined and replaced with each other without conflict.

[0288] The above are only the preferred embodiments of the present application and do not impose any form of limitation on the present application. Although in the embodiments of the present application, the descriptions of the respective embodiments have their own emphases, and for the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that, Comprising: Adjust the height of the suspension so that the vehicle acts on the target object, and the target object can change its position under the action of the vehicle.

2. The method according to claim 1, wherein The target object can bounce under the action of the vehicle.

3. The method according to claim 2, characterized in that, The adjusting the height of the suspension includes: Intermittently adjust the height of the suspension so that the vehicle intermittently acts on the target object, and the target object can bounce under the action of the vehicle.

4. The method according to claim 3, characterized in that The intermittently adjusting the height of the suspension includes one of the following: Intermittently raise the height of the suspension; Intermittently lower the height of the suspension; Intermittently raise or lower the height of the suspension.

5. The method according to claim 3, wherein The intermittently adjusting the height of the suspension includes: Intermittently adjust the actuating force of the suspension to intermittently adjust the height of the suspension.

6. The method according to claim 5, wherein The intermittently adjusting the actuating force of the suspension includes: Intermittently adjust the actuating force of the suspension based on multiple frames of images of the target object.

7. The method according to claim 6, wherein The intermittently adjusting the actuating force of the suspension based on multiple frames of images of the target object includes: Determine the control law of the suspension based on the images; Intermittently adjust the actuating force of the suspension based on the control law.

8. The method according to claim 7, wherein The determining the control law of the suspension based on the images includes: Obtain the motion trajectory of the target object according to the images; Determine the control law according to the target action height of the target object and the motion trajectory; Wherein, the target action height is the height of the contact position between the vehicle and the target object.

9. The method according to claim 8, characterized in that The motion trajectory includes multiple centroid coordinates of the target object; the obtaining the motion trajectory of the target object according to the images includes: Obtain a two-dimensional graphic area including the target object from multiple frames of the images; Based on each two-dimensional graphic area, determine multiple centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory.

10. The method according to claim 9, wherein The obtaining a two-dimensional graphic area including the target object from multiple frames of the images includes: Perform target image segmentation on multiple frames of the images in the object video containing the target object to obtain the object images, wherein each frame of image corresponds to a time stamp; Extract the contour of the target object in the object images to obtain the two-dimensional graphic area corresponding to each frame of the object images; the motion trajectory includes multiple centroid coordinates at multiple time stamps.

11. The method according to claim 9, wherein The determining multiple centroid coordinates of the centroid of the target object in three-dimensional space based on each two-dimensional graphic area to obtain the motion trajectory includes: For each two-dimensional graphic area, determine the corresponding set of two-dimensional graphic boundary coordinates, and the set of two-dimensional graphic boundary coordinates includes multiple two-dimensional graphic boundary coordinates; Based on the set of two-dimensional graphic boundary coordinates, determine the centroid coordinates of the centroid of the target object in three-dimensional space to obtain the motion trajectory.

12. The method according to claim 11, wherein The determining the centroid coordinates of the centroid of the target object in three-dimensional space based on the set of two-dimensional graphic boundary coordinates to obtain the motion trajectory includes: Project the set of two-dimensional graphic boundary coordinates into three-dimensional space to obtain the corresponding set of three-dimensional graphic boundary coordinates, and the set of three-dimensional graphic boundary coordinates includes multiple three-dimensional graphic boundary coordinates; Determine the centroid coordinates of the target in three-dimensional space based on the set of three-dimensional graphic boundary coordinates to obtain the motion trajectory.

13. The method according to claim 12, characterized in that, The determining the centroid coordinates of the target in three-dimensional space based on the set of three-dimensional graphic boundary coordinates to obtain the motion trajectory includes: Fit a three-dimensional plane based on the set of three-dimensional graphic boundary coordinates; Estimate the centroid coordinates of the target in three-dimensional space based on the three-dimensional plane to obtain the motion trajectory.

14. The method according to claim 8, wherein The determining the control law according to the target action height of the target and the motion trajectory includes: Judge whether the vehicle responds to the impact target instruction according to the motion trajectory and the target action height; If it is detected that the vehicle responds to the impact target instruction, then determine the motion speed of the target when the vehicle responds to the impact target instruction according to the motion trajectory and the target action height; Determine the control law according to the initial attitude information and the motion speed of the vehicle when the vehicle responds to the impact target instruction.

