Vehicle control method, device, equipment and medium

Abstract

The invention discloses a vehicle control method, device and equipment and a medium, and belongs to the technical field of vehicles. The method is applied to the vehicle, the vehicle comprises a main driving seat and foot supporting equipment corresponding to the main driving seat, and the method comprises the steps that the foot position of a driver on the foot supporting equipment is obtained; acquiring sitting posture information of a driver, wherein the sitting posture information comprises a first relative position relation between the driver and a main driving seat, back bending information of the driver and leg angle information of the driver; based on the foot position and the sitting posture of the driver, seat adjusting parameters of the main driving seat and displacement of the footstep supporting equipment in the length direction of the vehicle are determined; and the main driving seat is adjusted based on the seat adjusting parameters, and the footstep supporting equipment is adjusted based on the displacement, so that linkage adjustment of the main driving seat and the footstep supporting equipment is achieved.

Description

TECHNICAL FIELD

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

[0002] It is of great significance to promote safe driving of vehicles and improve driver experience for drivers to be in a comfortable and safe driving position on the vehicle. The adjustment of the driving position of the driver on the vehicle is often realized by adjusting the seat of the vehicle.

[0003] At present, new energy vehicles and traditional vehicles mainly rely on electric or manual seat adjustment. Some high-end models also support seat memory function, which can automatically adjust the seat position according to the preferences of different drivers. However, seat adjustment only changes the relative position of the upper body and legs of the driver, but the foot support device is usually fixed, which may cause the feet of drivers of different heights or postures to be unable to comfortably contact the pedals on the vehicle after adjusting the seat. If the user actively moves the foot position and then needs to adjust the seat position again, such repeated operations until the user reaches a comfortable driving position increase the complexity of the adjustment of the driving position. SUMMARY

[0004] In view of the above problems, the present application is proposed to provide a vehicle control method, device, equipment and medium for solving the above problems, which can reduce the complexity of the adjustment of the driving position of the driver when driving.

[0005] In a first aspect, the present application provides a vehicle control method, which is applied to a vehicle, the vehicle comprising a main driver seat and a foot support device corresponding to the main driver seat, and the method comprising: obtaining a foot position of a driver on the foot support device; obtaining posture information of the driver, the posture information comprising a first relative position relationship between the driver and the main driver seat, back bending information of the driver and leg angle information of the driver; determining a seat adjustment parameter of the main driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the posture of the driver; adjusting the main driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement to realize linkage adjustment of the main driver seat and the foot support device.

[0006] In one of the embodiments, the vehicle further comprises a pedal, and the determination of the seat adjustment parameter of the main driver seat and the displacement of the foot support device along the length direction of the vehicle based on the foot position and the posture of the driver comprises: obtaining a second relative position relationship between the foot and the pedal, the second relative position relationship being determined based on the foot position; determining a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the second relative position relationship and the driver posture.

[0007] In one of the embodiments, the determining the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle based on the second relative position relationship and the driver posture comprises: determining the seat adjustment parameter of the driver seat based on the first relative position relationship, the second relative position relationship, the back bending information and the leg angle information; determining the displacement of the foot support device along the length direction of the vehicle based on the leg angle information and the second relative position relationship.

[0008] In one of the embodiments, the first relative position relationship comprises a first included angle between the driver thigh and the plane of the driver seat; and the leg angle information comprises a second included angle between the driver thigh and the calf. The seat adjustment parameter comprises a displacement of the driver seat along the length direction of the vehicle, a height of the driver seat and an angle of the driver seat.

[0009] In one of the embodiments, the adjusting the driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement comprises: adjusting the driver seat based on the seat adjustment parameter; performing a first adjustment operation on the foot support device based on the displacement; performing at least one second adjustment operation on the foot support device after the first adjustment operation until a preset ending condition is met; Each of the second adjustment operations comprises: receiving user inputted height adjustment information and angle adjustment information of the foot support device corresponding to a current target adjustment operation; adjusting the foot support device based on the height adjustment information and the angle adjustment information.

[0010] In one of the embodiments, the adjusting the driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement comprises: when a control display triggering condition is met, displaying a control pair on an in-vehicle infotainment (IVI) interface, the control pair being used for the driver to select whether to adjust the driving position, the control pair comprising a confirmation control and a denial control. adjust the driver seat based on the seat adjustment parameter, and adjust the foot support device based on the displacement.

[0011] In one of the embodiments, the method further comprises: detecting whether the current state of the vehicle meets the control display triggering condition; The detection of whether the current state of the vehicle meets the control display triggering condition comprises: detecting the holding of the steering wheel in the vehicle, and determining that the current state of the vehicle meets the control display triggering condition when the holding of the steering wheel is detected; or determining the second relative position relationship between the feet and the pedals when the adjustment operation of the driver on the driver seat is detected, and determining that the current state of the vehicle meets the control display triggering condition if the second relative position relationship does not meet the preset position relationship condition.

[0012] In one of the embodiments, the method further comprises: if the selection operation of the driver on the pedal simulation mode is received, obtaining the pedal stepping signals of the driver on the pedal simulation areas on the foot support device; determining the opening parameter of the pedal based on the stepping force parameter in the pedal stepping signals; performing corresponding parameter adjustment on the pedal based on the opening parameter.

[0013] In one of the embodiments, the pedal stepping signals include the accelerator pedal stepping signal of the pedal simulation area corresponding to the accelerator pedal and the brake pedal stepping signal of the pedal simulation area corresponding to the brake pedal; The determination of the opening parameter of the pedal based on the stepping force parameter in the pedal stepping signals comprises: obtaining the preconfigured signal priority; determining the signal with higher priority from the accelerator pedal stepping signal and the brake pedal stepping signal based on the signal priority; determining the opening parameter of the corresponding pedal based on the stepping force parameter in the signal with higher priority.

