Vehicle control method and device, vehicle, medium and product

Abstract

The invention discloses a vehicle control method, a control device, an electronic device, a vehicle, a computer readable storage medium and a computer program product, and the control method comprises the steps that according to a pattern track input by a user, the vehicle runs along the pattern track. Thus, the vehicle can run along the pattern track input by the user, the motion track of the vehicle can be matched with the pattern track input by the user to a certain extent, vehicle motion control based on pattern drawing is achieved, interaction and interestingness between the user and the vehicle can be enhanced to a great extent, and the user experience is improved. Therefore, the vehicle use experience of the user can be effectively improved.

Description

Technical Field

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

[0002] In the related art, vehicles are mainly used to meet the travel needs of users and can only respond to user driving operations such as steering wheel rotation, brake pedal pressing, etc., and it is difficult to combine entertainment with vehicle use. Summary of the Invention

[0003] The present application provides a control method, a control device, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product for a vehicle.

[0004] A control method for a vehicle provided by an embodiment of the present application includes:

[0005] According to the pattern trajectory input by the user, the vehicle travels along the pattern trajectory.

[0006] In this way, in the embodiment of the present application, the vehicle can travel along the pattern trajectory input by the user, and thus the movement trajectory of the vehicle can match the pattern trajectory input by the user to a certain extent, thereby realizing vehicle movement control based on pattern drawing, which can greatly enhance the interactivity and interest between the user and the vehicle, and effectively improve the user's vehicle use experience.

[0007] In some embodiments of the present application, the step of according to the pattern trajectory input by the user, the vehicle travels along the pattern trajectory includes:

[0008] According to the pattern trajectory, the position of the vehicle changes along with the pattern trajectory.

[0009] In this way, in the embodiment of the present application, the position of the vehicle can change along the pattern trajectory, so that the movement trajectory of the vehicle in the horizontal direction matches the pattern trajectory, thereby realizing vehicle movement control based on pattern drawing.

[0010] In some embodiments of the present application, the step of according to the pattern trajectory, the position of the vehicle changes along with the pattern trajectory includes:

[0011] According to the pattern trajectory, the rotational speed of the driving motor of the vehicle changes along with the pattern trajectory, so that the position of the vehicle changes along with the pattern trajectory.

[0012] In this way, in the embodiment of the present application, the rotational speed of the driving motor of the vehicle can change along the pattern trajectory, so that the position of the vehicle can change along the pattern trajectory.

[0013] In some embodiments of the present application, for the vehicle traveling along the pattern trajectory according to the user input, it includes:

[0014] According to the pattern trajectory, the height of the vehicle suspension changes along with the pattern trajectory.

[0015] Thus, in the embodiments of the present application, the height of the vehicle suspension can be changed along the pattern trajectory, so that the movement trajectory of the vehicle in the vertical direction can match the pattern trajectory, thereby realizing the vehicle motion control based on pattern drawing.

[0016] In some embodiments of the present application, for the height of the vehicle suspension changing along with the pattern trajectory according to the pattern trajectory, it includes:

[0017] According to the pattern trajectory, the power output of the vehicle suspension changes along with the pattern trajectory, so that the height of the vehicle suspension changes along with the pattern trajectory.

[0018] Thus, in the embodiments of the present application, the power output of the vehicle suspension can be changed along with the pattern trajectory, thereby enabling the height of the vehicle suspension to change along with the pattern trajectory.

[0019] In some embodiments of the present application, the length of the projection of the pattern trajectory in a preset direction is greater than a preset value.

[0020] Thus, in the embodiments of the present application, the user can input a pattern trajectory whose projection length in the preset direction is greater than the preset value, so as to control the vehicle.

[0021] In some embodiments of the present application, when the vehicle travels along the pattern trajectory, there is a displacement of the vehicle in the vehicle traveling direction.

[0022] Thus, in the embodiments of the present application, the vehicle can generate a displacement in the vehicle traveling direction along the pattern trajectory input by the user.

[0023] In some embodiments of the present application, the pattern trajectory includes a first trajectory segment and a second trajectory segment, and the first trajectory segment and the second trajectory segment are different.

[0024] Thus, in the embodiments of the present application, the user can input different first trajectory segments and second trajectory segments, so that the vehicle travels along the first trajectory segment and the second trajectory segment.

[0025] In some embodiments of the present application, the first trajectory segment is continuous with the second trajectory segment.

[0026] Thus, in the embodiment of the present application, the pattern track can be realized based on the first track segment and the second track segment having a continuous relationship.

[0027] In certain embodiments of the present application, the vehicle driving along the pattern track according to the pattern track input by the user includes:

[0028] The vehicle travels along the pattern track according to the pattern track obtained by the user's one-time input.

[0029] In this way, in the embodiment of the present application, the vehicle can travel along the pattern track formed by the user through a single input operation. Furthermore, the user can make the vehicle travel through a single input operation, which can improve the fun of vehicle control to a certain extent.

[0030] In certain embodiments of the present application, the vehicle driving along the pattern track according to the pattern track input by the user includes:

[0031] The vehicle travels along the pattern track according to the pattern track obtained by multiple inputs by the user, wherein the end position of the previous input by the user matches the starting position of the next input.

[0032] In this way, in the embodiment of the present application, the vehicle can travel along the pattern trajectory obtained by the user's multiple inputs, so that the user can complete the pattern trajectory input relatively flexibly, which to a certain extent guarantees the user's experience of the vehicle.

[0033] In some embodiments of the present application, the first trajectory segment and the second trajectory segment are not continuous.

[0034] In this way, in the embodiment of the present application, the pattern trajectory can be realized based on the first noble stage and the second trajectory segment which do not have a continuous relationship.

[0035] In certain embodiments of the present application, the vehicle driving along the pattern track according to the pattern track input by the user includes:

[0036] According to the plurality of pattern trajectories input by the user, the vehicle travels along each of the pattern trajectories.

[0037] Thus, in the embodiment of the present application, the vehicle can be driven along each pattern track input by the user, and further, the user can input multiple pattern tracks to make the vehicle drive. This improves the fun of using the vehicle to a certain extent and allows the user to complete the pattern track input in a relatively flexible manner.

[0038] In certain embodiments of the present application, the vehicle driving along the pattern track according to the pattern track input by the user includes:

[0039] Determine vehicle control information based on the pattern trajectory;

[0040] The vehicle is controlled according to the vehicle control information so that the vehicle travels along the pattern trajectory.

[0041] In this way, in the implementation mode of the present application, vehicle control information can be determined according to the drawn pattern trajectory, and the movement of the vehicle can be controlled according to the vehicle control information, so that the movement of the vehicle can match the drawn pattern trajectory to a certain extent, thereby realizing vehicle motion control based on pattern drawing, which can greatly enhance the interactivity and fun between the user and the vehicle, and thus can fully improve the user's vehicle usage experience.

[0042] In certain embodiments of the present application, the pattern trajectory includes pattern trajectory point coordinates, and determining vehicle control information based on the drawn pattern trajectory includes:

[0043] Scaling the coordinates of the pattern track points according to a predetermined vehicle motion range to determine the processed coordinates of the pattern track points;

[0044] The vehicle control information is determined according to the processed coordinates of the pattern trajectory points.

[0045] In this way, in the embodiment of the present application, the pattern trajectory point coordinates can be scaled according to the predetermined vehicle motion range to determine the processed coordinates of the pattern trajectory points, and the vehicle control information can be determined based on the processed coordinates of the pattern trajectory points, thereby achieving the determination of the vehicle control information and ensuring the validity of the vehicle control information to a certain extent.

[0046] In certain embodiments of the present application, controlling the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory includes:

[0047] The movement of the vehicle is controlled according to the vehicle control information.

[0048] Thus, in the embodiment of the present application, the movement of the vehicle can be controlled according to the vehicle control information so that the movement trajectory of the vehicle in the horizontal direction matches the pattern trajectory.

[0049] In certain embodiments of the present application, controlling the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory includes:

[0050] The height of the vehicle suspension is controlled to change according to the vehicle control information.

[0051] Thus, in the embodiments of the present application, the height of the vehicle suspension can be controlled according to the vehicle control information, so that the movement trajectory of the vehicle in the vertical direction matches the pattern trajectory.

[0052] In some embodiments of the present application, controlling the vehicle according to the vehicle control information to make the vehicle travel along the pattern trajectory includes:

[0053] Controlling the movement of the vehicle and controlling the height of the vehicle suspension to change according to the vehicle control information.

[0054] Thus, in the embodiments of the present application, the movement of the vehicle can be controlled according to the vehicle control information and the height of the vehicle suspension can be controlled to change, so that the vehicle can move by combining movement and height change, thereby achieving matching with the pattern trajectory.

[0055] In some embodiments of the present application, the vehicle control information includes first-direction movement information and second-direction movement information. Controlling the movement of the vehicle and controlling the height of the vehicle suspension to change according to the vehicle control information includes:

[0056] Controlling the movement of the vehicle according to the first-direction movement information;

[0057] Controlling the height of the vehicle suspension to change according to the second-direction movement information.

[0058] Thus, in the embodiments of the present application, the movement of the vehicle can be controlled according to the first-direction movement information and the height of the vehicle suspension can be controlled to change according to the second-direction movement information, thereby achieving vehicle movement control and vehicle suspension height change control.

[0059] In some embodiments of the present application, the pattern trajectory includes multiple pattern trajectory point coordinates. Determining the vehicle control information according to the drawn pattern trajectory includes:

[0060] Determining the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates.

[0061] Thus, in the embodiments of the present application, the first-direction movement information and the second-direction movement information can be determined according to the coordinate components of the multiple pattern trajectory point coordinates included in the pattern trajectory, thereby achieving the determination of the first-direction movement information and the second-direction movement information and ensuring to a certain extent the matching of the first-direction movement information, the second-direction movement information and the pattern trajectory.

[0062] In some embodiments of the present application, determining the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates includes:

[0063] Determine the first-direction motion information according to the horizontal-axis coordinate component of the trajectory point coordinates;

[0064] Determine the second-direction motion information according to the vertical-axis coordinate component of the trajectory point coordinates.

[0065] In this way, in the embodiments of the present application, the first-direction motion information can be determined according to the horizontal-axis coordinate component of the trajectory point coordinates, and the second-direction motion information can be determined according to the vertical-axis coordinate component of the trajectory point coordinates, so as to realize the determination of the first-direction motion information and the second-direction motion information.

[0066] In some embodiments of the present application, the determining the second-direction motion information according to the vertical-axis coordinate component of the trajectory point coordinates includes:

[0067] Determine the second-direction motion information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension.

