Vehicle control method and device, terminal, vehicle, medium and program product

Abstract

The invention relates to a vehicle control method and device, a terminal, a vehicle, a medium and a program product, and relates to the technical field of intelligent cabins. Determining a target control instruction corresponding to the attitude information; and sending the target control instruction to a vehicle connected with the terminal so as to control the vehicle to execute the target control instruction. By means of the method, a user can operate the posture of the terminal, then the terminal is converted into the natural interaction medium, the natural interaction medium is converted into the corresponding target control instruction according to the mapping mechanism, and the vehicle is controlled through the target control instruction. The interaction mode is more suitable for the natural action habit of the human body, the interaction dimension is expanded to the three-dimensional posture from the two-dimensional touch control, and the human-vehicle interaction is more flexible and intuitive.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent cockpit technology, and more particularly to a method, apparatus, terminal, vehicle, medium, and program product for vehicle control. Background Technology

[0002] Against the backdrop of the rapid development of the intelligent connected vehicle industry, the interconnection between cars and smartphones has become a core element in enhancing the driving experience. Its technological application has undergone multiple stages of evolution, but there are still many bottlenecks to be overcome.

[0003] Currently, the interaction between smartphones and cars is mostly limited to basic information exchange and simple command transmission, lacking a response to users' creative needs and failing to meet users' advanced pursuit of fun and flexibility in human-vehicle interaction. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a method, apparatus, terminal, vehicle, medium, and program product for vehicle control.

[0005] According to a first aspect of the present disclosure, a vehicle control method is provided, applied to a terminal, the method comprising: Obtain the terminal's attitude information; Determine the target control command corresponding to the attitude information; The target control command is sent to the vehicle connected to the terminal to control the vehicle to execute the target control command.

[0006] In this way, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing them to control the vehicle. This interaction method is more in line with natural human movement habits, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0007] In some possible implementations, the method further includes: The interactive control mode of the vehicle is obtained; the interactive control mode is used to characterize the functional modes of the vehicle that the terminal can control. The step of determining the target control command corresponding to the attitude information includes: The target control command is determined based on the attitude information and the interaction control mode.

[0008] In this way, by acquiring the vehicle's interactive control mode, the boundaries of the vehicle's controllable functions can be clearly defined, making the mapping between posture information and target control commands more targeted and avoiding command conflicts or misoperations. Combining the interpretation of posture information with the interactive control mode can adapt to the control requirements of different functional scenarios, improve the accuracy and rationality of command generation, optimize the logic and safety of human-vehicle interaction, and enhance control flexibility and scenario adaptability.

[0009] In some possible implementations, determining the target control command based on the attitude information and the interaction control mode includes: The target control command is determined based on the posture information, the interaction control mode, and the preset correspondence; wherein, the preset correspondence includes the correspondence between the terminal posture, the interaction control mode, and the control command.

[0010] In this way, by establishing a pre-defined correspondence between terminal posture, interactive control mode, and control commands, the determination of target control commands becomes more regular and accurate, avoiding command mismatches caused by single-dimensional judgment. The pre-defined correspondence pre-defines the effective mapping range of posture information under different modes, ensuring that command generation meets the requirements of the current functional scenario, reducing control risks caused by posture misidentification, improving the stability and reliability of human-vehicle interaction, simplifying command generation logic, and optimizing system response efficiency.

[0011] In some possible implementations, determining the target control command based on the attitude information, the interaction control mode, and the preset correspondence includes: Based on the attitude information, determine the attitude parameters of the terminal on the specified plane; The target control command is determined based on the attitude parameters, the interaction control mode, and the preset correspondence.

[0012] In this way, the terminal's attitude parameters on the specified plane are extracted first, focusing the three-dimensional attitude information on the effective dimensions, reducing redundant data interference, and improving parameter parsing efficiency. Then, the commands are determined by combining the interactive control mode with the preset correspondence, which not only ensures that the attitude parameters are accurately matched with the current functional scenario and avoids invalid attitudes triggering erroneous commands, but also reduces the system's computational load, shortens the command generation time, and balances control accuracy and response speed, thus optimizing the human-vehicle interaction experience.

[0013] In some possible implementations, the interactive control mode includes one of the following modes: Driving control modes; Vehicle dancing mode; and, Follow control mode.

[0014] In this way, by clearly defining three interactive control modes—driving, vehicle swaying, and following—the control boundaries and functional scope of the terminal over the vehicle are precisely defined in different scenarios. This avoids misoperations caused by confusion between functions in different scenarios; for example, driving control does not interfere with the swaying function logic. At the same time, it makes the mapping of posture information and commands more focused on scenario requirements, improving the accuracy and safety of control in each mode, adapting to diverse vehicle usage scenarios, and optimizing the targeting and flexibility of human-vehicle interaction.

[0015] In some possible implementations, the interactive control mode includes a driving control mode, and the target control command is used to indicate the driving parameters of the vehicle in the driving control mode; or, The interactive control mode includes a vehicle dancing mode, and the target control command is used to indicate the dancing parameters of the vehicle in the vehicle dancing mode; or... The interactive control mode includes a follow control mode, and the target control command is used to indicate the follow parameters of the vehicle in the follow control mode.