[0014] In one of the embodiments, the pedal stepping signals include a plurality of pressure signals respectively collected by a plurality of pressure sensors on the foot support device; The determination of the opening parameter of the pedal based on the stepping force parameter in the pedal stepping signals comprises: filtering out target pressure signals from the plurality of pressure signals based on the pre-set pressure value range; delay filtering the target pressure signal to obtain a processed pressure signal; taking a pressure value in the processed pressure signal as the pedaling strength parameter, and determining an opening parameter of the pedal based on the pedaling strength parameter.

[0015] In one of the embodiments, the method further comprises: obtaining driving safety information, the driving safety information comprising a shape feature of a shoe of the driver; if the driving safety information matches pre-stored safety information, displaying a dangerous driving reminder.

[0016] In a second aspect, the application provides a vehicle, comprising a controller, a main driver seat, and a foot support device corresponding to the main driver seat, the controller being configured to: obtain a foot position of a driver on the foot support device; obtain sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the main driver seat, back bending information of the driver, and leg angle information of the driver; determine a seat adjustment parameter of the main driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver; adjust the main driver seat based on the seat adjustment parameter, and adjust the foot support device based on the displacement, so as to realize linkage adjustment of the main driver seat and the foot support device.

[0017] In a third aspect, the application provides a vehicle control device, the device being applied to a vehicle, the vehicle comprising a main driver seat and a foot support device corresponding to the main driver seat, the device comprising: a first obtaining module configured to obtain a foot position of a driver on the foot support device; a second obtaining module configured to obtain sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the main driver seat, back bending information of the driver, and leg angle information of the driver; a determining module configured to determine a seat adjustment parameter of the main driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver; an adjusting module configured to adjust the main driver seat based on the seat adjustment parameter, and adjust the foot support device based on the displacement, so as to realize linkage adjustment of the main driver seat and the foot support device.

[0018] In a fourth aspect, the present application provides an electronic device, comprising a memory and a processor, which are in communication connection with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method of the first aspect.

[0019] In a fifth aspect, the present application provides a computer readable storage medium, which stores computer instructions for causing the computer to perform the method of the first aspect.

[0020] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: The vehicle control method of the present application is applied to a vehicle, which comprises a main driver seat and a foot support device corresponding to the main driver seat. After obtaining the foot position of the driver on the foot support device, the present application can obtain the sitting posture information of the driver, which includes the first relative position relationship between the driver and the main driver seat, the back bending information of the driver, and the leg angle information of the driver. Thus, based on the foot position and the sitting posture of the driver, the seat adjustment parameter of the main driver seat and the displacement of the foot support device along the length direction of the vehicle can be determined. The main driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the displacement, so as to realize the linkage adjustment of the main driver seat and the foot support device. It can be seen that the present application considers the leg position, the sitting posture information, etc., and linkage adjusts the seat and the foot support device, instead of only adjusting the seat position, thereby avoiding the problem that the user needs to re-adjust the seat position after actively moving the foot position each time, and the problem of repeatedly adjusting the position of the main driver seat can be solved. The adjustment frequency can be reduced, and the user can be in a comfortable driving position at one step, thereby reducing the complexity of the driving position adjustment.

[0021] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented in accordance with the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are intended to only illustrate preferred embodiments and are not considered limiting of the present application. Moreover, like reference numerals designate similar parts throughout the several views in the drawings. In the drawings: Figure 1 is a flow diagram of a vehicle control method provided by an embodiment of the present application; Figure 2 is a structural diagram of a vehicle provided by an embodiment of the present application; Figure 3 is a structural schematic diagram of a 6-way foot pad provided by an embodiment of the present application; Figure 4 is another structural schematic diagram of a vehicle provided by an embodiment of the present application; Figure 5 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present application; Figure 6 is a structural schematic diagram of an electronic device. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the drawings, and it should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, but not limitations of the technical solutions of the present application, and the technical features in the embodiments of the present application and the embodiments can be combined with each other without conflict.

[0024] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application, the method is applied to a vehicle, the vehicle includes a driver seat and a foot support device corresponding to the driver seat, the method is executed by a controller on the vehicle, and the method includes the following steps. Step S101: Obtain a foot position of a driver on the foot support device. In the embodiment, the foot support device refers to a device for supporting the feet of the driver, and the foot support device includes a plurality of sensors and / or modules. The foot position refers to the position of the feet of the driver on the vehicle, and specifically: a coordinate system is established with the vehicle itself as a static reference, the coordinates of each key point in the foot region of the driver are determined, and the foot position includes the coordinates of each key point.

[0025] The key points in the foot region of the driver include: a rear heel key point, a front foot palm key point, a foot center key point, and the like.

[0026] Step S102: Obtain the sitting posture information of the driver, and the sitting posture information includes a first relative position relationship between the driver and the driver seat, back bending information of the driver, and leg angle information of the driver. The first relative position relationship between the driver and the driver seat refers to the relative position relationship between the body of the driver and the driver seat when the driver sits on the driver seat.

[0027] Step S103: Determine a seat adjustment parameter of the driver seat and a displacement of the foot support device along the length direction of the vehicle based on the foot position and the sitting posture of the driver. determine the seat adjustment parameter of the seat and the displacement of the foot support device along the length direction of the vehicle based on the foot position and the sitting posture of the driver; In step S104, the driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the displacement, so as to realize the linkage adjustment of the seat and the foot support device.