15. The method according to claim 14, characterized in that, It further includes: If it is not detected that the vehicle responds to the impact target instruction, then determine the control law as a preset control law.

16. The method according to claim 14, wherein The judging whether the vehicle responds to the impact target instruction according to the motion trajectory and the target action height includes: Determine the impact time when the vehicle impacts the target at the target action height according to the motion trajectory; Judge whether the vehicle responds to the impact target instruction according to the impact time, the current time and a preset time.

17. The method according to claim 16, characterized in that, The determining the impact time when the vehicle impacts the target at the target action height according to the motion trajectory includes: Select any two timestamps and the corresponding centroid coordinates from the motion trajectory, and use the displacement corresponding to the free fall motion of the target to determine the time when the target is impacted to the target action height to obtain the impact time.

18. The method according to claim 16, wherein The judging whether the vehicle responds to the impact target instruction according to the impact time, the current time and a preset time includes: Determine the remaining time to respond to the impact target instruction according to the impact time and the current time; Judge whether the vehicle responds to the impact target instruction according to the comparison result between the remaining time and the current time.

19. The method according to claim 17, characterized in that, The motion speed includes three-axis motion speeds. The determining the motion speed of the target when the vehicle responds to the impact target instruction according to the motion trajectory and the target action height includes: Select any two timestamps and the corresponding centroid coordinates from the motion trajectory, and perform difference processing on the horizontal axis coordinates and the vertical axis coordinates in the centroid coordinates respectively to obtain the horizontal speed and the vertical speed; Determine the vertical speed according to the impact time and the displacement. The three-axis motion speeds include the horizontal speed, the vertical speed and the vertical speed.

20. The method according to claim 19, wherein The determining the vertical speed according to the impact time and the displacement includes: Perform a derivative processing on the displacement to obtain a displacement derivative; Obtain the vertical speed according to the impact time and the displacement derivative.

21. The method according to claim 18, wherein Determining the control law according to the initial attitude information and the three-axis motion speed of the vehicle when the vehicle responds to the impact target instruction includes: Determining the target attitude information when the vehicle impacts the target in accordance with a preset impact direction according to the three-axis motion speed, where the preset impact direction is the vertical direction; Performing trajectory planning according to the initial attitude information, the target attitude information, and the remaining time to obtain the target attitude trajectory of the vehicle; Determining the control law according to the target attitude trajectory and the actuator parameters of the suspension.

22. The method according to claim 19, characterized in that, The determining the target attitude information when the vehicle impacts the target in accordance with a preset impact direction according to the three-axis motion speed includes: Determining the target pitch angle of the vehicle when impacting the target according to the lateral speed and the vertical speed; Determining the target roll angle of the vehicle when impacting the target according to the longitudinal speed and the vertical speed; Determining the target vertical displacement of the vehicle when impacting the target according to the vertical speed, where the target attitude information includes the target pitch angle, the target roll angle, and the target vertical displacement.

23. The method according to claim 21, wherein The performing trajectory planning according to the initial attitude information, the target attitude information, and the remaining time to obtain the target attitude trajectory of the vehicle includes: Adopting a preset trajectory planning method to determine the target attitude trajectory when the vehicle changes from the initial attitude information to the target attitude information after experiencing the remaining time, where the target attitude trajectory includes a target pitch angle trajectory, a target roll angle trajectory, and a target vertical displacement trajectory.

24. The method according to claim 23, wherein The preset trajectory planning method is at least one of N-degree polynomial planning, S-shaped planning, and Bezier curve planning, where N is a natural number greater than 2.

25. The method according to claim 21, wherein Determining the control law according to the target attitude trajectory and the actual actuator parameters of the actuator includes: Determining the feedforward control law according to the target attitude trajectory; Determining the feedback control law according to the target attitude trajectory and the actual actuator parameters; Obtaining the control law according to the feedforward control law and the feedback control law.

26. The method according to claim 25, characterized in that, Determining the feedback control law according to the target attitude trajectory and the actual actuator parameters includes: Determining the target actuator parameters of the actuator according to the target attitude trajectory; Determining the feedback control law according to the target actuator parameters and the actual actuator parameters.