[0016] In this way, specific target control commands are matched for different interactive control modes, ensuring a precise correspondence between commands and mode functions. Driving mode commands focus on driving parameters to ensure accurate vehicle driving control; Dancing mode commands target dancing parameters to ensure the dancing effect meets expectations; Follow mode commands revolve around follow parameters to achieve stable following. This avoids command-mode mismatch, improves control accuracy, and makes each mode function independent and efficient, optimizing the human-vehicle interaction experience in different scenarios and reducing operational risks.

[0017] In some possible implementations, the method further includes: Determine the screen orientation of the terminal; The step of determining the target control command corresponding to the attitude information includes: When the screen orientation is a specified orientation, the target control command corresponding to the attitude information is determined.

[0018] Thus, by first determining the terminal screen orientation, and only parsing posture information to generate commands when the screen is in the specified orientation, unexpected operations can be filtered out, reducing the risk of accidental triggering. At the same time, specifying the orientation matches user operating habits, making posture control more aligned with scenario requirements, improving the accuracy of command generation, balancing interactive convenience with control safety, and optimizing the reliability of human-vehicle interaction.

[0019] In some possible implementations, the method further includes: Obtain the pressed state of the control confirmation button set on the terminal; The step of determining the target control command corresponding to the attitude information includes: When the pressed state indicates that the control confirmation button is pressed, the target control command corresponding to the attitude information is determined.

[0020] Thus, by using the pressed state of the confirmation button as a prerequisite for generating gesture commands, a dual triggering mechanism of gesture operation + button confirmation is formed. This effectively filters out invalid commands caused by accidental user touches of the terminal gestures (such as everyday hand-held shaking), preventing unexpected vehicle responses. At the same time, the button confirmation process enhances the accuracy of the user's operational intent, reduces the risk of miscontrol in human-vehicle interaction, balances operational convenience and control safety, and improves the reliability and stability of human-vehicle interaction.

[0021] In some possible implementations, the method further includes: When the pressed state indicates that the control confirmation button is released, a braking command is sent to the vehicle so that the vehicle performs parking braking according to the braking command.

[0022] In this way, the release state of the control confirmation button is directly linked to the vehicle's braking command, forming a safety mechanism that brakes immediately upon release. When the user releases the button, the vehicle can immediately apply the parking brake, preventing loss of control due to interruption of the posture command. This safety protection is triggered without additional operation, significantly reducing the safety risks in situations of unattended operation or operational errors, enhancing control safety, and increasing user trust in human-vehicle interaction.

[0023] In some possible implementations, the interactive control mode includes a follow control mode, and determining the target control command based on the attitude information and the interactive control mode includes: If the follow function in the follow control mode is activated based on the attitude information, the position information of the terminal is obtained; The location information is used as the following parameter; The target control command is determined based on the following parameters.

[0024] Thus, in follow control mode, the follow function is triggered by attitude information, and then the terminal position information is used as the follow parameter to generate instructions, achieving coordinated control of attitude triggering and position guidance. This ensures precise function activation via attitude information, preventing accidental activation, and guarantees that the vehicle's following trajectory is synchronized with the user's movement using the terminal position, improving follow accuracy. It eliminates the need for complex operations, simplifying the user control process, adapting to scenarios such as moving heavy objects, balancing function activation accuracy and follow reliability, and optimizing the human-vehicle interaction experience in follow scenarios.

[0025] In some possible implementations, the method further includes: Acquire and display real-time environmental images of the vehicle's location; In response to a user's selection operation on any location point in the displayed real-time environment screen, the target location point corresponding to the selection operation is sent to the vehicle so that the vehicle can control its movement based on the target location point.

[0026] In this way, by displaying real-time images of the vehicle's surroundings, users can intuitively understand the vehicle's surroundings, solving the problem of blind spots during remote control. Users can control the vehicle's movement simply by clicking on the screen to select a target location, seamlessly integrating visual observation, location selection, and vehicle control, replacing traditional complex operations. This not only improves the intuitiveness and convenience of control but also allows for precise planning of movement paths, avoiding risks caused by environmental obstacles, optimizing the safety and operational efficiency of remote vehicle control, and adapting to scenarios such as parking lot relocation.

[0027] According to a second aspect of the present disclosure, a vehicle control method is provided, applied to a vehicle, the method comprising: Receives a target control command sent by a terminal connected to the vehicle; wherein the target control command is determined by the terminal based on the terminal's attitude information; Execute the target control command.

[0028] In this way, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing them to control the vehicle. This interaction method is more in line with natural human movement habits, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0029] In some possible implementations, executing the target control command includes: Determine the corresponding interactive control mode for the vehicle; Based on the interactive control mode, the target control command is executed.