[0028] The driver seat is adjusted based on the seat adjustment parameter, so as to realize the automatic adjustment of the driver seat. The foot support device is adjusted based on the displacement, so as to realize the automatic adjustment of the foot support device. Thus, the linkage adjustment of the driver seat and the foot support device is realized, instead of adjusting only the driver seat as in the prior art, thereby avoiding the repeated adjustment of the driver seat.

[0029] The vehicle control method of the present application is applied to a vehicle. The vehicle includes a driver seat and a foot support device corresponding to the driver seat. After obtaining the foot position of the driver on the foot support device, the sitting posture information of the driver is obtained, which includes the first relative position relationship between the driver and the driver seat, the back bending information of the driver, and the leg angle information of the driver. Thus, based on the foot position and the sitting posture of the driver, the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle are determined. The driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the displacement, so as to realize the linkage adjustment of the driver seat and the foot support device. It can be seen that the linkage adjustment of the seat and the foot support device is realized by considering the leg position, the sitting posture information, etc. in the present application, instead of adjusting only the seat position. Thus, the problem of repeatedly adjusting the position of the driver seat after the user actively moves the foot position each time is avoided. The adjustment frequency can be reduced, and the user can be in a comfortable driving position even in one step. The complexity of the driving position adjustment is reduced.

[0030] In one of the embodiments, the vehicle further includes a pedal. Based on the foot position and the sitting posture of the driver, the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle are determined, including: obtaining the second relative position relationship between the foot and the pedal, which is determined based on the foot position; and determining the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle based on the second relative position relationship and the sitting posture of the driver.

[0031] The pedal position is determined, specifically including: establishing a coordinate system with the vehicle itself as a static reference; determining the coordinates of each key point in the pedal area; and the pedal position includes the coordinates of each key point.

[0032] determine a second relative position relationship between the foot and the pedal based on the pedal position and the foot position, the second relative position relationship reflecting a proportion of a foot region overlapping the pedal region to the whole foot region, referred to as a foot pedal ratio, the foot region overlapping the pedal region being a part of the foot stepping on the pedal; In normal driving, the accelerator pedal is used more (about 70% to 90% of the whole driving time is used), and the brake pedal is only used when decelerating or stopping (about 10% to 30% of the whole driving time is used).

[0033] For the accelerator pedal, the foot pedal ratio is determined in the following manner: a first preset proportion of the whole foot region in the front foot region is used as the foot pedal ratio, for example, the first preset proportion of the whole foot region in the front foot region is used as the foot pedal ratio, and the first preset proportion can be selected from the range of [1 / 3, 1 / 2], so that the front foot can be used to control the accelerator pedal with a length of about 5-8 cm, and the fine force adjustment can be maintained.

[0034] For the brake pedal, the foot pedal ratio is determined in the following manner: a second preset proportion of the whole foot region is used as the foot pedal area, for example, the second preset proportion can be selected from the range of [3 / 4, 1 / 2], so that the whole foot can be used to step on the brake pedal (about 8-10 cm in length) in emergency braking to ensure maximum braking force; the contact foot pedal area can be reduced to the front foot to step on the brake pedal in daily deceleration.

[0035] With the above settings of the foot pedal ratio of the accelerator pedal and the brake pedal as the target, the second relative position relationship can reflect the current foot pedal ratio, so that based on the current foot pedal ratio and the driver's sitting posture, the seat adjustment parameters of the driver's seat and the displacement of the foot support device along the length direction of the vehicle are determined, so that the driver's seat is adjusted based on the seat adjustment parameters, and the foot support device is adjusted based on the displacement, so that the driver's back, hips and leg posture are comfortable, and the foot pedal ratio of the accelerator pedal and the brake pedal can reach the target, so that the driver can be in the most comfortable driving state.

[0036] In one embodiment, the determination of the seat adjustment parameters of the driver's seat and the displacement of the foot support device along the length direction of the vehicle based on the second relative position relationship and the driver's sitting posture comprises: determining the seat adjustment parameters of the driver's seat based on the first relative position relationship, the second relative position relationship, the back bending information and the leg angle information; determining the displacement of the foot support device along the length direction of the vehicle based on the leg angle information and the second relative position relationship.

[0037] In the embodiment, the step of determining the seat adjustment parameter of the driver seat and the step of determining the displacement of the foot support device along the length direction of the vehicle are determined synchronously, and the seat adjustment parameter and the displacement of the foot support device along the length direction of the vehicle are determined synchronously, so that the controller adjusts the driver seat based on the seat adjustment parameter and adjusts the foot support device based on the displacement, and after the linkage adjustment of the driver seat and the foot support device, the driver can be in the most comfortable driving position.

[0038] It can be understood that the determination of the seat adjustment parameter of the driver seat needs to consider the first relative position relationship, so as to ensure that the positions between the back and the hips of the driver and the driver seat are in the comfortable positions of the driver after the adjustment of the driver seat, so as to make the back, hips and legs of the driver comfortable; the second relative position relationship also needs to be considered, so as to ensure that the driver can operate the pedals according to the above-mentioned set target after the adjustment of the driver seat; the back bending information also needs to be considered, so as to ensure that the bending degree of the back of the driver is in the comfortable state of the driver after the adjustment of the driver seat; and the leg angle information also needs to be considered, so as to ensure that the leg angle is in the preset second angle range after the adjustment of the driver seat according to the displacement, so as to ensure that the leg posture of the driver is comfortable.

[0039] It can be understood that the determination of the displacement of the foot support device along the length direction of the vehicle needs to consider the leg angle information, so as to ensure that the leg angle is in the preset second angle range after the adjustment of the foot support device according to the displacement, so as to ensure that the leg posture of the driver is comfortable; and the second relative position relationship also needs to be considered, so as to ensure that the driver can operate the foot support device according to the above-mentioned set target after the adjustment of the foot support device.