[0068] In this way, in the embodiments of the present application, the second-direction motion information can be determined by combining the vertical-axis coordinate components of the respective pattern trajectory points in the pattern trajectory with the preset height position of the vehicle suspension, so as to realize the determination of the second-direction motion information, and to a certain extent, the effectiveness of the second-direction motion information for the suspension height control can be ensured.

[0069] In some embodiments of the present application, the pattern trajectory includes the coordinates of the plurality of pattern trajectory points sorted by drawing time, and the determining the second-direction motion information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension includes:

[0070] Determine the first sub-motion information and the second sub-motion information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate, where the first sub-motion information is used to indicate the process of the height of the vehicle suspension changing from the preset height position to the second vertical-axis coordinate component, and the first sub-motion information is used to indicate the process of the height of the vehicle suspension changing from the second vertical-axis coordinate component to the preset height position;

[0071] Determine the second-direction motion information according to the first sub-motion information, the second sub-motion information, and the vertical-axis coordinate component.

[0072] Thus, in the embodiment of the present application, the first sub-motion information and the second sub-motion information can be determined according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, and the vertical axis coordinate component of the last trajectory point coordinate, and the second-direction motion information can be determined according to the first sub-motion information, the second sub-motion information, and the vertical axis coordinate component, so as to realize the determination of the second-direction motion information.

[0073] In some embodiments of the present application, the determining the first sub-motion information and the second sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, and the vertical axis coordinate component of the last trajectory point coordinate includes:

[0074] Determining the first sub-motion information and the second sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

[0075] Thus, in the embodiment of the present application, the first sub-motion information and the second sub-motion information can be determined according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension, so as to realize the determination of the first sub-motion information and the second sub-motion information.

[0076] In some embodiments of the present application, the pattern trajectory includes a plurality of pattern trajectory point coordinates, the first-direction motion information includes the horizontal axis coordinate components of the plurality of pattern trajectory point coordinates, and the controlling the vehicle to move according to the first-direction motion information includes:

[0077] Configuring a first target time corresponding to each horizontal axis coordinate component

[0078] Controlling the vehicle to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component.

[0079] Thus, in the embodiment of the present application, a first target time corresponding to each horizontal axis coordinate component can be configured, and the vehicle can be controlled to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component, thereby realizing the control of the vehicle movement.

[0080] In some embodiments of the present application, the controlling the vehicle to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component includes:

[0081] Determining the moving speed of the vehicle at the first target time according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component;

[0082] Control the rotational speed of the vehicle drive motor according to the moving speed control so that the vehicle moves.

[0083] Thus, in the embodiment of the present application, the moving speed of the vehicle can be determined according to the corresponding horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component, and the rotational speed of the vehicle drive motor can be controlled according to the moving speed so that the vehicle moves, so that the moving control of the vehicle can be realized based on the motor rotational speed control, thereby ensuring the control accuracy of the vehicle moving control.

[0084] In some embodiments of the present application, the controlling the rotational speed of the vehicle drive motor according to the moving speed control so that the vehicle moves includes:

[0085] Determine the rotational speed of the vehicle drive motor at the first target time according to the moving speed and the pre-determined mapping relationship between vehicle speed and motor rotational speed so that the vehicle is displaced.

[0086] Thus, in the embodiment of the present application, the rotational speed of the vehicle drive motor can be determined according to the moving speed and the pre-determined mapping relationship between vehicle speed and motor rotational speed so that the vehicle is displaced, thereby realizing the determination of the rotational speed of the vehicle drive motor.

[0087] In some embodiments of the present application, the method further includes:

[0088] Update the rotational speed of the vehicle drive motor according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time.

[0089] Thus, in the embodiment of the present application, the rotational speed of the vehicle drive motor can be updated according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time, so that the rotational speed of the vehicle drive motor can be adjusted according to the horizontal axis coordinate component corresponding to the first target time and the displacement of the vehicle at the first target time, thereby ensuring the accuracy of the rotational speed of the vehicle drive motor at each first target time and thus ensuring the effectiveness of the vehicle moving control.

[0090] In some embodiments of the present application, the pattern trajectory includes a plurality of pattern trajectory point coordinates, and the second direction motion information includes the vertical axis coordinate components of the plurality of pattern trajectory point coordinates. The controlling the height of the vehicle suspension to change according to the second direction motion information includes:

[0091] Configure the second target time corresponding to the vertical axis coordinate component;

[0092] Control the power output of the vehicle suspension according to the corresponding vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component to change the height.

[0093] Thus, in the embodiments of the present application, the second target time corresponding to the vertical axis coordinate component can be configured, and the actuation force output of the vehicle suspension can be controlled according to the vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component to change the height, so that the height change control of the vehicle suspension can be changed based on the control of the actuation force output, and to a certain extent, the accuracy of the height change control of the vehicle suspension can be ensured.

[0094] In some embodiments of the present application, the controlling the actuation force output of the vehicle suspension to change the height according to the vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component includes:

[0095] Determining the actuation force output of the vehicle suspension at the second target time according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time.

[0096] Thus, in the embodiments of the present application, the actuation force output of the vehicle suspension at the second target time can be determined according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time, thereby realizing the effective and reliable determination of the actuation force output.

[0097] In some embodiments of the present application, the preset vehicle dynamics parameters include at least one of the front and rear suspension leverage ratios, the distance of the vehicle center of mass relative to the axle, the axle spacing distance, and the vehicle suspension stiffness.

[0098] The embodiments of the present application provide a control device, which includes a control unit;

[0099] The control unit is configured to cause the vehicle to travel along the pattern trajectory according to the pattern trajectory input by the user.

[0100] The embodiments of the present application provide an electronic device, including a memory and a processor. A computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0101] The embodiments of the present application provide a vehicle, including the above-mentioned electronic device or control device.

[0102] The embodiments of the present application provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0103] The embodiments of the present application provide a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the above-mentioned vehicle control method is implemented.

[0104] The control device, electronic device, vehicle, computer-readable storage medium, and computer program product provided in the embodiments of the present application enable the vehicle to travel along a pattern trajectory input by the user, and thus the vehicle's motion trajectory can match the pattern trajectory input by the user to a certain extent, thereby realizing vehicle motion control based on pattern drawing, which can greatly enhance the interactivity and fun between the user and the vehicle, thereby effectively improving the user's vehicle usage experience.

[0105] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0107] Figure 1 A flowchart of a vehicle control method in certain embodiments of the present application;

[0108] Figure 2 A schematic diagram of a pattern trajectory in certain embodiments of the present application;

[0109] Figure 3 A flowchart of a vehicle control method in certain embodiments of the present application;

[0110] Figure 4 A flowchart of a vehicle control method in certain embodiments of the present application;

[0111] Figure 5 A flowchart of a vehicle control method in certain embodiments of the present application;

[0112] Figure 6 A flowchart of a vehicle control method in certain embodiments of the present application;

[0113] Figure 7 A flowchart of a vehicle control method in certain embodiments of the present application;

[0114] Figure 8 A flowchart of a vehicle control method in certain embodiments of the present application;

[0115] Figure 9 A flowchart of a vehicle control method in certain embodiments of the present application;

[0116] Figure 10 A flowchart of a vehicle control method in certain embodiments of the present application;

[0117] Figure 11 Schematic flowchart of a vehicle control method in some embodiments of the present application;

[0118] Figure 12 Schematic flowchart of a vehicle control method in some embodiments of the present application;

[0119] Figure 13 Schematic diagram of an application scenario in some embodiments of the present application;

[0120] Figure 14 Schematic diagram of an application scenario in some embodiments of the present application;

[0121] Figure 15 Schematic flowchart of a vehicle control method in some embodiments of the present application;

[0122] Figure 16 Schematic diagram of an application scenario in some embodiments of the present application;

[0123] Figure 17 Schematic diagram of an application scenario in some embodiments of the present application;

[0124] Figure 18 Schematic diagram of an application scenario in some embodiments of the present application. Detailed implementation manners

[0125] The following details the implementation manners of the present application. The examples of the implementation manners are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The implementation manners described below by referring to the accompanying drawings are exemplary only for explaining the implementation manners of the present application and should not be construed as a limitation on the implementation manners of the present application.

[0126] In the related art, to meet the usage requirements of users, a vehicle may be equipped with an in-vehicle infotainment system (IVI) to implement functions such as audio and video playback and web browsing. However, these functions can be implemented by mobile terminals such as mobile phones and tablet computers, which are relatively common and may not be as convenient to operate as mobile terminals. Therefore, users expect the vehicle to provide more distinctive and interesting entertainment functions.

[0127] Based on the above possible problems, please refer to Figure 1 , some embodiments of the present application provide a vehicle control method, including:

[0128] 01: According to the pattern trajectory input by the user, the vehicle travels along the pattern trajectory.

[0129] Embodiments of the present application provide a control device for a vehicle. The vehicle control method according to the embodiments of the present application can be implemented by the control device according to the embodiments of the present application. Specifically, the control device includes a processing unit. The processing unit is configured to cause the vehicle to travel along a pattern trajectory input by a user.

[0130] Embodiments of the present application further provide an electronic device, which includes a memory and a processor. The vehicle control method according to the embodiments of the present application can be implemented by the electronic device according to the embodiments of the present application. Specifically, a computer program is stored in the memory, and the processor is configured to cause the vehicle to travel along a pattern trajectory input by a user.

[0131] Specifically, in the embodiments of the present application, after a user inputs a pattern through a vehicle center control screen or a terminal device (such as a mobile phone, a tablet computer, etc.) to form a pattern trajectory, according to the pattern trajectory input by the user, the vehicle can travel along the pattern trajectory, so that the movement trajectory of the vehicle matches the pattern trajectory.

[0132] It can be understood that, in the embodiments of the present application, the pattern trajectory can indicate a drawn pattern, including but not limited to a text pattern, a digital pattern, etc. For example, please refer to Figure 2 , Figure 2 which is a schematic diagram of a pattern trajectory in some embodiments of the present application. That is, as shown in Figure 2 , in one example, the pattern trajectory is the digital pattern "2025" drawn in one stroke by a user on the vehicle center control display screen in a touch drawing manner.

[0133] It can also be understood that, in some examples as shown in Figure 2 , the pattern trajectory is used to indicate a pattern drawing trajectory drawn in one stroke, or rather, the pattern trajectory is obtained from a pattern drawn by a user with an uninterrupted line. It should be noted that the pattern trajectory in the embodiments of the present application may not be a pattern drawing trajectory drawn in one stroke, but may also be a pattern drawing trajectory of "a continuous multi-stroke pattern with breaks", such as a pattern combination composed of the four digital patterns "2", "0", "2", and "5" drawn by four continuous strokes with intervals.