[0030] Therefore, determining the vehicle's current interaction control mode before executing commands ensures a precise match between command execution and mode functionality. For example, in driving mode, driving parameter commands are executed first, while in dance mode, the focus is on executing dance movements, avoiding functional malfunctions caused by mismatched commands across modes. Simultaneously, adapting execution logic to mode optimizes vehicle execution efficiency, reduces unnecessary calculations, balances the stability and accuracy of control across modes, improves the reliability of human-vehicle interaction, and adapts to diverse usage scenarios.

[0031] In some possible implementations, the method further includes: When executing the target control command, if a braking command sent by the terminal is received, the vehicle is controlled to apply the parking brake; wherein, the braking command is generated by the terminal when it is determined that the control confirmation button set on the terminal is in the released state.

[0032] In this way, during the execution of target control commands, the release of the terminal control confirmation button is bound to the braking command, forming a real-time safety intervention mechanism. Once the user releases the button (e.g., due to operation interruption or risk detection), the vehicle can immediately respond to the braking command and execute the parking brake, preventing the vehicle from losing control during command execution (e.g., continuous movement or deviation from the trajectory). Safety protection can be triggered without additional operation, significantly reducing the risks during dynamic control, enhancing the safety of human-vehicle interaction, and improving the user's sense of control and trust in the vehicle control process.

[0033] In some possible implementations, the method further includes: If no new target control command is received within a preset time period after receiving the target control command, the vehicle is controlled to apply the parking brake.

[0034] Thus, if no new command is received within a preset time period, the parking brake is triggered, forming a command interruption-automatic protection mechanism. This can handle situations such as command transmission interruption and user operation pause, preventing the vehicle from continuing to execute the original action due to the lack of new commands. Without additional user intervention, it automatically ensures the static safety of the vehicle during command gaps, reducing the risk of loss of control in unattended or weak network environments, and improving the reliability and security of remote vehicle control.

[0035] In some possible implementations, the interactive control mode is a follow control mode, and the target control command includes a follow parameter, which is used to characterize the location information of the terminal; executing the target control command based on the interactive control mode includes: Based on the location information, the relative position between the terminal and the vehicle is determined; Based on the relative position, the vehicle is controlled to follow the terminal.

[0036] Thus, in follow control mode, the relative position is calculated using the terminal's location information to control vehicle following, ensuring a precise spatial relationship between the vehicle and the terminal (user). Dynamic calculation of the relative position allows for real-time correction of the following trajectory, preventing distance loss due to absolute positioning deviations and improving following stability. Simultaneously, the control logic based on the terminal's position aligns with the user's movement intentions, making following more tailored to actual needs, adapting to scenarios such as material handling, and optimizing following accuracy and reliability.

[0037] In some possible implementations, the method further includes: In response to receiving a target location point sent by the terminal, the vehicle is controlled to move according to the target location point; the target location point is determined by the terminal based on the user's selection operation on any location point on the real-time environment screen displayed on the terminal, and the real-time environment screen is the real-time environment screen of the environment where the vehicle is located, which is obtained by the terminal.

[0038] In this way, by displaying real-time images of the vehicle's surroundings, users can intuitively understand the vehicle's surroundings, solving the problem of blind spots during remote control. Users can control the vehicle's movement simply by clicking on the screen to select a target location, seamlessly integrating visual observation, location selection, and vehicle control, replacing traditional complex operations. This not only improves the intuitiveness and convenience of control but also allows for precise planning of movement paths, avoiding risks caused by environmental obstacles, optimizing the safety and operational efficiency of remote vehicle control, and adapting to scenarios such as parking lot relocation.

[0039] In some possible implementations, controlling the movement of the vehicle based on the target location includes: Based on the target location and the current location of the vehicle, determine the target driving trajectory corresponding to the vehicle; Control the vehicle's movement according to the target driving trajectory.

[0040] In this way, by planning the target driving trajectory based on the target location and the vehicle's current position, obstacles in the path can be avoided in advance, preventing the risk of collisions caused by blind movement. Trajectory-based vehicle movement control ensures that the vehicle travels precisely along the preset path, reducing positional deviations and improving movement accuracy. At the same time, trajectory planning makes vehicle control more predictable, adapting to complex scenarios such as maneuvering in narrow parking lots, simplifying user operations, balancing convenience and safety, and optimizing the remote vehicle control experience.

[0041] According to a third aspect of the present disclosure, a vehicle control device is provided, applied to a terminal, the device comprising: The acquisition module is configured to acquire the terminal's attitude information; The determination module is configured to determine the target control command corresponding to the attitude information; The sending module is configured to send the target control command to a vehicle connected to the terminal to control the vehicle to execute the target control command.

[0042] In some possible implementations, the acquisition module is further configured to acquire the interactive control mode of the vehicle; the interactive control mode is used to characterize the functional modes of the vehicle that the terminal can control. The determining module is configured to determine the target control command based on the attitude information and the interaction control mode.

[0043] In some possible implementations, the determining module is configured to determine the target control command based on the posture information, the interaction control mode, and a preset correspondence; wherein the preset correspondence includes the correspondence between the terminal posture, the interaction control mode, and the control command.