[0040] The determination of the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle in the above-mentioned manner can achieve the condition that the pedal and brake pedal foot stepping ratio can reach the target in the case that the back, hips and legs of the driver are comfortable, so as to make the driver in the most comfortable driving state.

[0041] In one of the embodiments, the first relative position relationship includes a first angle between the thigh of the driver and the plane of the driver seat; the leg angle information includes a second angle between the thigh and the calf of the driver; and the seat adjustment parameter includes the displacement of the driver seat along the length direction of the vehicle, the height of the driver seat and the angle of the driver seat.

[0042] In the embodiment, the seat adjustment parameter of the driver seat needs to be determined based on the first angle, so as to ensure that the angle between the thigh of the driver and the plane of the driver seat is in the corresponding preset first angle range after the linkage adjustment of the driver seat and the foot support device, so as to ensure that the driver is in the comfortable driving state.

[0043] In the embodiment, the seat adjustment parameter of the driver's seat and the displacement of the foot support device along the length direction of the vehicle are determined based on the second included angle, so that after the joint adjustment of the driver's seat and the foot support device, the included angle between the thighs and the shanks of the driver is in the corresponding preset second included angle range, thereby ensuring that the driver is in a comfortable leg posture driving state.

[0044] The first relative position relationship further includes a relative position between the driver's hips and the plane of the driver's seat, specifically a sitting posture gravity center offset, which can represent the deviation of the pressure center point of the driver's hips from the geometric center of the driver's seat, and reflects the left-right or front-back deviation of the driver's body. In this way, after the joint adjustment of the driver's seat and the foot support device, the hips of the driver are in a suitable position, thereby ensuring that the driver is in a comfortable driving state.

[0045] The first relative position relationship further includes a relative position between the driver's back and the plane of the driver's seat; The back bending information of the driver specifically includes the curvature of the spine, i.e., the natural bending degree of the driver's spine, reflecting the back support demand.

[0046] In the embodiment, the seat adjustment parameter includes the displacement of the driver's seat along the length direction of the vehicle, the height of the driver's seat, and the angle of the driver's seat. The height of the driver's seat refers to the displacement of the driver's seat along the height direction of the vehicle, and the angle of the driver's seat refers to the inclination angle of the driver's seat relative to the horizontal plane of the vehicle.

[0047] The final driving position after the joint adjustment of the application needs to ensure that the knee joint of the driver is naturally bent, about 120 degrees to 130 degrees, to avoid full straightening of the legs, so as to quickly switch the pedals.

[0048] It can be seen that the application can determine the seat adjustment parameter of the driver's seat and the displacement of the foot support device along the length direction of the vehicle based on the first relative position relationship, the second relative position relationship, the back bending information, and the leg angle information, thereby realizing the joint adjustment of the driver's seat and the foot support device, rather than just adjusting the driver's seat, which can reduce the adjustment times and even one-step positioning to make the user in a comfortable driving position, thereby reducing the complexity of the driving position adjustment.

[0049] In the application, if the user still feels inconvenient to control the fuel pedal and the brake pedal, the height and the inclination angle of the foot support device can be manually adjusted to make the driver reach the most comfortable posture to control the fuel pedal and the brake pedal. In this way, different height and body proportion drivers can drive the vehicle in the most suitable posture, thereby reducing driving fatigue. Specifically: In one of the embodiments, the adjusting the driver seat based on the seat adjustment parameter and the adjusting the foot support device based on the displacement comprises: adjusting the driver seat based on the seat adjustment parameter; performing a first adjustment operation on the foot support device based on the displacement; and performing at least one second adjustment operation on the foot support device after the first adjustment operation until a preset ending condition is met. In each second adjustment operation, the height adjustment information and the angle adjustment information of the foot support device corresponding to the current target adjustment operation input by the user are received, and the foot support device is adjusted based on the height adjustment information and the angle adjustment information.

[0050] The driver seat is moved along the length direction of the vehicle, and / or the driver seat is moved along the height direction of the vehicle, and / or the inclination angle of the driver seat is adjusted based on the seat adjustment parameter.

[0051] The first adjustment operation on the foot support device is to move the foot support device along the length direction of the vehicle by a corresponding displacement. The first adjustment operation is an automatic adjustment of the foot support device and the driver seat controlled by the controller, and the second adjustment operation is manually triggered by the driver. After the first adjustment operation on the foot support device, at least one second adjustment operation on the foot support device is needed. Specifically, In each second adjustment operation, the height adjustment information and the angle adjustment information of the foot support device corresponding to the current target adjustment operation input by the user are received, and the foot support device is adjusted based on the height adjustment information and the angle adjustment information.

[0052] The displacement of the foot support device along the height direction of the vehicle is adjusted based on the height adjustment information, and the displacement of the foot support device along the horizontal direction of the vehicle is adjusted based on the angle adjustment information, so that the driver can repeatedly trigger the second adjustment operation until the comfortable driving position of the driver is reached.

[0053] In the embodiment, the height adjustment information and the angle adjustment information of the foot support device input by the user in each target adjustment operation can be completely different, partially the same and partially different, or completely the same.

[0054] It can be seen that the dynamic adaptation of the foot position is realized through the linkage adjustment of the foot support device and the driver seat, the foot suspension or excessive bending can be avoided, and the comfortable position of the driver is realized.