[0134] In addition, the pattern trajectory in the embodiment of the present application can be obtained by the user through the touch screen drawing operation on the vehicle's central control display screen, and can also be obtained by the user selecting from a plurality of pre-set patterns based on voice, touch screen clicks, knob adjustment, etc., that is, the user can select from a plurality of patterns and pattern trajectories corresponding to each pattern stored locally in the vehicle or in a remote server communicating with the vehicle based on voice, touch screen clicks, knob adjustment, etc., thereby selecting one or more of the plurality of patterns, and the vehicle reads the pattern trajectory corresponding to the selected pattern from the local or server according to the pattern selected by the user, thereby completing the acquisition of the pattern trajectory.

[0135] In addition, the vehicle in the embodiments of the present application can also receive pattern trajectories sent by the user via a terminal device to achieve pattern trajectory acquisition. That is, after obtaining a drawn pattern trajectory through touch screen drawing, online search, local search, etc. based on the terminal device, the terminal device can send the pattern trajectory to the vehicle, so that the vehicle can perform subsequent operations such as determining vehicle control information and vehicle motion control based on the received pattern trajectory.

[0136] And, in the embodiment of the present application, the vehicle can travel according to the pattern trajectory. For example, the pattern trajectory can indicate Figure 2 When the digital pattern of "2025" is shown, the vehicle can move on the ground according to the trajectory of the pattern, so that the movement trajectory of the vehicle is similar to Figure 2 The "2025" digital pattern shown matches the drawn pattern trajectory.

[0137] In addition, in the embodiments of the present application, the pattern track can be a displayed pattern or a non-displayed pattern. In other words, in the embodiments of the present application, when a user inputs a pattern track by drawing on a display interface, the pattern track can be non-displayed on the display interface, and the vehicle can directly drive along the pattern track. Furthermore, the pattern track can also be displayed on the display interface for the user to observe.

[0138] In this way, in the embodiment of the present application, the vehicle can travel along the pattern trajectory input by the user, and then the vehicle's motion trajectory can match the pattern trajectory input by the user to a certain extent, thereby realizing vehicle motion control based on pattern drawing, which can greatly enhance the interactivity and fun between the user and the vehicle, thereby effectively improving the user's vehicle usage experience.

[0139] In certain embodiments of the present application, step 01 includes:

[0140] According to the pattern trajectory, the position of the vehicle changes along the pattern trajectory.

[0141] The processing unit according to the embodiment of the present application is configured to change the position of the vehicle according to the pattern trajectory.

[0142] The processor according to the embodiment of the present application is further configured to change the position of the vehicle according to the pattern trajectory.

[0143] Specifically, in the embodiment of the present application, the vehicle can move according to the pattern trajectory drawn by the user, so that the movement trajectory of the vehicle itself matches the pattern trajectory. For example, when the pattern trajectory can indicate the "2025" digital pattern as Figure 2 shown, the vehicle can move along Figure 2 the "2025" shown, so that the movement trajectory of the vehicle is similar to Figure 2 the "2025" digital pattern shown, so as to match the drawn pattern trajectory.

[0144] In this way, in the embodiment of the present application, the position of the vehicle can change along the pattern trajectory, so that the movement trajectory of the vehicle in the horizontal direction matches the pattern trajectory, thereby realizing the vehicle movement control based on pattern drawing.

[0145] In some embodiments of the present application, the step of changing the position of the vehicle according to the pattern trajectory includes:

[0146] According to the pattern trajectory, the rotational speed of the vehicle drive motor changes according to the pattern trajectory, so that the position of the vehicle changes according to the pattern trajectory.

[0147] The processing unit according to the embodiment of the present application is configured to change the rotational speed of the vehicle drive motor according to the pattern trajectory, so that the position of the vehicle changes according to the pattern trajectory.

[0148] The processor according to the embodiment of the present application is configured to change the rotational speed of the vehicle drive motor according to the pattern trajectory, so that the position of the vehicle changes according to the pattern trajectory.

[0149] Specifically, in the embodiment of the present application, the vehicle can be driven by the vehicle drive motor to move. Correspondingly, the higher the rotational speed of the vehicle drive motor, the faster the vehicle moves. Furthermore, in order to make the movement trajectory of the vehicle match the pattern trajectory, the rotational speed of the vehicle drive motor can be changed according to the pattern trajectory, so that the position of the vehicle changes according to the pattern trajectory.

[0150] In this way, in the embodiment of the present application, the rotational speed of the vehicle drive motor can change according to the pattern trajectory, so that the position of the vehicle can change according to the pattern trajectory.

[0151] In some embodiments of the present application, step 01 includes:

[0152] According to the pattern trajectory, the height of the vehicle suspension changes with the pattern trajectory.

[0153] The processing unit according to an embodiment of the present application is configured such that, according to the pattern trajectory, the height of the vehicle suspension changes with the pattern trajectory.

[0154] The processor according to an embodiment of the present application is configured such that, according to the pattern trajectory, the height of the vehicle suspension changes with the pattern trajectory.

[0155] Specifically, in an embodiment of the present application, the height of the vehicle suspension can be controlled to change based on the pattern trajectory, so that the vehicle movement trajectory in the vertical direction can match the pattern trajectory.

[0156] Thus, in an embodiment of the present application, the height of the vehicle suspension can be changed along the pattern trajectory, so that the vehicle movement trajectory in the vertical direction can match the pattern trajectory, thereby realizing vehicle movement control based on pattern drawing.

[0157] In some embodiments of the present application, the step of, according to the pattern trajectory, the height of the vehicle suspension changing with the pattern trajectory includes:

[0158] According to the pattern trajectory, the power output of the vehicle suspension changes with the pattern trajectory, so that the height of the vehicle suspension changes with the pattern trajectory.

[0159] The processing unit according to an embodiment of the present application is configured such that, according to the pattern trajectory, the power output of the vehicle suspension changes with the pattern trajectory, so that the height of the vehicle suspension changes with the pattern trajectory.

[0160] The processor according to an embodiment of the present application is configured such that, according to the pattern trajectory, the power output of the vehicle suspension changes with the pattern trajectory, so that the height of the vehicle suspension changes with the pattern trajectory.

[0161] Specifically, in an embodiment of the present application, the amount of change in the height of the vehicle suspension is related to the power output of the vehicle suspension. Furthermore, the power output of the vehicle suspension can be changed with the pattern trajectory, thereby ensuring that the vehicle movement trajectory in the vertical direction can match the pattern trajectory.

[0162] Thus, in an embodiment of the present application, the power output of the vehicle suspension can be changed with the pattern trajectory, thereby enabling the height of the vehicle suspension to change with the pattern trajectory.

[0163] In some embodiments of the present application, the length of the projection of the pattern trajectory in a preset direction is greater than a preset value.

[0164] Specifically, in the embodiment of the present application, the length of the projection of the pattern trajectory input by the user in the preset direction may be greater than the preset value.

[0165] In one example, the preset direction is the vertical projection direction.

[0166] In one example, the preset value is 0.

[0167] In this way, in the embodiment of the present application, the user can input a pattern trajectory whose projection length in the preset direction is greater than the preset value, so as to control the vehicle.

[0168] In some embodiments of the present application, when the vehicle travels along the pattern trajectory, there is a displacement of the vehicle in the vehicle traveling direction.

[0169] Specifically, in the embodiment of the present application, when the vehicle travels along the pattern trajectory input by the user, there is a displacement amount in the traveling direction of the vehicle.

[0170] For example, when the vehicle traveling direction is the direction pointing from due west to due north, after the user inputs a pattern trajectory, the vehicle has a displacement along the direction of "from due west to due north".

[0171] In this way, in the embodiment of the present application, the vehicle can generate a displacement in the vehicle traveling direction along the pattern trajectory input by the user.

[0172] In some embodiments of the present application, the pattern trajectory includes a first trajectory segment and a second trajectory segment, and the first trajectory segment and the second trajectory segment are different.

[0173] Specifically, in the embodiment of the present application, the user can input two different trajectory segments, namely the first trajectory segment and the second trajectory segment, to form a complete pattern trajectory input.

[0174] It can be understood that a pattern trajectory may include at least one first trajectory segment and at least one second trajectory segment. In a pattern trajectory, the number of the first trajectory segments and the number of the second trajectory segments can both be set according to the actual situation.

[0175] In one example, one of the first trajectory segment and the second trajectory segment is a straight-line segment trajectory, and the other is a curved-line segment trajectory. When the vehicle travels along the straight-line segment trajectory, the vehicle travels in a straight line direction, or in other words, the change amount of the wheel steering angle during the vehicle traveling along the straight-line segment trajectory is 0. In contrast, during the vehicle traveling along the curved-line segment trajectory, there is a steering operation, or in other words, the change amount of the wheel steering angle during the vehicle traveling along the curved-line segment trajectory is greater than 0.

[0176] Thus, in the embodiments of the present application, the user can input different first trajectory segments and second trajectory segments, so that the vehicle travels along the first trajectory segment and the second trajectory segment.

[0177] In some embodiments of the present application, the first trajectory segment is continuous with the second trajectory segment.

[0178] Specifically, in the embodiments of the present application, the user can input a continuous first trajectory segment and a second trajectory segment to form a complete pattern trajectory.

[0179] Thus, in the embodiments of the present application, the pattern trajectory can be realized based on the first trajectory segment and the second trajectory segment with a continuous relationship.

[0180] In some embodiments of the present application, for the vehicle to travel along the pattern trajectory according to the pattern trajectory input by the user, it includes:

[0181] According to the pattern trajectory obtained by the user's one-time input, the vehicle travels along the pattern trajectory.

[0182] Specifically, in the embodiments of the present application, the pattern trajectory can be a pattern drawn by the user with a continuous line segment. For example, Figure 2 as shown, in an example, the pattern trajectory is the digital pattern "2025" drawn in one stroke by the user on the vehicle's central control display screen through touch screen drawing.

[0183] Thus, in the embodiments of the present application, the vehicle can travel along the pattern trajectory formed by the user's one-time input operation. Furthermore, the user can make the vehicle travel through one-time input operation, which can improve the interest of vehicle control to a certain extent.

[0184] In some embodiments of the present application, for the vehicle to travel along the pattern trajectory according to the pattern trajectory input by the user, it includes:

[0185] According to the pattern trajectory obtained by the user's multiple inputs, the vehicle travels along the pattern trajectory, where the end position of the previous input by the user matches the start position of the next input.

[0186] Specifically, in the embodiments of the present application, the user can complete the drawing of a pattern trajectory through multiple input operations.

[0187] In an example, when the user inputs a pattern trajectory through the vehicle's central control screen or terminal device, when triggering the input operation twice before and after, the user can perform the next pattern trajectory input operation from the end position when inputting the pattern trajectory last time.