[0044] In some possible implementations, the determining module is configured to determine the attitude parameters of the terminal on a specified plane based on the attitude information; and to determine the target control command based on the attitude parameters, the interaction control mode, and the preset correspondence.

[0045] In some possible implementations, the interactive control mode includes one of the following modes: Driving control modes; Vehicle dancing mode; and, Follow control mode.

[0046] In some possible implementations, the interactive control mode includes a driving control mode, and the target control command is used to indicate the driving parameters of the vehicle in the driving control mode; or, The interactive control mode includes a vehicle dancing mode, and the target control command is used to indicate the dancing parameters of the vehicle in the vehicle dancing mode; or... The interactive control mode includes a follow control mode, and the target control command is used to indicate the follow parameters of the vehicle in the follow control mode.

[0047] According to a fourth aspect of the present disclosure, a vehicle control apparatus is provided, applied to a vehicle, the apparatus comprising: The receiving module is configured to receive target control commands sent by a terminal connected to the vehicle; wherein the target control commands are determined by the terminal based on the terminal's attitude information. The execution module is configured to execute the target control instructions.

[0048] In some possible implementations, the execution module is configured to determine the interaction control mode corresponding to the vehicle; and execute the target control command based on the interaction control mode.

[0049] According to a fifth aspect of the present disclosure, a terminal is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the vehicle control method provided in the first aspect of this disclosure when executing instructions stored in the memory.

[0050] According to a sixth aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the vehicle control method provided in the second aspect of this disclosure when executing instructions stored in the memory.

[0051] According to a seventh aspect of the present disclosure, a computer-readable storage medium is provided, having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method provided in the first aspect of the present disclosure; or implements the steps of the vehicle control method provided in the second aspect of the present disclosure.

[0052] According to an eighth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle control method provided in the first aspect of the present disclosure; or, implements the steps of the vehicle control method provided in the second aspect of the present disclosure.

[0053] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: acquiring the posture information of the terminal; determining the target control command corresponding to the posture information; and sending the target control command to the vehicle connected to the terminal to control the vehicle to execute the target control command. Through the above method, users can manipulate the posture of the terminal, thereby transforming the terminal itself into a natural interaction medium, which is then converted into a corresponding target control command according to a mapping mechanism, and the vehicle is controlled through the target control command. This interaction method is more in line with the natural movement habits of the human body, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0054] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0055] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0056] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0057] Figure 2 This is a schematic diagram illustrating a vehicle control system according to an exemplary embodiment.

[0058] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0059] Figure 4 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0060] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0061] Figure 6 This is a block diagram illustrating a terminal according to an exemplary embodiment.

[0062] Figure 7 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0063] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0064] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0065] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily construed as referring to a specific order or sequence. Furthermore, in the description with reference to the accompanying drawings, the same reference numerals in different drawings denote the same elements.

[0066] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0067] In the description of this disclosure, unless otherwise stated, "multiple" means two or more, and other quantifiers are similar; "at least one," "one or more," or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one 'a' can represent any number of 'a's; as another example, one or more of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple; "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " indicates that the preceding and following related objects are in an "or" relationship.

[0068] Although operations or steps are described in a specific order in the accompanying drawings in the embodiments of this disclosure, it should not be construed as requiring these operations or steps to be performed in the specific order or serial order shown, or requiring all of the shown operations or steps to be performed to obtain the desired result. In the embodiments of this disclosure, these operations or steps may be performed serially; they may be performed in parallel; or a portion of these operations or steps may be performed.

[0069] Before introducing the vehicle control methods, devices, terminals, vehicles, media, and program products provided in this disclosure, the application scenarios involved in the various embodiments of this disclosure will first be introduced. This disclosure can be applied to human-vehicle interaction scenarios. With the rapid development of the intelligent connected vehicle industry, the technology of vehicles and intelligent terminals (such as mobile phones) has become a core link in improving the driving experience through human-vehicle interaction. The current mainstream interconnection mode is still at the level of basic information interaction and simple command transmission. Most mass-produced models realize terminal application projection through dedicated interconnection systems, synchronizing navigation, audio, and other content to the in-vehicle terminal, or using terminal applications to complete basic operations such as remote vehicle status inquiry, door unlocking, and air conditioning start / stop. This type of interaction only realizes a shallow connection between devices, and has not fully utilized the potential of the rich sensing hardware inside the intelligent terminal, nor has it effectively utilized the edge computing capabilities of the terminal for deep interaction empowerment.

[0070] In recent years, the industry has begun exploring advanced vehicle control functions via smartphones to enhance convenience in specific scenarios. Some solutions have achieved remote parking, allowing users to control the vehicle to perform actions such as driving straight or reversing into a parking space via buttons or swipes on their smartphones. The core logic is that the user continuously sends commands, and the vehicle executes the operation based on its environmental perception system; if the command is interrupted, the system immediately shuts down. Meanwhile, a few models have introduced entertainment functions based on vehicle dynamic control, which can achieve effects such as flashing lights and rhythmic body movements through preset programs, offering considerable visual appeal. However, these advanced functions still have significant limitations: remote control operations are mostly one-dimensional command transmissions, failing to achieve deep collaboration between the smartphone and the vehicle; the action sequences of entertainment functions are all pre-programmed, preventing users from intervening in real-time details via their smartphones, making remote control and personalized creation difficult.