[0055] In the embodiments of the present application, the adjustment of the driver seat and the foot support device can be triggered automatically or manually by the user. Specifically, In one of the embodiments, when the control display triggering condition is met, a control pair is displayed on the vehicle machine interface, the control pair is used for the driver to select whether to adjust the driving position, the control pair includes a confirmation control and a denial control; When the driver's selection operation on the confirmation control is received, the driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the displacement.

[0056] In the present embodiment, the control pair displayed on the vehicle machine interface includes a confirmation control and a denial control, and the vehicle machine interface also displays a prompt information, for example, the prompt information is "please select whether to adjust the driving position" or "please select whether to adjust the foot pad and the seat", if the driver's selection operation on the confirmation control is received, the driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the corresponding displacement, if the driver's selection operation on the denial control is received, no operation is performed, that is, the adjustment of the foot support device and the driver seat is abandoned.

[0057] In one of the embodiments, the method further includes: detecting whether the current state of the vehicle meets the control display triggering condition; The detection of whether the current state of the vehicle meets the control display triggering condition includes: holding detection is performed on the steering wheel in the vehicle, and when it is detected that the steering wheel is held, it is determined that the current state of the vehicle meets the control display triggering condition; Or when the driver's adjustment operation on the driver seat is detected, the second relative position relationship between the foot and the pedal is detected, and if the second relative position relationship does not meet the preset position relationship condition, it is determined that the current state of the vehicle meets the control display triggering condition.

[0058] When it is detected that the steering wheel is held, it is confirmed that the driver may hold the steering wheel, and it is considered that the current state of the vehicle meets the control display triggering condition, at this time, the prompt information, the confirmation control and the denial control are displayed on the vehicle machine interface, prompting the user whether to need one-key adjustment of the driving position, the user selects the confirmation control, and the driver seat and the electric slide rail are controlled to move, so that the seat and the foot support device are linked to adjust to the optimal driving posture.

[0059] The driver can also manually adjust the driving position, and when detecting an adjustment operation of the driver on the main driver seat, a second relative position relationship is determined according to a foot position sensed by a pressure sensor embedded in the foot support device, based on the foot position and the pedal position. The second relative position relationship not satisfying the preset position relationship condition specifically includes: confirming a distance between the foot position and the pedal based on the second relative position relationship, and if the distance is greater than a preset distance threshold, at this time, a prompt information, a confirmation control and a denial control are displayed on the vehicle machine interface, prompting the user whether to need one-key adjustment of the driving position, and the user selects the confirmation control, and then the main driver seat and the electric slide rail are controlled to move, so that the seat and the foot support device are linked and adjusted to the optimal driving posture, so that the user's legs are in a comfortable driving posture.

[0060] It can be seen that the application can automatically realize the linkage adjustment of the foot support device and the main driver seat, and can also trigger the linkage adjustment of the foot support device and the main driver seat based on the operation of the driver when detecting the adjustment operation of the driver on the main driver seat, without the need for repeated adjustment of the main driver seat, so that the driver can be in the most comfortable driving posture.

[0061] The application can automatically adapt to the physical characteristics of different drivers and reduce the cumbersome operation of manual adjustment.

[0062] In the prior art, for special drivers, such as drivers with shorter legs or limited foot movement, it is not possible to ensure that the driver is in a comfortable driving state. To this end, the application also proposes the following solutions: In one embodiment, the method further comprises: if the selection operation of the driver on the pedal simulation mode is received, the stepping signal of the driver on the pedal simulation area of the foot support device is obtained; the opening degree parameter signal of the pedal is determined based on the stepping force parameter in the stepping signal; and the pedal is adjusted according to the corresponding parameter adjustment based on the opening degree parameter of the pedal opening degree signal.

[0063] A selection button of the pedal simulation mode is displayed on the vehicle machine interface, and if the driver's touch operation on the selection button is received, the stepping signal of the driver on the pedal simulation area is obtained. The pedal simulation area is a surface area on the foot support device for the driver to step on. The stepping force parameter of the driver on the pedal simulation area can be detected by a pressure sensor in the foot support device, and the stepping signal is generated based on the detected stepping force parameter. The pressure sensor can be a sensor with a precision greater than a preset threshold, which is referred to as a high-precision pressure sensor.

[0064] The controller obtains the stepping signal, analyzes the stepping force parameter from the stepping signal, and determines the opening parameter of the pedal corresponding to the stepping force parameter. Each stepping force parameter has a corresponding opening parameter, so that the pedal is adjusted according to the different opening parameters. It can be understood that the setting of the opening parameter of the pedal is closely related to the setting of the vehicle parameter. Different opening parameters will also have different vehicle speeds, accelerations, etc., so that the adjustment of the opening parameter of the pedal will finally affect the vehicle speed and other parameters.

[0065] In the embodiment, the pedal includes a brake pedal and / or a throttle pedal, and the pedal simulation area includes a brake pedal simulation area and a throttle pedal simulation area. The driver can replace the actual operation of the corresponding pedal by operating any pedal area to control the brake and / or throttle of the vehicle.

[0066] As can be seen, when the driver still cannot control the fuel pedal and brake pedal in a comfortable posture, the pedal simulation mode can be selected, so that the driver steps on the pedal simulation area to convert the stepping force parameter of the driver into the opening parameter of the pedal to control the vehicle, which can replace the actual operation of the driver on the pedal of the vehicle, that is, the driver does not need to actually step on the brake pedal and throttle pedal, and can also control the vehicle.

[0067] The scheme can support special-shaped drivers, such as drivers with shorter legs, to drive the vehicle through the pedal simulation mode.