[0188] For example, when inputting the text pattern track of "two", during the process of the user inputting the first stroke "one (horizontal stroke)" by touching and drawing on the screen, the user's finger can start from the point (x1, y) on the screen and continuously move while touching the screen in the right direction and stop at (x2, y), thus completing the input of the first stroke "one (horizontal stroke)". Then, the user can start from (x2, y) and continue to execute the second stroke "one (horizontal stroke)", and finally draw a "two" character pattern with connected strokes.

[0189] In one example, when the starting position of the user's subsequent input does not coincide with the ending position of the previous input, the vehicle can send a prompt message to prompt the user to redraw, such as "Please start drawing from the ending position of the previous stroke".

[0190] In this way, in the embodiment of the present application, the vehicle can travel along the pattern track obtained by the user's multiple inputs, enabling the user to relatively flexibly complete the input of the pattern track, and to a certain extent guaranteeing the user's experience of using the vehicle.

[0191] In some embodiments of the present application, the first track segment and the second track segment are not continuous.

[0192] Specifically, in the embodiment of the present application, the user can input a first track segment and a second track segment that have no continuous relationship to achieve the input of the pattern track.

[0193] In this way, in the embodiment of the present application, the pattern track can be realized based on the first expensive stage and the second track segment that do not have a continuous relationship.

[0194] In some embodiments of the present application, for the vehicle to travel along the pattern track according to the pattern track input by the user, it includes:

[0195] According to multiple pattern tracks input by the user, the vehicle travels along each pattern track.

[0196] Specifically, in the embodiment of the present application, the user can input multiple pattern tracks to make the vehicle travel along each pattern track. Or rather, the pattern track in the embodiment of the present application may not be a pattern drawing track completed in one stroke, but can also be a pattern drawing track composed of "successive multiple strokes with breaks", such as a pattern combination composed of the four digital patterns of "2", "0", "2", and "5" drawn by four successive strokes with intervals.

[0197] Furthermore, the vehicle can travel along the four digital patterns of "2", "0", "2", and "5" so that the moving track of the vehicle can match the pattern combination composed of the four digital patterns of "2", "0", "2", and "5".

[0198] In one example, the vehicle can move along each pattern trajectory in the order in which the user draws the respective pattern trajectories. For example, taking the four-digit patterns of "2", "0", "2", and "5" as mentioned above, after the vehicle finishes traveling along the pattern of "2", it can move from the end position of "2" to the start position of "0" and start traveling along the pattern of "0".

[0199] Thus, in the embodiments of the present application, the vehicle can travel along each pattern trajectory input by the user. Furthermore, the user can input multiple pattern trajectories to make the vehicle travel. To a certain extent, the fun of using the vehicle is improved, and the user can complete the pattern trajectory input in a relatively flexible manner.

[0200] Please refer to Figure 3 , in some embodiments of the present application, step 01 includes:

[0201] 010: Determine vehicle control information according to the pattern trajectory;

[0202] 011: Control the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory.

[0203] The processing unit of the embodiment of the present application. The processing unit is configured to determine vehicle control information according to the drawn pattern trajectory and control the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory.

[0204] The processor of the embodiment of the present application is further configured to determine vehicle control information according to the drawn pattern trajectory and control the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory.

[0205] Specifically, in the embodiments of the present application, the vehicle (or the electronic device, or the control device) can determine vehicle control information according to the drawn pattern trajectory and control the movement of the vehicle according to the vehicle control information, so that the movement trajectory of the vehicle matches the pattern trajectory.

[0206] For example, in the embodiments of the present application, the vehicle can determine vehicle control information according to the pattern trajectory to control the movement of the vehicle. For example, when the pattern trajectory can indicate the four-digit pattern of "2025" as shown in Figure 2 , the vehicle can generate vehicle control information according to the pattern trajectory and control the vehicle to move on the ground so that the movement trajectory of the vehicle is similar to the four-digit pattern of "2025" as shown in Figure 2 , thus matching the drawn pattern trajectory.

[0207] Thus, in the embodiments of the present application, vehicle control information can be determined according to the drawn pattern trajectory, and the movement of the vehicle can be controlled according to the vehicle control information, so that the movement of the vehicle can match the drawn pattern trajectory to a certain extent, thereby realizing vehicle movement control based on pattern drawing, which can greatly enhance the interaction and interest between the user and the vehicle, and further improve the user's vehicle use experience.

[0208] Please refer to Figure 4 , in some embodiments of the present application, the pattern trajectory includes pattern trajectory point coordinates. Furthermore, step 010 includes:

[0209] 0100: Scale the pattern trajectory point coordinates according to the pre-determined vehicle movement range to determine the processed coordinates of the pattern trajectory points;

[0210] 0101: Determine the vehicle control information according to the processed coordinates of the pattern trajectory points.

[0211] The processing unit of the embodiment of the present application is configured to scale the pattern trajectory point coordinates according to the pre-determined vehicle movement range to determine the processed coordinates of the pattern trajectory points, and to determine the vehicle control information according to the processed coordinates of the pattern trajectory points.

[0212] The processor of the embodiment of the present application is configured to scale the pattern trajectory point coordinates according to the pre-determined vehicle movement range to determine the processed coordinates of the pattern trajectory points, and to determine the vehicle control information according to the processed coordinates of the pattern trajectory points.

[0213] Specifically, in the embodiments of the present application, the vehicle can scale the pattern trajectory point coordinates according to the pre-determined vehicle movement range, that is, the allowable movement range of the vehicle in height and the allowable movement range of the vehicle on the ground, to obtain the processed coordinates of the pattern trajectory points suitable for vehicle movement control. Finally, the vehicle control information is determined according to the processed coordinates of the pattern trajectory points.

[0214] For example, the pattern trajectory points are represented by two-dimensional coordinates (X, Z), where X represents the position of the pattern trajectory point on the first coordinate axis during the drawing process, and Z represents the position of the pattern trajectory point on the second coordinate axis during the drawing process. Furthermore, the vehicle can scale each pattern trajectory point (X, Z) according to the pre-determined vehicle movement range to obtain the processed coordinates (X', Z') of each pattern trajectory point. Finally, the processed coordinates (X', Z') of each pattern trajectory point are determined as the vehicle control information to control the vehicle eastward.

[0215] Thus, in the embodiments of the present application, the coordinates of the pattern trajectory points can be scaled according to a pre-determined vehicle movement range to determine the coordinates of the pattern trajectory points after processing, and the vehicle control information can be determined according to the coordinates of the pattern trajectory points after processing, thereby realizing the determination of the vehicle control information and ensuring the effectiveness of the vehicle control information to a certain extent.

[0216] In some embodiments of the present application, step 011 includes:

[0217] Control the vehicle to move according to the vehicle control information.

[0218] The processing unit of the embodiment of the present application is configured to control the vehicle to move according to the vehicle control information.

[0219] The processor of the embodiment of the present application is configured to control the vehicle to move according to the vehicle control information.

[0220] Specifically, in the embodiments of the present application, the vehicle can move according to the vehicle control information so that its movement trajectory on the ground matches the pattern trajectory, or rather, its movement trajectory in the horizontal direction matches the pattern trajectory.

[0221] Thus, in the embodiments of the present application, the vehicle can be controlled to move according to the vehicle control information so that the movement trajectory of the vehicle in the horizontal direction matches the pattern trajectory.

[0222] In some embodiments of the present application, step 011 includes:

[0223] Control the height of the vehicle suspension to change according to the vehicle control information.

[0224] The processing unit of the embodiment of the present application is configured to control the height of the vehicle suspension to change according to the vehicle control information.

[0225] The processor of the embodiment of the present application is configured to control the height of the vehicle suspension to change according to the vehicle control information.

[0226] Specifically, in the embodiments of the present application, the vehicle can control the height of the vehicle suspension to change according to the vehicle control information so that its movement trajectory in height matches the pattern trajectory, or rather, its movement trajectory in the vertical direction matches the pattern trajectory.

[0227] ]>Thus, in the embodiments of the present application, the height of the vehicle suspension can be controlled to change according to the vehicle control information so that the movement trajectory of the vehicle in the vertical direction matches the pattern trajectory.

[0228] Please refer to Figure 5 , in some embodiments of the present application, step 011 includes:

[0229] 0110: Control the movement of the vehicle and control the height of the vehicle suspension to change according to the vehicle control information.

[0230] The processing unit according to the embodiments of the present application is configured to control the movement of the vehicle and control the height of the vehicle suspension to change according to the vehicle control information.

[0231] The processor according to the embodiments of the present application is further configured to control the movement of the vehicle and control the height of the vehicle suspension to change according to the vehicle control information.

[0232] Specifically, in the embodiments of the present application, after the vehicle determines the vehicle control information according to the drawn pattern trajectory, it can control the vehicle to move on the ground through the vehicle control information and control the height of the vehicle suspension to change, so that the vehicle can move in a two-dimensional direction mode combining "ground movement" and "suspension height", and the movement trajectory of the vehicle is similar to the two-dimensional pattern indicated by the pattern trajectory.

[0233] Thus, in the embodiments of the present application, the movement of the vehicle can be controlled according to the vehicle control information and the height of the vehicle suspension can be controlled to change, so that the vehicle can move in a way combining displacement and height change, thereby achieving matching with the pattern trajectory.

[0234] Please refer to Figure 6 , in some embodiments of the present application, the vehicle control information includes first-direction movement information and second-direction movement information. Furthermore, step 0110 includes:

[0235] 01100: Control the movement of the vehicle according to the first-direction movement information;

[0236] 01101: Control the height of the vehicle suspension to change according to the second-direction movement information.

[0237] The processing unit according to the embodiments of the present application is configured to control the movement of the vehicle according to the first-direction movement information and control the height of the vehicle suspension to change according to the second-direction movement information.

[0238] The processor according to the embodiments of the present application is further configured to control the movement of the vehicle according to the first-direction movement information and control the height of the vehicle suspension to change according to the second-direction movement information.

[0239] Specifically, in the embodiments of the present application, the vehicle can determine the first-direction movement information for controlling the vehicle to move on the ground and the second-direction movement information for controlling the height of the vehicle suspension to change according to the drawn pattern trajectory, and then control the vehicle according to the first-direction movement information and control the height of the vehicle suspension to change according to the second-direction movement information.

[0240] Thus, in the embodiments of the present application, the movement of the vehicle can be controlled according to the first-direction movement information, and the height of the vehicle suspension can be controlled to change according to the second-direction movement information, so as to realize the control of vehicle movement and the control of vehicle suspension height change.