[0071] It is evident that the existing functional system has significant shortcomings in terms of user personalization and scenario adaptability. Neither remote control operation nor entertainment functions respond to users' creative needs, failing to support differentiated application scenarios such as customizing vehicle lighting atmosphere in camping settings, creating dynamic vehicle performances in open areas, and autonomous following in parking lots. This makes it difficult to meet users' advanced pursuit of more engaging and flexible human-vehicle interaction.

[0072] To address the aforementioned technical problems, this invention provides a method, apparatus, terminal, vehicle, medium, and program product for vehicle control. Users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. Based on a mapping mechanism, this is converted into corresponding target control commands, which are then used to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch control to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0073] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0074] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment. The method is used in a terminal, which can be a smartphone, tablet, smart TV, smartwatch, PDA (Personal Digital Assistant), laptop, or other mobile terminal. The terminal can connect to any Internet of Things (IoT) such as NB-IoT, EMTC, or MMTC, or to mobile communication networks such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, and 5G. This disclosure does not limit the scope of the method. Figure 1 As shown, it includes the following steps.

[0075] In step S101, the attitude information of the terminal is obtained.

[0076] In this embodiment, the terminal's own attitude sensors, such as gyroscopes and accelerometers, with rich sensing functions, can be used to determine the terminal's attitude information in multiple dimensions, such as three-axis attitude data (i.e., roll, pitch, and yaw) and six-axis attitude data (i.e., three degrees of freedom of translation and three degrees of freedom of rotation).

[0077] In practical applications, users can use a handheld terminal and adjust its posture to achieve the conversion of intent.

[0078] In step S102, the target control command corresponding to the attitude information is determined.

[0079] In some embodiments, control commands corresponding to different posture information can be preset. In this way, after the user operates the terminal, the target control command corresponding to the posture information can be determined by detecting the posture information of the terminal.

[0080] In other embodiments, to expand the application scenarios of this solution as much as possible and avoid interference and confusion between instructions from different scenarios, the vehicle's interactive control mode can also be obtained. This interactive control mode characterizes the functional modes of the vehicle that the terminal can control. For example, a user can select the desired interactive control mode on the terminal or the vehicle. Taking the terminal as an example, the terminal's interface can display multiple control modes for interacting with the vehicle, and the user can select the mode they need to control. Then, based on the posture information and the interactive control mode, the target control command can be determined. This isolates multiple application scenarios, eliminating the need for multiple complex posture operation methods that increase the user's memory and operational difficulty. By isolating multiple control modes, once the user selects an interactive control mode, they can operate the vehicle's functions within that mode. This ensures both the clarity and accuracy of the instructions and simplifies the user's operation.

[0081] Specifically, the correspondence between different posture information and target control commands under different interactive control modes can be pre-set. After acquiring the terminal's posture information, the target control command can be determined based on this posture information, the interactive control mode, and the pre-set correspondence; whereby the pre-set correspondence includes the correspondence between the terminal posture, the interactive control mode, and the control command. Through the pre-set correspondence between terminal posture, interactive control mode, and control command, the determination of the target control command becomes more regular and accurate, avoiding command mismatches caused by single-dimensional judgment. The pre-set correspondence defines the effective mapping range of posture information under different modes, ensuring that command generation meets the requirements of the current functional scenario, reducing the control risks caused by posture misidentification, improving the stability and reliability of human-vehicle interaction, and simplifying the command generation logic while optimizing system response efficiency.

[0082] Furthermore, to ensure the convenience and accuracy of user operation, the attitude parameters of the terminal on a specified plane can be determined based on the attitude information. The target control command is then determined based on the attitude parameters, the interaction control mode, and the preset correspondence. The specified plane can be the plane corresponding to the interaction control mode. For example, if the interaction control mode includes a driving control mode, the specified plane can include a horizontal plane or a vertical plane perpendicular to the horizontal plane. For instance, when the user holds the terminal horizontally, the target control command can be "stay still." When the user holds the terminal to the left on the horizontal plane, the target control command can be "turn left." Specific settings can be made according to actual needs, and this disclosure does not impose specific limitations. Thus, by first extracting the terminal's attitude parameters on a specified plane, focusing the three-dimensional attitude information on the effective dimensions, reducing redundant data interference, and improving parameter parsing efficiency, and then combining the interaction control mode with the preset correspondence to determine the command, it ensures that the attitude parameters accurately match the current functional scenario, avoiding invalid attitudes triggering erroneous commands, while also reducing the system's computational load, shortening command generation time, balancing control accuracy and response speed, and optimizing the human-vehicle interaction experience.