[0068] In one of the embodiments, the stepping signal includes a throttle stepping signal of the throttle pedal simulation area corresponding to the throttle pedal and a brake stepping signal of the brake pedal simulation area corresponding to the brake pedal. The determination of the opening parameter of the pedal based on the stepping force parameter in the stepping signal includes: obtaining a preconfigured signal priority; determining the signal with a higher priority from the throttle stepping signal and the brake stepping signal based on the signal priority; and determining the opening parameter of the corresponding pedal based on the stepping force parameter in the signal with the higher priority.

[0069] When the driver steps on the throttle pedal area, the throttle stepping signal of the driver on the throttle pedal area is obtained; and when the driver steps on the brake pedal area, the brake stepping signal of the driver on the brake pedal area is obtained. In the case where the throttle stepping signal and the brake stepping signal are obtained at the same time, the preconfigured signal priority can be obtained, and the priority of the brake stepping signal is higher than that of the throttle stepping signal. Based on the signal priority, the signal with the higher priority from the throttle stepping signal and the brake stepping signal is determined as the brake stepping signal, and then the opening parameter of the corresponding pedal is determined based on the brake stepping signal, and the opening parameter of the brake pedal is adjusted.

[0070] It can be seen that the brake pedal signal has higher priority than the accelerator pedal signal when both signals are acquired, which can ensure driving safety.

[0071] In one of the embodiments, the plurality of pressure signals are acquired by a plurality of pressure sensors on the foot support device; and the opening degree parameter of the pedal is determined based on the pressure parameter in the pedal signal, including: selecting a target pressure signal from the plurality of pressure signals based on a pre-set pressure value range; performing delay filtering processing on the target pressure signal to obtain a processed pressure signal; taking the pressure value in the processed pressure signal as the pressure parameter, and determining the opening degree parameter of the pedal based on the pressure parameter.

[0072] A plurality of pressure sensors are installed in the foot support device, and each pressure sensor can acquire a pressure signal when the driver pedals the pedal simulation area on the foot support device. The plurality of pressure sensors acquire a plurality of pressure signals, and the plurality of pressure signals can be equal signals. The controller pre-sets a pressure value range, which defines a lower limit of the pressure value and an upper limit of the pressure value. The target pressure signal corresponding to the pressure value within the pressure value range is selected from the plurality of pressure signals. The controller performs delay filtering processing on the target pressure signal, which can avoid unintended control caused by heavy objects falling on the pedal simulation area.

[0073] It can be seen that by selecting the target pressure signal and performing delay filtering processing on the target pressure signal, the application can avoid misjudging that the driver pedals the pedal simulation area when heavy objects fall on the pedal simulation area, thereby avoiding unintended vehicle control.

[0074] The driver often wears high-heeled shoes, thick-soled shoes and other special shoe types to operate the pedal, which may cause inconvenience in pedal operation and driving safety. To solve this problem, the application further provides the following solutions: In one of the embodiments, the method further includes: acquiring driving safety information, the driving safety information including the shape characteristics of the driver's shoes; and if the driving safety information matches the pre-stored safety information, a dangerous driving reminder is displayed.

[0075] In this embodiment, the driving safety information includes at least one of the shape characteristics of the driver's shoes and the thickness of the soft pad covering the foot support device, and the shape characteristics of the shoes include at least one of the height of the shoe heel and the thickness of the shoe sole. The driving safety information is matched with pre-stored safety information, the pre-stored safety information defines a first thickness range of the soft pad, and indicates that the driver is in a safe driving state when the soft pad thickness is in the first thickness range; the pre-stored safety information also defines a second thickness range of the shoe sole, and indicates that the driver is in a safe driving state when the shoe sole thickness is in the second thickness range; and the pre-stored safety information also defines a heel height range, and indicates that the driver is in a safe driving state when the heel height is in the heel height range. If at least one of the heel height, the shoe sole thickness and the thickness of the characteristic soft pad in the driving safety information respectively matches the corresponding content in the pre-stored safety information, a dangerous driving reminder is displayed, an unsafe shoe type such as high heels is warned, and the risk of misoperation is reduced.

[0076] As shown in Figure 2 , the foot support device can be a 6-way adjustable foot pad module, the vehicle includes the 6-way adjustable foot pad module, a gas pedal, a brake pedal, an optical sensor or an ultrasonic sensor, and a driver's seat including a seat posture sensor.

[0077] As shown in Figure 3 , the foot support device of the application specifically includes: a pressure sensor, a hydraulic lifting mechanism, an electric sliding rail mechanism, and an electric tilting mechanism; the pressure sensor includes a high-precision pressure sensor with a prediction accuracy greater than a first accuracy and a low-precision pressure sensor with a prediction accuracy less than a second accuracy, the first accuracy being greater than the second accuracy. The controller of the application includes a position control module, a pedal simulation module, and a safety prompt module. As shown in Figure 4 , the position control module is in communication connection with the low-precision pressure sensor, the hydraulic lifting mechanism, the electric sliding rail, the electric tilting mechanism, the optical sensor, the ultrasonic sensor, the seat posture sensor, and the safety prompt module; and the pedal simulation module is in communication connection with the high-precision pressure sensor. To realize the vehicle control method of the application, the specific roles of each module are as follows: The low-precision pressure sensor is embedded in the foot support device, used to detect the foot position and send the foot position to the position control module. The optical sensor or the ultrasonic sensor is used to detect the sitting posture information of the driver and send the sitting posture information to the position control module, and is used to detect the external shape features of the shoes of the driver and send the external shape features to the position control module. The seat posture sensor is embedded in the driver's seat, used to detect the current posture of the driver's seat, i.e. the height, the position along the length direction of the vehicle, and the tilting angle of the driver's seat, corresponding to the seat position in the figure. High-precision pressure sensor embedded in the foot support device to detect the force distribution of the pedal simulation area.