[0241] Please refer to Figure 7 , in some embodiments of the present application, the pattern trajectory includes multiple pattern trajectory point coordinates. Furthermore, step 010 includes:

[0242] 0102: Determine the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates.

[0243] The processing unit in the embodiments of the present application is configured to determine the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates.

[0244] The processor in the embodiments of the present application is further configured to determine the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates.

[0245] Specifically, in the embodiments of the present application, the pattern trajectory includes the coordinates of multiple pattern trajectory points. When the pattern trajectory can indicate the "2025" digital pattern as shown in Figure 2 , the pattern trajectory may include the coordinates of multiple pattern trajectory points in the "2025" digital pattern.

[0246] Furthermore, in the embodiments of the present application, the vehicle can determine the first-direction movement information for controlling the movement of the vehicle on the ground and the second-direction movement information for controlling the change in the height of the vehicle suspension according to the coordinate components of each pattern trajectory point.

[0247] For example, the pattern trajectory points are represented by two-dimensional coordinates (X, Z), where X represents the position of the pattern trajectory point on the first coordinate axis during the drawing process, and Z represents the position of the pattern trajectory point on the second coordinate axis during the drawing process. Furthermore, the vehicle can determine the first-direction movement information {X1, X2, X3...} according to the component X of each pattern trajectory point (X, Z), and determine the second-direction movement information {Z1, Z2, Z3...} according to the component Z of each pattern trajectory point (X, Z).

[0248] In one example, the vehicle can perform a scaling process on the pattern trajectory point coordinates according to a pre-determined vehicle movement range, that is, the allowable movement range of the vehicle in height and the allowable movement range of the vehicle on the ground, to obtain the processed coordinates of the pattern trajectory points applicable to vehicle suspension height control and vehicle movement control. Finally, the first-direction movement information and the second-direction movement information are determined according to the processed coordinates of the pattern trajectory points.

[0249] For example, the pattern trajectory points are represented by two-dimensional coordinates (X, Z), where X represents the position of the pattern trajectory point on the first coordinate axis during the drawing process, and Z represents the position of the pattern trajectory point on the second coordinate axis during the drawing process. Furthermore, the vehicle can scale each pattern trajectory point (X, Z) according to a pre-determined vehicle movement range to obtain the processed coordinates (X', Z') of each pattern trajectory point. Finally, the first-direction movement information {X'1, X'2, X'3...} is determined based on the component X' of the processed coordinates (X', Z') of each pattern trajectory point, and the second-direction movement information {Z'1, Z'2, Z'3...} is determined based on the component Z' of the processed coordinates (X', Z') of each pattern trajectory point.

[0250] Thus, in the embodiment of the present application, the first-direction movement information and the second-direction movement information can be determined according to the coordinate components of the multiple pattern trajectory point coordinates included in the pattern trajectory, thereby realizing the determination of the first-direction movement information and the second-direction movement information, and to a certain extent ensuring the matching of the first-direction movement information, the second-direction movement information and the pattern trajectory.

[0251] Please refer to Figure 8 , in some embodiments of the present application, step 0102 includes:

[0252] 01020: Determine the first-direction movement information according to the horizontal-axis coordinate component of the trajectory point coordinates;

[0253] 01021: Determine the second-direction movement information according to the vertical-axis coordinate component of the trajectory point coordinates.

[0254] The processing unit in the embodiment of the present application is configured to determine the first-direction movement information according to the horizontal-axis coordinate component of the trajectory point coordinates, and determine the second-direction movement information according to the vertical-axis coordinate component of the trajectory point coordinates.

[0255] The processor in the embodiment of the present application is further configured to determine the first-direction movement information according to the horizontal-axis coordinate component of the trajectory point coordinates, and determine the second-direction movement information according to the vertical-axis coordinate component of the trajectory point coordinates.

[0256] Specifically, in the embodiment of the present application, the pattern trajectory points can be represented by two-dimensional coordinates in a horizontal-axis - vertical-axis coordinate system. Therefore, in the embodiment of the present application, the first-direction information can be determined according to the horizontal-axis coordinate component of the trajectory point coordinates, and the second-direction movement information can be determined according to the vertical-axis coordinate component of the trajectory point coordinates.

[0257] For example, in one example, the pattern trajectory points are represented by two-dimensional coordinates (X, Z), where X represents the position of the pattern trajectory point on the first coordinate axis during the drawing process, and Z represents the position of the pattern trajectory point on the second coordinate axis during the drawing process. Furthermore, the vehicle can determine the first-direction motion information based on the component X of each pattern trajectory point (X, Z), and determine the second-direction motion information based on the component Z of each pattern trajectory point (X, Z).

[0258] In another example, the vehicle can also perform a scaling process on each pattern trajectory point (X, Z) according to a pre-determined vehicle motion range to obtain the processed coordinates (X', Z') of each pattern trajectory point. Finally, the vehicle determines the first-direction motion information based on the component X' of the processed coordinates (X', Z') of each pattern trajectory point, and determines the second-direction motion information based on the component Z' of the processed coordinates (X', Z') of each pattern trajectory point.

[0259] In this way, in the embodiments of the present application, the first-direction motion information can be determined according to the horizontal-axis coordinate component of the trajectory point coordinates, and the second-direction motion information can be determined according to the vertical-axis coordinate component of the trajectory point coordinates, thereby realizing the determination of the first-direction motion information and the second-direction motion information.

[0260] Please refer to Figure 9 , in some embodiments of the present application, step 01021 includes:

[0261] 010210: Determine the second-direction motion information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension.

[0262] The processing unit in the embodiments of the present application is configured to determine the second-direction motion information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension.

[0263] The processor in the embodiments of the present application is further configured to determine the second-direction motion information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension.

[0264] Specifically, in the embodiments of the present application, to ensure that the change process of the suspension height can start from a preset height position and end at the preset height position, thereby ensuring the reasonableness of the suspension height change. Therefore, in the embodiments of the present application, the vehicle can determine the second-direction motion information corresponding to the vehicle suspension according to the preset suspension height and the vertical-axis coordinate component in the pattern trajectory.

[0265] In one example, the suspension height can be changed based on a gear adjustment method. Furthermore, the preset height position can be the suspension height in the standard gear.

[0266] In another example, the suspension height is the current height of the vehicle suspension, that is, the height of the vehicle suspension when the vehicle determines the second-direction movement information according to the pattern trajectory.

[0267] Thus, in the embodiments of the present application, the second-direction movement information can be determined according to the vertical-axis coordinate components of the respective pattern trajectory points in the pattern trajectory, in combination with the preset height position of the vehicle suspension, so as to realize the determination of the second-direction movement information, and to a certain extent, the effectiveness of the second-direction movement information for the suspension height control can be ensured.

[0268] Please refer to Figure 10 , in some embodiments of the present application, the pattern trajectory includes a plurality of pattern trajectory point coordinates sorted by drawing time. Furthermore, step 010210 includes:

[0269] 0102100: Determine first sub-movement information and second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate, where the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the preset height position to the second vertical-axis coordinate component, and the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the second vertical-axis coordinate component to the preset height position;

[0270] 0102101: Determine the second-direction movement information according to the first sub-movement information, the second sub-movement information, and the vertical-axis coordinate component.

[0271] The processing unit of the embodiments of the present application is configured to determine the first sub-movement information and the second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate, and to determine the second-direction movement information according to the first sub-movement information, the second sub-movement information, and the vertical-axis coordinate component, where the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the preset height position to the second vertical-axis coordinate component, and the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the second vertical-axis coordinate component to the preset height position.

[0272] The processor of the embodiments of the present application is further configured to determine the first sub-movement information and the second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate, and to determine the second-direction movement information according to the first sub-movement information, the second sub-movement information, and the vertical-axis coordinate component, where the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the preset height position to the second vertical-axis coordinate component, and the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the second vertical-axis coordinate component to the preset height position.

[0273] Specifically, since the difference between the vertical axis coordinate component of the first pattern trajectory coordinate point in the pattern trajectory and the preset suspension height in the embodiment of the present application may be relatively large, in the embodiment of the present application, to ensure that the vehicle can start the suspension height change process from a preset height position and end at the preset height position, in the embodiment of the present application, the first sub-motion information of the vehicle suspension changing from the preset suspension height to the vertical axis coordinate component of the first pattern trajectory coordinate point can be determined according to the vertical axis coordinate component of the first pattern trajectory coordinate point and the vertical axis coordinate component of the last pattern trajectory coordinate point of the pattern trajectory, in combination with the preset suspension height, and the second sub-motion information of the vehicle suspension changing from the vertical axis coordinate component of the last pattern trajectory coordinate point to the preset suspension height can be determined. Finally, the second-direction motion information is formed according to the first sub-motion information, the second sub-motion information, and the vertical axis coordinate components of each pattern trajectory point in the pattern trajectory.

[0274] In this way, in the embodiment of the present application, the first sub-motion information and the second sub-motion information can be determined according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, and the vertical axis coordinate component of the last trajectory point coordinate, and the second-direction motion information can be determined according to the first sub-motion information, the second sub-motion information, and the vertical axis coordinate component, so as to realize the determination of the second-direction motion information.

[0275] In some embodiments of the present application, step 0102100 includes:

[0276] Determine the first sub-motion information and the second sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

[0277] The processing unit of the embodiment of the present application is configured to determine the first sub-motion information and the second sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

[0278] The processor of the embodiment of the present application is further configured to determine the first sub-motion information and the second sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

[0279] Specifically, in the embodiment of the present application, the vehicle can determine the first sub-motion information according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, and the height change interval of the vehicle suspension, and determine the second sub-motion information according to the preset height position, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

[0280] For example, let the preset suspension height be 0. The first sub-motion information can be determined by the following formula, that is:

[0281]

[0282] In the formula, Z0 represents the vertical axis coordinate component of the first trajectory point coordinate, Z T is the change amount of the suspension height within time T, T is the height change interval of the vehicle suspension, and N represents the number of changes required for the suspension height to change from 0 to Z0 with Z T as the change interval.

[0283] Correspondingly, the first sub-motion information can be expressed as the set {(0,0), (0, Z T ), (0, 2Z T ), (0, 3Z T ),..., (0, (N - 2)ZT), (0, (N - 1)ZT), (0, Z0)}.

[0284] In this way, in the embodiment of the present application, the first sub-motion information and the second sub-motion information can be determined according to the preset height position, the vertical axis coordinate component of the first trajectory point coordinate, the vertical axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension, so as to realize the determination of the first sub-motion information and the second sub-motion information.