[0083] In step S103, the target control command is sent to the vehicle connected to the terminal to control the vehicle to execute the target control command.

[0084] In this embodiment, the connection between the terminal and the vehicle can be achieved through wireless communication methods (such as Bluetooth BLE (Bluetooth Low Energy), UWB (Ultra Wideband), WiFi (Wireless Fidelity), etc.) to transmit commands. The entire communication link is kept as simple as possible to reduce latency and achieve near real-time control response. Simultaneously, to ensure the stability and reliability of command transmission, two or more wireless communication methods can be established between the terminal and the vehicle to avoid affecting command control and the user experience in the event of a single communication link failure. In other words, after generating a target control command, the terminal can send the target control command to the vehicle through multiple communication links established with the vehicle, and the vehicle only needs to receive the target control command on any communication link to execute it.

[0085] Of course, to save resources and avoid waste, a single communication link can be used for most control commands, while multiple communication links can be used for specific control commands. For example, commands highly related to vehicle safety, such as braking commands, can be transmitted through multiple communication links to ensure the stability of command transmission.

[0086] by Figure 2 For example, the terminal can detect its own attitude information using sensors such as accelerometers and gyroscopes. It can also retain virtual joysticks or buttons (i.e., virtual joysticks displayed on the terminal interface that can be used to generate target control commands, such as touch buttons for forward, backward, and turn, or virtual joysticks that can be dragged 360 degrees) for users to choose from. The terminal sends the determined target control commands to the vehicle's central control domain via wireless communication (such as UWB, Bluetooth, etc.). The vehicle then executes the corresponding target control commands through other control domains, such as the chassis domain (for example, enabling the vehicle to perform "car dance" actions like jumping and spinning), the intelligent driving domain (for example, controlling the vehicle to drive or autonomously follow its own movement), and the external lighting control domain (for example, remotely controlling headlights and adjusting brightness and ambiance in a camping setting). This enhances the human-vehicle interaction experience, expands the depth and dimensions of terminal vehicle control, and provides users with diverse and creative ways to play. Simultaneously, the vehicle can also feed back the execution results from each control domain to the terminal for display, allowing users to intuitively understand the vehicle's status through the terminal.

[0087] Using the above method, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing the user to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0088] Vehicle control via terminal posture fully leverages the terminal's sensor and computing capabilities, achieving an unprecedented level of deep remote interactive vehicle control. However, to ensure the reliability of user operations, certain restrictions can be imposed on user actions in some embodiments. For example, the system determines the terminal's screen orientation; only when the screen orientation is specified will the posture information be converted into the corresponding target control command, thus determining the target control command corresponding to that posture information. By first determining the terminal's screen orientation and only parsing posture information to generate commands when the screen is in the specified orientation, unexpected operations (such as posture changes caused by mishandling the terminal) can be filtered out, reducing the risk of accidental triggering. Simultaneously, the specified orientation matches user operating habits (such as driving in landscape mode and adjusting lights in portrait mode), making posture control more aligned with scenario requirements, improving the accuracy of command generation, balancing interactive convenience with control safety, and optimizing the reliability of human-vehicle interaction.

[0089] For example, a control confirmation button (which can be a physical or virtual button) can be set on the terminal's display interface. When the user needs to operate the terminal's posture, they must press and hold the control confirmation button to further clarify the user's current intention. That is, only when the control confirmation button is pressed will the posture information be converted into the corresponding target control command, thus determining the target control command corresponding to the posture information. In this way, using the pressed state of the control confirmation button as a prerequisite for the generation of posture commands, a dual triggering mechanism of posture operation + button confirmation is formed. This can effectively filter out invalid commands caused by users accidentally touching the terminal posture (such as everyday hand-held shaking), avoiding unexpected vehicle responses. At the same time, the button confirmation process enhances the accuracy of the user's operation intention, reduces the risk of miscontrol in human-vehicle interaction, balances operational convenience and control safety, and improves the reliability and stability of human-vehicle interaction.

[0090] Accordingly, to ensure vehicle operation safety, a braking command can be sent to the vehicle when the control confirmation button is pressed (indicating it is released), causing the vehicle to apply the parking brake accordingly. In other words, if the user presses and then releases the control confirmation button, it is assumed the user did not intend to control the vehicle, and the vehicle will apply the parking brake to ensure the safety and practicality of vehicle control. This directly links the control confirmation button release state with the vehicle braking command, forming a safety mechanism of immediate braking upon release. When the user releases the button (e.g., due to operation interruption or accidental stop), the vehicle can immediately apply the parking brake, preventing loss of control (such as coasting or excessive movement) caused by interrupted posture commands. This safety protection is triggered without additional operation, significantly reducing safety risks during unattended operation or due to operational errors, enhancing control safety, and increasing user trust in human-vehicle interaction.