[0078] Electric slide rail to drive the device body of the foot support device to move along the length direction of the vehicle, and to be linked with the main driver seat to adjust.

[0079] Hydraulic lifting mechanism or electric lifting mechanism to drive the device body of the foot support device to move along the height direction of the vehicle.

[0080] Electric tilting mechanism to adjust the tilting angle of the device body of the foot support device along the horizontal direction of the vehicle.

[0081] Position control module to determine the seat adjustment parameters of the seat and the displacement of the foot support device along the length direction of the vehicle based on the foot position, the leg posture, and the driver sitting posture, to receive the height adjustment information and the angle adjustment information of the foot support device corresponding to the current target adjustment input by the user, and to control the electric slide rail, the hydraulic lifting mechanism, the electric tilting mechanism, and the main driver seat. Specifically, the position control module is configured to adjust the main driver seat based on the seat adjustment parameters, and to adjust the electric slide rail based on the corresponding displacement to adjust the displacement of the foot support device along the length direction of the vehicle. The position control module is further configured to adjust the foot support device through the electric slide rail based on the displacement, to adjust the height of the foot support device through the hydraulic lifting mechanism based on the height adjustment information corresponding to the current target adjustment, and to adjust the angle of the foot support device through the electric tilting mechanism based on the angle adjustment information corresponding to the current target adjustment.

[0082] Safety prompt module to issue a prompt for unsafe shoes such as high-heeled shoes after identifying the shoe features.

[0083] Pedal simulation module to enable a virtual pedal mode when the driver cannot normally operate the pedal, and to control the opening parameter of the brake pedal or the accelerator pedal by the force of the pedal simulation area on the foot support device. The accelerator pedal signal and the brake pedal signal can be processed.

[0084] Based on the same application concept, the embodiments of the present application also provide a vehicle comprising a controller, a main driver seat, a foot support device corresponding to the main driver seat, and a pedal, wherein the controller is configured to: acquire the foot position of the driver on the foot support device; Obtaining the sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the driver seat, back bending information of the driver and leg angle information of the driver; Determining a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver; Adjusting the driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement to realize linkage adjustment of the driver seat and the foot support device.

[0085] The specific implementation manner of the embodiment is similar to the above-described embodiment, and thus will not be described here.

[0086] With reference to Figure 5 based on the same application concept, the embodiment of the present application further provides a vehicle control device, which is applied to a vehicle, the vehicle comprising a driver seat and a foot support device corresponding to the driver seat, the device comprising: A first obtaining module 501 is configured to obtain a foot position of a driver on the foot support device. A second obtaining module 502 is configured to obtain sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the driver seat, back bending information of the driver and leg angle information of the driver. A determining module 503 is configured to determine a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver. An adjusting module 504 is configured to adjust the driver seat based on the seat adjustment parameter and adjust the foot support device based on the displacement to realize linkage adjustment of the driver seat and the foot support device.

[0087] It can be understood that the device provided by the above-described embodiment is only exemplified by the division of the above-described functional modules, and in actual application, the above-described functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0088] With reference to Figure 6 The embodiment of the present application further provides an electronic device, which can comprise a processor 602 and a memory 601, wherein the processor 602 and the memory 601 can be connected to each other in communication through a bus or other manners.

[0089] The processor 602 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits to implement the embodiments of the present application, or can also be other general purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. chips, or a combination of the above chips.

[0090] The memory 601 can include a mass storage for data or instructions. By way of example and not limitation, the memory can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The memory can be removable and / or non-removable (or fixed) as appropriate. The memory can be internal or external to the electronic device as appropriate. In certain embodiments, the memory can be a non-volatile solid state memory.

[0091] In one example, the memory 601 can be a read only memory (ROM). In one example, the ROM can be a mask programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0092] The processor 602 reads and executes the computer program instructions stored in the memory to implement any of the vehicle control methods in the above embodiments.

[0093] In one example, the electronic device can further include a communication interface and a bus. The processor, the memory, and the communication interface are connected through the bus and complete communication with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application. The bus can include one or more buses as appropriate.

[0094] In addition, in combination with the vehicle control method in the above embodiments, the embodiments of the present application can provide a computer readable storage medium for implementation. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the vehicle control methods in the above embodiments.

[0095] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the processes of the above embodiments can be included. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.

[0096] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0097] Similarly, it is to be understood that the brunt of the disclosure, and to aid in the understanding of one or more of the various inventive aspects, various features of the application have sometimes been grouped together in a single embodiment, figure or description of the application. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed application requires more features than are explicitly recited in each claim. Rather, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following, are hereby expressly incorporated into this detailed description, with each claim acting as a separate embodiment of the application. In the claims, means-plus-function clauses, if used, are intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Thus, even though the following claims do not include corresponding means-plus-function clauses, it is the applicant's intention that each of the elements in any claim be construed as a means-plus-function element.

[0098] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps not listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or means can be listed, comprising means which can be implemented by one and the same hardware item. The use of the word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The word 'first','second', 'third' etc. can merely be used for distinguishing between similar elements, and do not imply any order or priority.

Claims

1. A vehicle control method characterized by, The method is applied to a vehicle, the vehicle comprising a driver seat and a foot support device corresponding to the driver seat, the method comprising: obtaining a foot position of a driver on the foot support device; obtaining a sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the driver seat, back bending information of the driver, and leg angle information of the driver; determining a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture information of the driver; adjusting the driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement to realize a linkage adjustment of the driver seat and the foot support device.