[0285] Please refer to Figure 11 , in some embodiments of the present application, the pattern trajectory includes multiple pattern trajectory point coordinates, and the first-direction motion information includes the horizontal axis coordinate components of multiple pattern trajectory point coordinates. Further, step 01100 includes:

[0286] 011000: Configure the first target time corresponding to the horizontal axis coordinate component

[0287] 011001: Control the vehicle to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component.

[0288] The processing unit in the embodiment of the present application is configured to configure the first target time corresponding to each horizontal axis coordinate component, and control the vehicle to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component.

[0289] The processor in the embodiment of the present application is further configured to configure the first target time corresponding to each horizontal axis coordinate component, and control the vehicle to move according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component.

[0290] Specifically, in the embodiment of the present application, the vehicle may configure a corresponding first target time for each horizontal axis coordinate component in the first-direction motion information, so that each horizontal axis coordinate component in the first-direction motion information can be sorted according to the sequence of the first target times. Furthermore, the vehicle can control its own movement on the ground according to each first target time and each horizontal axis coordinate component corresponding to the first target time, so that when any first target time arrives, the position of the vehicle can match the horizontal axis coordinate component corresponding to the first target time.

[0291] For example, when the first-direction motion information can be expressed as a set {50, 60, 70, 80...}, and each element in the set is the horizontal axis coordinate component of a pattern trajectory point coordinate, the vehicle configures the first target time corresponding to each horizontal axis coordinate component in the first-direction motion information, and thus a set {(50, 5), (60, 10), (70, 15), (80, 20)...} can be obtained. Furthermore, when the vehicle controls its movement starting from the starting point according to {(50, 5), (60, 10), (70, 15), (80, 20)...}, the vehicle is at a position 50 meters away from the starting point when moving to the 5th second, at a position 60 meters away from the starting point when moving to the 10th second, at a position 70 meters away from the starting point when moving to the 15th second, at a position 80 meters away from the starting point when moving to the 20th second, and so on.

[0292] In this way, in the embodiment of the present application, the first target time corresponding to each horizontal axis coordinate component can be configured, and the vehicle movement can be controlled according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component, thereby realizing vehicle movement control.

[0293] Please refer to Figure 12 , in some embodiments of the present application, step 011001 includes:

[0294] 0110010: Determine the movement speed of the vehicle at the first target time according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component;

[0295] 0110010: Control the rotation speed of the vehicle drive motor according to the movement speed to make the vehicle move.

[0296] The processing unit in the embodiment of the present application is configured to determine the movement speed of the vehicle at the first target time according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component, and control the rotation speed of the vehicle drive motor according to the movement speed to make the vehicle move.

[0297] The processor according to the embodiment of the present application is further configured to determine the moving speed of the vehicle at the first target time according to the horizontal axis coordinate component correspondence and the first target time corresponding to the horizontal axis coordinate component, and control the rotation speed of the vehicle drive motor according to the moving speed to move the vehicle.

[0298] Specifically, in the embodiment of the present application, after the configuration of the first target time corresponding to each horizontal axis coordinate component in the first direction motion information of the vehicle is completed, the change rate of the vehicle moving amount with respect to time can be calculated according to each horizontal axis coordinate component in the first direction motion information and the first target time corresponding to each horizontal axis coordinate component, that is, the moving speed of the vehicle. Then, according to the conversion relationship between the moving speed and the motor rotation speed determined by factors such as the physical characteristics of the motor and the efficiency of the transmission system, the motor rotation speed corresponding to the moving speed is calculated.

[0299] Furthermore, the vehicle can control the vehicle motor to rotate at the motor rotation speed corresponding to each first target time, so as to drive the transmission system of the vehicle, so that the vehicle can move according to the first direction motion information. It can be understood that based on the control of the motor rotation speed, the accuracy and stability of the vehicle movement can be ensured, and the fine control of the vehicle movement can also be realized, thereby providing a more smooth and responsive user experience for the user.

[0300] For example, please refer to and also refer to Figure 2 、 Figure 13 as well as Figure 14 , Figure 13 and Figure 14 are all schematic diagrams of application scenarios in some embodiments of the present application. That is, when the pattern trajectory can indicate the "2025" digital pattern as shown in Figure 2 , the first direction motion information of the vehicle can be expressed as a "vehicle position (or displacement)-time" relationship curve as shown in Figure 13 . It should be noted that in Figure 13 , the vertical axis represents the position, the unit is centimeter, and the horizontal axis represents the time, the unit is second.

[0301] Furthermore, the vehicle can calculate the derivative according to each horizontal axis coordinate component in the first direction motion information and the first target time corresponding to each horizontal axis coordinate component, so as to obtain the change rate of the vehicle moving amount with respect to time, that is, the moving speed of the vehicle, and then a "moving speed-time" relationship curve as shown in Figure 14 can be obtained.

[0302] Then, according to the mapping relationship between the vehicle moving speed and the vehicle motor rotation speed, the motor rotation speed corresponding to each first target time is determined.

[0303] Finally, the vehicle can be based on Figure 14The "motor rotation speed - time" relationship curve determined by the shown "moving speed - time" relationship curve and the above formula drives the motor to rotate, and further drives the vehicle's transmission system, enabling the vehicle to move according to Figure 13 the trajectory corresponding to the shown "vehicle position (or displacement) - time" relationship curve.

[0304] In this way, in the embodiment of the present application, the moving speed of the vehicle can be determined according to the horizontal axis coordinate component correspondence and the first target time corresponding to the horizontal axis coordinate component, and the rotation speed of the vehicle driving motor can be controlled according to the moving speed to make the vehicle move, so that the moving control of the vehicle can be realized based on the motor rotation speed control, thereby ensuring the control accuracy of the vehicle moving control.

[0305] In some embodiments of the present application, step 0110010 includes:

[0306] Determine the rotation speed of the vehicle driving motor at the first target time according to the moving speed and the pre - determined mapping relationship between vehicle speed and motor rotation speed to displace the vehicle.

[0307] The processing unit in the embodiment of the present application is configured to determine the rotation speed of the vehicle driving motor at the first target time according to the moving speed and the pre - determined mapping relationship between vehicle speed and motor rotation speed to displace the vehicle.

[0308] The processor in the embodiment of the present application is further configured to determine the rotation speed of the vehicle driving motor at the first target time according to the moving speed and the pre - determined mapping relationship between vehicle speed and motor rotation speed to displace the vehicle.

[0309] Specifically, in the embodiment of the present application, the rotation speed of the vehicle driving motor at each first target time can be determined according to the moving speed and the pre - determined mapping relationship between vehicle speed and motor rotation speed to drive the vehicle to displace.

[0310] In one example, the mapping relationship between vehicle speed and motor rotation speed can be expressed by the following formula, that is:

[0311] n = k * V

[0312] Wherein, n is the motor rotation speed, k is the reduction ratio constant between the motor rotation speed and the vehicle moving speed, and V is the vehicle moving speed.

[0313] In this way, in the embodiment of the present application, the rotation speed of the vehicle driving motor can be determined according to the moving speed and the pre - determined mapping relationship between vehicle speed and motor rotation speed to displace the vehicle, thereby realizing the determination of the rotation speed of the vehicle driving motor.

[0314] In some embodiments of the present application, the method further includes:

[0315] Update the rotational speed of the vehicle drive motor according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time.

[0316] The processing unit according to the embodiments of the present application is configured to update the rotational speed of the vehicle drive motor according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time.

[0317] The processor according to the embodiments of the present application is further configured to update the rotational speed of the vehicle drive motor according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time.

[0318] Specifically, in the embodiments of the present application, the vehicle is also equipped with the ability of real-time monitoring and feedback adjustment, and can determine the actual displacement of the vehicle when each first time point arrives based on components such as a rotational speed sensor. At the same time, in combination with the horizontal axis coordinate component corresponding to each first time point, it is determined whether there is an error beyond the allowable range between "the actual displacement of the vehicle when the first time point arrives" and "the horizontal axis coordinate component corresponding to this first time point". If so, to ensure the accuracy of vehicle movement control, the rotational speed of the motor can be adjusted in real time to ensure that the vehicle always moves along the planned trajectory. It can be understood that this closed-loop control mechanism can further improve the accuracy and reliability of vehicle movement.

[0319] In one example, the update process of the rotational speed of the vehicle drive motor can be expressed by the following formula, that is:

[0320] n Tar = n + K x *(X Tar - X Act )

[0321] In the formula, n Tar is the updated rotational speed of the vehicle drive motor, n is the rotational speed of the drive motor corresponding to the first time point, K x is a pre-calibrated adjustment coefficient, X Tar represents the horizontal axis coordinate component corresponding to the first time point, and X Act represents the displacement of the vehicle detected by the sensor at the first time point.

[0322] In this way, in the embodiments of the present application, the rotational speed of the vehicle drive motor can be updated according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time, so that the rotational speed of the vehicle drive motor can be adjusted according to the horizontal axis coordinate component corresponding to the first target time and the displacement of the vehicle at the first target time. Thereby, the accuracy of the rotational speed of the vehicle drive motor at each first target time can be ensured, and thus the effectiveness of vehicle movement control can be ensured.

[0323] Please refer to Figure 15, the pattern trajectory includes multiple pattern trajectory point coordinates, and the second-direction movement information includes the vertical-axis coordinate components of the multiple pattern trajectory point coordinates. In some embodiments of the present application, furthermore, step 01101 includes:

[0324] 011010: Configure a second target time corresponding to the vertical-axis coordinate component;

[0325] 011011: Control the actuation force output of the vehicle suspension to change the height according to the vertical-axis coordinate component correspondence and the second target time corresponding to the vertical-axis coordinate component.

[0326] The processing unit according to the embodiment of the present application is configured to configure a second target time corresponding to the vertical-axis coordinate component, and control the actuation force output of the vehicle suspension to change the height according to the vertical-axis coordinate component correspondence and the second target time corresponding to the vertical-axis coordinate component.

[0327] The processor according to the embodiment of the present application is further configured to configure a second target time corresponding to the vertical-axis coordinate component, and control the actuation force output of the vehicle suspension to change the height according to the vertical-axis coordinate component correspondence and the second target time corresponding to the vertical-axis coordinate component.

[0328] Specifically, in the embodiment of the present application, the vehicle can configure a second target time for the vertical-axis coordinate component of each pattern trajectory point coordinate in the second-direction movement information to calibrate the vertical-axis coordinate component of the vehicle suspension at each second target time, that is, the height value of the vehicle suspension at each second target time. Then, the vehicle can control the actuation force output of the vehicle suspension at each second target time according to the vertical-axis coordinate component at each second target time, so as to change the height of the vehicle suspension at each second target time.

[0329] In one example, the first target time is the same as the second target time, or rather, the vehicle can configure a time point for the horizontal-axis coordinate component and the vertical-axis coordinate component of a pattern trajectory point coordinate at the same time.