[0091] In some embodiments, to facilitate remote vehicle control, a real-time environmental image of the vehicle's surroundings can be acquired. This real-time environmental image can be captured in real-time by the vehicle's cameras. In response to the user's selection of any point on the displayed real-time environmental image, the target location corresponding to the selection is sent to the vehicle, allowing the vehicle to move based on that target location. In other words, the user can select the target location for the vehicle's movement via touch and send it to the vehicle to control its movement. By displaying a real-time environmental image, users can intuitively understand the vehicle's surroundings, solving the blind spot problem during remote control. Users can control the vehicle's movement simply by clicking on the screen to select a target location, seamlessly connecting visual observation, location selection, and vehicle control, replacing traditional complex operations. When encountering uncertain routes or unclear user locations, selecting a target location can guide the vehicle's movement. This improves control intuitiveness and convenience, accurately plans movement paths, avoids risks caused by environmental obstacles, and optimizes the safety and operational efficiency of remote vehicle control. It is suitable for scenarios requiring close-range, precise vehicle control via mobile terminals, achieving a point-and-click remote control effect.

[0092] In some embodiments, the interactive control mode includes one of the following modes: Driving control modes; Vehicle dancing mode; and, Follow control mode.

[0093] Accordingly, when the interactive control mode includes a driving control mode, the target control command is used to indicate the vehicle's driving parameters (e.g., driving direction, driving speed, steering direction, steering angle, etc.) in that driving control mode; or, When the interactive control mode includes a vehicle dancing mode, the target control command is used to indicate the vehicle's dancing parameters (e.g., motor parameters, suspension parameters, lighting parameters, etc.) in that vehicle dancing mode; or, When the interactive control mode includes a follow control mode, the target control command is used to indicate the follow parameters of the vehicle in the follow control mode (e.g., it may include the location information of the terminal).

[0094] The following uses the three interactive control modes mentioned above as examples to illustrate the three scenarios.

[0095] Example 1: Interactive control modes include driving control modes.

[0096] In an open parking lot, once the terminal and vehicle have paired and connected via Bluetooth, the user stands next to the vehicle and activates the driving control mode on the terminal's app. The vehicle control system automatically enters a standby state. First, the vehicle's powertrain responds to the control command and performs ignition, putting the power unit into standby output mode. Second, the vehicle's gear shift actuator automatically shifts to neutral (N), releasing the power transmission lock. Finally, the vehicle sends a standby status ready signal to the terminal, at which point the vehicle enters the remote control preparation stage, ready to receive terminal control commands.

[0097] When a user holds the terminal horizontally, the terminal's built-in attitude sensors (such as gyroscopes and accelerometers) collect and output the terminal's attitude information relative to a specified plane. Based on this attitude information, the terminal determines the target control command to remain stationary and sends this command to the vehicle. Upon receiving the target control command, the vehicle controls the powertrain to maintain zero torque output while the braking system maintains basic braking pressure to ensure the vehicle remains stationary.

[0098] When the user's terminal tilts forward at a certain angle (e.g., when the terminal's attitude sensor detects that the tilt angle reaches a preset threshold (e.g., 20°) and remains stable (duration ≥ 0.3s), the terminal converts the forward tilt signal into a target control command, i.e., a forward control command, and sends it to the vehicle. Upon receiving the forward control command, the vehicle controls the motor to output a preset small amount of torque to the drive wheels, driving the vehicle forward slowly at a low speed (to ensure safety, a maximum vehicle speed can be set, meaning the vehicle speed in driving control mode must not exceed this maximum speed, e.g., vehicle speed ≤ 5km / h). Similarly, when the terminal tilts backward and the tilt angle reaches a preset threshold, the target control command is a reversing control command, and the vehicle performs a reversing action (if the vehicle is currently moving forward, the backward acceleration will cause the vehicle to stop first, and then reverse). To further enhance the user experience, the correspondence between the tilt angle and torque can also be set. In other words, users can tilt the terminal forward and backward at different degrees to generate different tilt angles, thereby determining the corresponding torque parameters (used to control the vehicle's speed. To ensure the vehicle's intelligent driving safety, the maximum driving speed in interactive control mode can be preset to ensure that the vehicle moves slowly), and send them to the vehicle so that the vehicle can control its driving according to the torque parameters.

[0099] When the vehicle is moving forward, if the user's terminal tilts to the left, and the terminal's attitude sensor detects that the left tilt angle reaches a preset steering trigger threshold (e.g., 15°), the terminal converts the left tilt attitude signal into a target control command, i.e., a left turn control command, and sends it to the vehicle. Upon receiving the left turn control command, the vehicle controls the steering system to drive the front wheels to turn, enabling the vehicle to slowly turn left. Similarly, when the terminal tilts to the right and the tilt angle reaches the preset steering trigger threshold, the vehicle performs the corresponding right turn. Furthermore, to further enhance the user experience, a correlation between tilt angle and steering angle can be set. That is, the user can tilt the terminal to different degrees to generate different steering angles (used to control the vehicle's turning angle) and send them to the vehicle, allowing the vehicle to control the turn based on that steering angle.