2. The method of claim 1, wherein, The vehicle further comprises a pedal, and the determining the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle based on the foot position and the sitting posture information of the driver comprises: obtaining a second relative position relationship between the foot and the pedal, the second relative position relationship being determined based on the foot position; determining the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle based on the second relative position relationship and the sitting posture information of the driver.

3. The method of claim 2, wherein, The determining the seat adjustment parameter of the driver seat and the displacement of the foot support device along the length direction of the vehicle based on the second relative position relationship and the sitting posture information of the driver comprises: determining the seat adjustment parameter of the driver seat based on the first relative position relationship, the second relative position relationship, the back bending information, and the leg angle information; determining the displacement of the foot support device along the length direction of the vehicle based on the leg angle information and the second relative position relationship.

4. The method according to any one of claims 1 to 3, characterized in that, The first relative position relationship comprises a first included angle between a thigh of the driver and a plane of the driver seat, and the leg angle information comprises a second included angle between the thigh of the driver and a calf of the driver. The seat adjustment parameter comprises a displacement of the driver seat along the length direction of the vehicle, a height of the driver seat, and an angle of the driver seat.

5. The method according to any one of claims 1 to 3, characterized in that, The adjusting the driver seat based on the seat adjustment parameter and the adjusting the foot support device based on the displacement comprise: adjusting the driver seat based on the seat adjustment parameter; performing a first adjustment operation on the foot support device based on the displacement; performing at least one second adjustment operation on the foot support device after the first adjustment operation until a preset ending condition is met; wherein each second adjustment operation comprises: receiving height adjustment information and angle adjustment information of the foot support device corresponding to a current target adjustment operation input by a user; adjusting the foot support device based on the height adjustment information and the angle adjustment information.

6. The method according to any one of claims 1 to 3, characterized in that, The adjusting the driver seat based on the seat adjustment parameter and the adjusting the foot support device based on the displacement comprise: When the control display triggering condition is met, a control pair is displayed on the vehicle machine interface, the control pair being used for the driver to select whether to adjust the driving position, the control pair including a confirmation control and a denial control; When the driver's selection operation on the confirmation control is received, the main driver seat is adjusted based on the seat adjustment parameter, and the foot support device is adjusted based on the displacement.

7. The method of claim 6, wherein, The method further includes detecting whether the current state of the vehicle meets the control display triggering condition; The detection of whether the current state of the vehicle meets the control display triggering condition includes: holding detection is performed on a steering wheel in the vehicle, and when it is detected that the steering wheel is held, it is determined that the current state of the vehicle meets the control display triggering condition; or when it is detected that the driver performs an adjustment operation on the main driver seat, a second relative position relationship between the feet and the pedals is determined, and if the second relative position relationship does not meet a preset position relationship condition, it is determined that the current state of the vehicle meets the control display triggering condition.

8. The method according to any one of claims 1 to 3, characterized in that, The method further includes: if the driver's selection operation on the pedal simulation mode is received, a foot pedal signal of the driver on the pedal simulation area of the foot support device is acquired; based on the pedal force parameter in the foot pedal signal, the opening parameter of the pedal is determined; based on the opening parameter, the pedal is adjusted correspondingly.

9. The method of claim 8, wherein, The foot pedal signal includes an accelerator pedal signal of the accelerator pedal simulation area corresponding to the accelerator pedal and a brake pedal signal of the brake pedal simulation area corresponding to the brake pedal; The determination of the opening parameter of the pedal based on the pedal force parameter in the foot pedal signal includes: a preconfigured signal priority is acquired; based on the signal priority, a signal with a higher priority is determined from the accelerator pedal signal and the brake pedal signal; based on the pedal force parameter in the signal with the higher priority, the opening parameter of the corresponding pedal is determined.

10. The method of claim 8, wherein, The foot pedal signal includes a plurality of pressure signals respectively acquired by a plurality of pressure sensors on the foot support device; The determination of the opening parameter of the pedal based on the pedal force parameter in the foot pedal signal includes: based on a pre-set pressure value range, a target pressure signal is screened from the plurality of pressure signals; the target pressure signal is subjected to delay filtering processing to obtain a processed pressure signal; the pressure value in the processed pressure signal is taken as the pedal force parameter, and the opening parameter of the pedal is determined based on the pedal force parameter.

11. The method according to any one of claims 1 to 4, characterized in that, The method further includes: acquiring driving safety information, the driving safety information including the shape feature of the shoes of the driver; if the driving safety information matches the pre-stored safety information, a dangerous driving reminder is displayed.

12. A vehicle comprising a controller, a main driver seat, and a foot support device corresponding to the main driver seat, the controller being configured to: acquire the position of the driver's feet on the foot support device; Obtaining the sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the driver seat, back bending information of the driver, and leg angle information of the driver; Determining a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver; Adjusting the driver seat based on the seat adjustment parameter and adjusting the foot support device based on the displacement to realize linkage adjustment of the driver seat and the foot support device.

13. A vehicle control device characterized by comprising: The device is applied to a vehicle, the vehicle comprising a driver seat and a foot support device corresponding to the driver seat, the device comprising: A first obtaining module configured to obtain a foot position of a driver on a foot support device; A second obtaining module configured to obtain sitting posture information of the driver, the sitting posture information comprising a first relative position relationship between the driver and the driver seat, back bending information of the driver, and leg angle information of the driver; A determining module configured to determine a seat adjustment parameter of the driver seat and a displacement of the foot support device along a length direction of the vehicle based on the foot position and the sitting posture of the driver; An adjusting module configured to adjust the driver seat based on the seat adjustment parameter and adjust the foot support device based on the displacement to realize linkage adjustment of the driver seat and the foot support device.

14. An electronic device, comprising: Comprise: A memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method in any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the method in any one of claims 1-11.

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