[0330] In one example, please refer to Figure 16 , Figure 16 is a schematic diagram of an application scenario in some embodiments of the present application. That is, after the vehicle configures a second target time for the vertical-axis coordinate component of each pattern trajectory point coordinate in the second-direction movement information, a "vertical-axis coordinate component - time" relationship curve as shown in Figure 16 can be obtained. It can be understood that this "vertical-axis coordinate component - time" relationship curve can clearly depict the vertical displacement of the vehicle body (vehicle suspension) at different time points, and thus can be used as the basis for subsequent calculation of the actuation force output of each vehicle suspension.

[0331] Thus, in the embodiments of the present application, the second target time corresponding to the vertical axis coordinate component can be configured, and the actuation force output of the vehicle suspension can be controlled according to the vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component to change the height, so that the height change control of the vehicle suspension can be changed based on the control of the actuation force output, and to a certain extent, the accuracy of the height change control of the vehicle suspension can be ensured.

[0332] In some embodiments of the present application, step 011011 includes:

[0333] Determine the actuation force output of the vehicle suspension at the second target time according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time.

[0334] The processing unit in the embodiments of the present application is configured to determine the actuation force output of the vehicle suspension at the second target time according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time.

[0335] The processor in the embodiments of the present application is further configured to determine the actuation force output of the vehicle suspension at the second target time according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time.

[0336] Specifically, in the embodiments of the present application, the actuation force output of the vehicle suspension at each second target time can be determined according to the vehicle dynamics parameters such as the geometric layout and dynamic characteristics of the vehicle suspension system, and the overall mass distribution and center of gravity position of the vehicle body, so as to realize the height change control of the vehicle suspension, thereby ensuring that each suspension can make corresponding adjustments according to the vertical movement of the vehicle body, realizing the precise control of the vertical movement of the vehicle, and thus maintaining the stability and riding comfort of the vehicle.

[0337] In one example, the preset vehicle dynamics parameters include at least one of the front and rear suspension leverage ratios, the distance of the vehicle center of mass relative to the axle, the axle spacing distance, and the vehicle suspension stiffness.

[0338] In one example, the process of determining the actuation force output may include: First, the vehicle can calculate the displacement change amounts corresponding to the four suspension positions according to the geometric layout and dynamic characteristics of the vehicle suspension system, and the overall mass distribution and center of gravity position of the vehicle body, etc. Among them, the calculation method of the displacement change amount can refer to the following formula, that is:

[0339]

[0340] where i f 、i r are the front and rear suspension leverage ratios respectively, a is the distance between the vehicle center of mass and the front axle, b is the distance between the vehicle center of mass and the rear axle, L is the distance between the front and rear axles of the vehicle, H is the Z-direction actuation displacement of the vehicle, H fl, H fr , H rl , H rr are the target actuation displacements of the left front, right front, left rear, and right rear of the vehicle suspension respectively, and U′ represents the transpose matrix of matrix U.

[0341] Then, based on the displacement change of each suspension, the target actuation force of the electromagnetic actuator of each suspension can be determined.

[0342] Among them, the determination of the target actuation force can refer to the following formula, that is:

[0343]

[0344] In the formula, K f , K f are the stiffness of the front suspension and the rear suspension of the vehicle respectively, i f , i r are the leverage ratios of the front and rear suspensions of the vehicle respectively, F fl , F fr , F rl , F rr are the target actuation forces of the left front electromagnetic actuator, the right front electromagnetic actuator, the left rear electromagnetic actuator, and the right rear electromagnetic actuator respectively.

[0345] In this way, in the embodiment of the present application, the actuation force output of the vehicle suspension at the second target time can be determined according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time, thereby realizing the effective and reliable determination of the actuation force output.

[0346] For a clearer illustration of the vehicle movement control and suspension height change control in the embodiment of the present application, please refer to Figure 2 , Figure 13 , Figure 14 , Figure 16 , Figure 17 and Figure 18 , Figure 17 and Figure 18 are all schematic diagrams of application scenarios in some embodiments of the present application.

[0347] Specifically, as Figure 17As shown, in the embodiment of the present application, when the pattern trajectory is the "2025" digital pattern (hereinafter referred to as the "one-stroke" pattern) drawn in one stroke by the user on the vehicle center control display screen (i.e., PAD) in a touch-screen drawing manner, the center control display screen preprocesses the "one-stroke" pattern, that is, according to the coordinate axes preset in the drawing window displayed on the center control display screen, extracts the coordinate data of the "one-stroke" pattern (i.e., the coordinates of the pattern trajectory points), thereby obtaining the X-direction (i.e., horizontal direction) coordinates and Z-direction (vertical direction) coordinate points of the "one-stroke" pattern, and transmits the coordinate point information to the chassis motion controller.

[0348] Next, after receiving the coordinate information of the "one-stroke" pattern, the chassis motion controller can perform data preprocessing such as data point scaling, start / end preprocessing, insertion of time information, and synchronization on the X-direction motion coordinate data (i.e., the horizontal axis coordinate component) and Z-direction motion coordinate data (i.e., the vertical axis coordinate component) according to the data preprocessing module, thereby obtaining as Figure 13 shown in the "X-direction motion displacement - time" curve and as Figure 16 shown in the "Z-direction motion displacement - time" curve. It can be understood that these two curves not only depict the displacement changes of the vehicle in the horizontal and vertical directions in the future period of time, but also ensure the smoothness and coherence of the motion process, bringing the user an excellent usage experience.

[0349] In addition, the chassis motion controller can respectively transmit the two coordinate curves to the X-direction control unit and the Z-direction control unit. Among them, the X-direction motion control unit processes the X-direction motion displacement data, calculates the rotational speed that the drive motor should reach at different time points, thereby generating an accurate drive motor speed curve, which ensures that the vehicle can move precisely and stably in the horizontal direction according to the planned trajectory. At the same time, after receiving the "Z-direction motion displacement - time" curve, the Z-direction control unit can calculate the corresponding suspension change displacement based on the mechanical characteristics of the suspension, and calculate the required target actuation force according to the target actuation displacement of the suspension, ensuring that the vehicle can smoothly and quickly adjust the height in the vertical direction, so as to fit the "2025" digital pattern as Figure 2 shown.

[0350] To more clearly illustrate the operation logic of the chassis motion controller, please refer to Figure 18 , that is: after receiving the coordinate information of the "one-stroke" pattern transmitted by the PAD, the chassis motion controller can compare the coordinate information of the "one-stroke" pattern with the lateral movable range of the vehicle and the variable range of the suspension height, thereby scaling up or down the X-direction coordinates and Z-direction coordinates of the "one-stroke" pattern in equal proportion.

[0351] Furthermore, in the embodiment of the present application, the change process of the vehicle suspension height can start when the suspension height corresponds to the standard gear height and end when the suspension height corresponds to the standard gear height. However, since there may be a large difference between the vertical coordinate of the first pattern trajectory point and / or the vertical coordinate of the last pattern trajectory point of the coordinate information of the "one-stroke" pattern and the height corresponding to the standard gear, therefore, in order to connect the first and last pattern trajectory points of the suspension height change, data insertion processing can be performed on the vertical coordinate of the first pattern trajectory point and / or the vertical coordinate of the last pattern trajectory point of the coordinate data transmitted by the PAD (i.e., determining the first sub-motion information and the second sub-motion information).

[0352] For example, taking the data insertion of the vertical coordinate of the first pattern trajectory point as an example, let the body height be 0 when the suspension height is in the standard gear, the Z coordinate of the starting point of the "one-stroke pattern" be Z0, and the program running period of the chassis motion controller be T. The actuation displacement in the Z direction within T time is Z T , theoretically Z T ∈(0, Z0), then the number of data points to be inserted before the starting point

[0353]

[0354] Thus, the inserted coordinate points (i.e., the first sub-motion information) are: (0, 0), (0, Z T ), (0, 2Z T ), (0, 3Z T ),..., (0, (N - 2)ZT), (0, (N - 1)ZT), (0, Z0).

[0355] After determining the inserted data of the vertical coordinate of the first pattern trajectory point and / or the last pattern trajectory point, synchronous timestamp information can be inserted into the X-direction coordinate and the Z-direction coordinate to ensure the synchronization of the X-direction control and the Z-direction control, and then as Figure 12 shown in the "X-direction motion displacement - time" curve and as Figure 16 shown in the "Z-direction motion displacement - time".

[0356] Subsequently, after the X-direction motion control unit receives the data of each point in the "X-direction motion displacement - time" curve, a derivative operation can be performed to obtain the change rate of the vehicle displacement with time, and then the "X-direction motion speed - time" relationship curve as shown in 14 can be obtained. It can be understood that the "X-direction motion speed - time" relationship curve as shown in 14 can reveal the lateral motion speed of the vehicle at different time points, and can be used as the basis for subsequent motion control.

[0357] Then, based on the conversion relationship between the vehicle moving speed and the rotational speed of the vehicle drive motor determined by factors such as the physical characteristics of the motor and the efficiency of the transmission system, the "X-direction movement speed - time" relationship curve shown in Figure 14 can be converted into a "motor rotational speed - time" relationship curve. The conversion relationship between the vehicle moving speed and the rotational speed of the vehicle drive motor can be expressed by the following formula, that is:

[0358] n = k * V

[0359] Then, under the control of the motor controller, the drive motor rotates according to the law described by the "motor rotational speed - time" relationship curve, and then drives the vehicle's transmission system, enabling the vehicle to move laterally along the trajectory planned by the "X-direction movement displacement - time" curve shown in Figure Figure 13 . This realizes the accuracy and stability of the vehicle's lateral movement, and also realizes the fine control of the vehicle's X-direction movement, providing users with a smoother and more responsive usage experience.