27. The method according to claim 26, wherein Determining the target actuator parameters of the actuator according to the target attitude trajectory includes: Analyzing the target attitude trajectory to determine the target actuator position of the actuator; Determining the target actuator speed of the actuator according to the target vertical displacement trajectory, where the target actuator parameters include the target actuator position and the target actuator speed.

28. The method according to claim 27, wherein The analyzing the target attitude trajectory to determine the target actuator position of the actuator includes: Determining the target actuator position change amount corresponding to the target attitude trajectory according to the corresponding relationship between the preset actuator position change amount and the attitude trajectory; Determining the target actuator position according to the target actuator position change amount.

29. The method according to claim 28, wherein Determining the feedforward control law according to the target attitude trajectory includes: Determining the target actuator position variation corresponding to the target attitude trajectory according to the preset correspondence between the actuator position variation and the attitude trajectory; Obtaining the feedforward control law according to the target actuator position variation.

30. The method according to claim 27, wherein Determining the target actuator speed of the actuator according to the target vertical displacement trajectory includes: Performing a difference operation on the target vertical displacement trajectory to obtain the target actuator speed.

31. The method according to claim 28, wherein Determining the target actuator position according to the target actuator position variation includes: Determining the target actuator position according to the target actuator position variation and the equilibrium position of the actuator.

32. The method according to claim 27, wherein The actual actuator parameters include the actual actuator position and the actual actuator speed; Determining the feedback control law according to the target actuator parameters and the actual actuator parameters includes: Determining the first feedback control law according to the actual actuator position and the target actuator position; Determining the second feedback control law according to the actual actuator speed and the target actuator speed; Obtaining the feedback control law according to the first feedback control law and the second feedback control law.

33. The method according to claim 32, wherein Determining the first feedback control law according to the actual actuator position and the target actuator position includes: Performing at least one of proportional control, derivative control, or integral control according to the position difference between the actual actuator position and the target actuator position to obtain the first feedback control law.

34. The method according to claim 32, wherein Determining the second feedback control law according to the actual actuator speed and the target actuator speed includes: Performing at least one of proportional control, derivative control, or integral control according to the speed difference between the actual actuator speed and the target actuator speed to obtain the second feedback control law.

35. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 34.

36. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 34.

37. An electronic device, characterized in that, Including: A memory storing a computer program thereon; A processor for executing the computer program in the memory to implement the vehicle control method according to any one of claims 1 to 34.

38. A vehicle, characterized in that, Including an actuator and a first controller; The actuator is configured to adjust the height of the suspension under the control of the first controller so that the vehicle acts on the target object, enabling the target object to change its position under the action of the vehicle.

39. The vehicle according to claim 38, characterized in that, The actuator is further configured to: Adjust the height of the suspension under the control of the first controller so that the vehicle acts on the target object, enabling the target object to bounce under the action of the vehicle.

40. The vehicle according to claim 39, wherein The actuator is further configured to: Intermittently adjust the height of the suspension under the control of the first controller so that the vehicle intermittently acts on the target object.

41. The vehicle according to claim 39 or 40, characterized in that, The actuator is an electromagnetic actuator.

42. The vehicle according to claim 40, characterized in that, The vehicle further includes: A camera system for acquiring multiple frames of images of the target object; The actuator is configured to intermittently adjust the acting force of the suspension based on the multiple frames of images of the target object.

43. The vehicle according to claim 42, wherein, The vehicle further includes a central control screen and a chassis motion controller: The camera system is further configured to determine a motion trajectory of the target object and send the motion trajectory to the chassis motion controller; The central control screen is configured to receive a target action height of the target object and send the target action height to the chassis motion controller; The chassis motion controller is configured to determine a target acting force of the suspension according to the motion trajectory and the target action height, and send the target acting force to the first controller; The first controller is configured to adjust the height of the suspension according to the target acting force.

44. The vehicle according to claim 42 or 43, characterized in that, The camera system includes a camera and a second controller; The camera is configured to collect video information of the target object and send the video information to the second controller; The second controller is configured to determine the motion trajectory of the target object according to the video information.

Images