[0360] In addition, to ensure that the vehicle always moves along the planned trajectory, the X-direction movement control unit can monitor the actual movement displacement of the vehicle at each time point through sensors and compare it with the corresponding X-direction movement displacement at each time point. If the deviation between the two is large, the motor drive rotational speed is adjusted through the following formula, that is:

[0361] n Tar = n + K x *(X Tar - X Act )

[0362] While the X-direction movement control unit controls the vehicle to move on the ground, the Z-direction movement control unit can calculate the displacement change of the suspension position according to the vertical displacement of the vehicle body at different time points depicted by the "Z-direction movement displacement - time" curve information received as shown in Figure Figure 16 . Specifically, based on the "Z-direction movement displacement - time" curve information, the Z-direction movement control unit can calculate the displacement changes of the four suspension positions by combining the geometric layout and dynamic characteristics of the vehicle suspension system, as well as information such as the overall mass distribution and center of gravity position of the vehicle body. It can be understood that this calculation process involves complex spatial geometric analysis and dynamic modeling, aiming to ensure that each suspension can make corresponding adjustments according to the vertical movement of the vehicle body, realizing precise control of the vehicle's vertical movement, thereby maintaining the stability and ride comfort of the vehicle. And the displacement changes of the four suspension positions can be expressed by the following formula, that is:

[0363]

[0364] Then, after obtaining the displacement changes corresponding to the four suspension positions, the target actuating forces of the electromagnetic actuators corresponding to the four suspension positions can be determined. In one example, the target actuating forces of the electromagnetic actuators corresponding to the four suspension positions can be expressed as follows:

[0365]

[0366] Where K f , K f are the front suspension stiffness and rear suspension stiffness of the car respectively, i f 、i r are the front and rear suspension lever ratios of the car, F fl 、F fr 、F rl 、F rr They are the target actuating force of the left front electromagnetic actuator, the target actuating force of the right front electromagnetic actuator, the target actuating force of the left rear electromagnetic actuator, and the target actuating force of the right rear electromagnetic actuator.

[0367] It should be noted that the relevant technology proposes a solution involving vehicle height adjustment, which can analyze the road conditions of the target driving road surface corresponding to each collection time point of the vehicle, so as to judge the height adjustment status of the vehicle at each collection time point through the analysis results, and then, according to the road condition information corresponding to the vehicle at each collection time point, respectively adjust the height corresponding to each fixed adjustment time point of the vehicle. The defects of this method are that the accuracy of the longitudinal height adjustment of the vehicle body is not high, the response time is not fast enough, and the real-time control of the longitudinal height adjustment of the vehicle body can only be limited.

[0368] In the embodiments of the present application, by controlling the speed of the vehicle's drive motor and the power output of the suspension, millimeter-level control accuracy can be achieved for X- and Z-direction motion control. Furthermore, relying on high-precision control of the vehicle's X- and Z-direction motion, the vehicle can convert the coordinate data in the user-drawn pattern trajectory into specific motion instructions, such as displacement at various time points and suspension height adjustment. This allows the vehicle's motion trajectory to align with the user's drawn pattern trajectory, achieving a precise and smooth pattern display. The user's creativity and instructions are perfectly translated into actual motion. This entire process not only demonstrates the advanced nature of vehicle intelligent technology but also greatly enhances the interactivity and fun between the user and the vehicle, thereby fully enhancing the user's vehicle experience.

[0369] The embodiment of the present application further provides a vehicle, the vehicle including the above-mentioned electronic device or the above-mentioned control device

[0370] An embodiment of the present application also provides a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the above-mentioned vehicle control method.

[0371] An embodiment of the present application also provides a computer program product including a computer program / instructions that, when executed by a processor, implement the above-mentioned vehicle control method.

[0372] In the description of this specification, the descriptions referring to terms such as "specifically", "further", "specially", "understandably", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0373] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0374] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: Including: According to the pattern trajectory input by the user, the vehicle travels along the pattern trajectory.

2. The method according to claim 1, wherein The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: According to the pattern trajectory, the position of the vehicle changes along with the pattern trajectory.

3. The method according to claim 2, characterized in that, The position of the vehicle changes along with the pattern trajectory according to the pattern trajectory, including: According to the pattern trajectory, the rotational speed of the driving motor of the vehicle changes along with the pattern trajectory, so that the position of the vehicle changes along with the pattern trajectory.

4. The method according to claim 1, wherein The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: According to the pattern trajectory, the height of the vehicle suspension changes along with the pattern trajectory.

5. The method according to claim 4, characterized in that The height of the vehicle suspension changes along with the pattern trajectory according to the pattern trajectory, including: According to the pattern trajectory, the power output of the vehicle suspension changes along with the pattern trajectory, so that the height of the vehicle suspension changes along with the pattern trajectory.

6. The method according to claim 1, characterized in that, The length of the projection of the pattern trajectory in the preset direction is greater than the preset value.

7. The method according to claim 1, characterized in that, When the vehicle travels along the pattern trajectory, there is a displacement in the vehicle traveling direction.

8. The method according to claim 6 or 7, characterized in that, The pattern trajectory includes a first trajectory segment and a second trajectory segment, and the first trajectory segment and the second trajectory segment are different.

9. The method according to claim 8, wherein The first trajectory segment is continuous with the second trajectory segment.

10. The method according to claim 8, wherein The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: According to the pattern trajectory obtained from a single input by the user, the vehicle travels along the pattern trajectory.

11. The method according to claim 8, characterized in that The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: According to the pattern trajectory obtained from multiple inputs by the user, the vehicle travels along the pattern trajectory, where the end position of the previous input by the user matches the start position of the next input.

12. The method according to claim 8, characterized in that, The first trajectory segment and the second trajectory segment are not continuous.

13. The method according to claim 8, characterized in that, The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: According to multiple pattern trajectories input by the user, the vehicle travels along each pattern trajectory.

14. The method according to any one of claims 1-13, characterized in that, The vehicle travels along the pattern trajectory according to the pattern trajectory input by the user, including: Determine vehicle control information according to the pattern trajectory; Control the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory.

15. The method according to claim 14, wherein, The pattern trajectory includes pattern trajectory point coordinates. Determining vehicle control information according to the pattern trajectory includes: Perform scaling processing on the pattern trajectory point coordinates according to the pre-determined vehicle movement range to determine the processed coordinates of the pattern trajectory points; Determine the vehicle control information according to the processed coordinates of the pattern trajectory points.

16. The method according to claim 14, characterized in that, Controlling the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory includes: Control the vehicle to move according to the vehicle control information.

17. The method according to claim 14, wherein Controlling the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory includes: Control the height of the vehicle suspension to change according to the vehicle control information.

18. The method according to claim 14, characterized in that Controlling the vehicle according to the vehicle control information so that the vehicle travels along the pattern trajectory includes: Controlling the movement of the vehicle and controlling the height of the vehicle suspension to change according to the vehicle control information.

19. The method according to claim 18, wherein The vehicle control information includes first-direction movement information and second-direction movement information. Controlling the movement of the vehicle and controlling the height of the vehicle suspension to change according to the vehicle control information includes: Controlling the movement of the vehicle according to the first-direction movement information; Controlling the height of the vehicle suspension to change according to the second-direction movement information.

20. The method according to claim 19, wherein The pattern trajectory includes multiple pattern trajectory point coordinates. Determining the vehicle control information according to the drawn pattern trajectory includes: Determining the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates.

21. The method according to claim 20, wherein Determining the first-direction movement information and the second-direction movement information according to the coordinate components of the trajectory point coordinates includes: Determining the first-direction movement information according to the horizontal-axis coordinate component of the trajectory point coordinates; Determining the second-direction movement information according to the vertical-axis coordinate component of the trajectory point coordinates.

22. The method according to claim 21, wherein Determining the second-direction movement information according to the vertical-axis coordinate component of the trajectory point coordinates includes: Determining the second-direction movement information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension.

23. The method according to claim 22, wherein, The pattern trajectory includes the multiple pattern trajectory point coordinates sorted by drawing time. Determining the second-direction movement information according to the vertical-axis coordinate component and the preset height position of the vehicle suspension includes: Determining first sub-movement information and second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate, where the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the preset height position to the second vertical-axis coordinate component, and the first sub-movement information is used to indicate the process of the height of the vehicle suspension changing from the second vertical-axis coordinate component to the preset height position; Determining the second-direction movement information according to the first sub-movement information, the second sub-movement information, and the vertical-axis coordinate component.

24. The method according to claim 23, wherein Determining the first sub-movement information and the second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, and the vertical-axis coordinate component of the last trajectory point coordinate includes: Determining the first sub-movement information and the second sub-movement information according to the preset height position, the vertical-axis coordinate component of the first trajectory point coordinate, the vertical-axis coordinate component of the last trajectory point coordinate, and the height change interval of the vehicle suspension.

25. The method according to claim 19, wherein The pattern trajectory includes multiple pattern trajectory point coordinates. The first-direction movement information includes the horizontal-axis coordinate components of the multiple pattern trajectory point coordinates. Controlling the movement of the vehicle according to the first-direction movement information includes: Configuring a first target time corresponding to each horizontal-axis coordinate component Control the movement of the vehicle according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component.

26. The method according to claim 25, wherein The controlling the movement of the vehicle according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component includes: Determine the movement speed of the vehicle at the first target time according to the horizontal axis coordinate component and the first target time corresponding to the horizontal axis coordinate component; Control the rotation speed of the vehicle drive motor according to the movement speed to make the vehicle move.

27. The method according to claim 26, wherein The controlling the rotation speed of the vehicle drive motor according to the movement speed to make the vehicle move includes: Determine the rotation speed of the vehicle drive motor at the first target time according to the movement speed and the pre-determined mapping relationship between vehicle speed and motor rotation speed to make the vehicle displace.

28. The method according to claim 26, wherein The method further includes: Update the rotation speed of the vehicle drive motor according to the horizontal axis coordinate component and the displacement of the vehicle at the first target time.

29. The method according to claim 19, wherein The pattern trajectory includes a plurality of pattern trajectory point coordinates, and the second direction movement information includes the vertical axis coordinate components of the plurality of pattern trajectory point coordinates. The controlling the height of the vehicle suspension to change according to the second direction movement information includes: Configure the second target time corresponding to the vertical axis coordinate component; Control the power output of the vehicle suspension according to the vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component to change the height.

30. The method according to claim 29, characterized in that, The controlling the power output of the vehicle suspension according to the vertical axis coordinate component and the second target time corresponding to the vertical axis coordinate component to change the height includes: Determine the power output of the vehicle suspension at the second target time according to the preset vehicle dynamics parameters and the vertical axis coordinate component corresponding to the second target time.

31. The method according to claim 30, characterized in that, The preset vehicle dynamics parameters include at least one of the front and rear suspension leverage ratios, the distance of the vehicle center of mass relative to the axle, the axle spacing distance, and the vehicle suspension stiffness.

32. An electronic device, characterized in that, Include a control unit; The control unit is configured to make the vehicle travel along the pattern trajectory according to the pattern trajectory input by the user.

33. An electronic device, characterized in that, Include a memory and a processor, and a computer program is stored in the memory. When the computer program is executed by the processor, the method according to any one of claims 1-31 is implemented.

34. A vehicle, characterized in that, Include the device according to claim 32 or 33.

35. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the method according to any one of claims 1-31 is implemented.

36. A computer program product comprising a computer program / instructions, characterized in that, The computer program / instructions, when executed by the processor, implement the method according to any one of claims 1-31.

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