[0100] In addition, during remote vehicle operation, the ultrasonic sensors on the vehicle can collect real-time environmental data. When an obstacle is detected within a preset range (e.g., 3 meters) in front of the vehicle, the ultrasonic sensors generate an obstacle detection signal and send it back to the vehicle controller. Upon receiving the obstacle detection signal, the vehicle controller immediately triggers the emergency braking procedure. First, it controls the power system to cut off torque output. Second, it controls the braking system to apply emergency braking pressure, causing the vehicle to automatically stop within a preset safe distance. Simultaneously, the vehicle generates an emergency braking warning message and sends it to the terminal. After receiving the emergency braking warning message, the terminal generates a warning message through its built-in prompting device. For example, a built-in vibration module can perform vibration feedback to convey the vehicle's emergency braking status to the user.

[0101] When the user releases the preset control confirmation button on the terminal, the terminal generates a braking command and sends it to the vehicle. After receiving the braking command, the vehicle triggers the termination process: First, it controls the braking system to maintain the braking state and ensures that the vehicle remains stationary; second, it controls the power system to perform an engine shutdown operation; finally, it controls the gear shift actuator to switch from neutral (N) to parking (P), completing the vehicle state reset and officially ending the driving control mode.

[0102] The entire process is simple to operate; the tilt angle of the terminal corresponds to the vehicle speed and steering angle, providing a WYSIWYG experience and a more intuitive user experience. It should be noted that the above example is merely illustrative, and this disclosure is not limited thereto. Users can set different operating postures to correspond to different control commands according to their personal usage habits, and users can also calibrate the sensitivity of the operation according to their personal preferences. That is, users can set different tilt angles to correspond to different vehicle speeds or steering angles.

[0103] Example 2: Interactive control modes include vehicle dancing mode.

[0104] In an open, nighttime location (where the vehicle detects no obstacles, pedestrians, or other interference via environmental sensors), after the terminal and vehicle pair and connect via Bluetooth, the user can trigger the vehicle's dance mode through the app on the terminal. Specifically, the user first selects the dance mode option in the app interface, and the terminal sends a mode activation request signal to the vehicle. Upon receiving this signal, the vehicle performs a self-check of its current status (such as powertrain standby, suspension system parameters, and lighting system initialization). If the preset performance conditions are met (powertrain in a non-driving ready state, suspension system pressure normal, and lighting system without faults), the vehicle sends a successful mode activation signal back to the terminal. Simultaneously, the vehicle's power output is switched to performance control mode, and the suspension and lighting systems become adjustable, completing the activation process for the dance mode.

[0105] In vehicle dancing mode, users can control the vehicle in two ways. Method 1: The terminal app interface can display several preset motion control options, such as rotating in place, nodding, and swaying. Each option corresponds to a unique motion control command code. When the user triggers a preset motion option through touch operation, the mobile terminal generates a target control command corresponding to that option (including motion type, execution parameters, duration, etc.) and sends it to the vehicle controller via a wireless communication link (such as Bluetooth or WiFi).

[0106] After receiving motion control commands, the vehicle assigns corresponding execution units based on the type of motion in the command. For example, for a stationary rotation motion, the controller sends a differential control command to the wheel hub motor control system, controlling the left and right wheel hub motors to output different speeds (the left motor speed is higher than the right motor speed, or vice versa), causing the vehicle to rotate around the vertical axis at a preset angle, while simultaneously controlling the steering system to maintain a neutral position to ensure a stable rotation trajectory. As another example, for a nodding motion, the controller sends a height adjustment command to the air suspension system, controlling the front and rear suspensions to synchronously perform one or more small increases and decreases to simulate a nodding posture. Yet another example is a swaying motion, where the controller sends an asynchronous adjustment command to the air suspension system, controlling the left and right suspensions to alternately increase and decrease, achieving left and right swaying of the vehicle body, while simultaneously controlling the power system to maintain zero torque output to prevent vehicle displacement.

[0107] Method Two: To enhance the user experience, users can also generate target control commands through terminal attitude control. The terminal uses built-in attitude sensors (such as gyroscopes and accelerometers) to collect real-time spatial attitude change data (such as displacement direction, rotation angle, and acceleration magnitude), and converts this data into corresponding target control commands. For example, when the attitude sensor detects a preset amplitude of swaying in the forward / backward direction, the target control command is a forward / backward movement control command, sent to the vehicle. Upon receiving this command, the vehicle sends a low-torque control command to the power system, controlling the vehicle to perform a small forward / backward movement at a low speed (the movement distance is positively correlated with the terminal's sway amplitude, and the proportional coefficient can be preset). As another example, when the attitude sensor detects a preset angle of rotation in a specified plane (such as a horizontal plane), the target control command is a stationary rotation command, sent to the vehicle. Upon receiving this command, the vehicle sends coordinated control commands to the steering system and wheel hub motor system, controlling the front wheels to steer in the direction corresponding to the terminal's rotation angle, while simultaneously controlling the wheel hub motors to output a small torque, driving the vehicle to complete the corresponding angle of stationary rotation. For example, when the attitude sensor detects that the terminal is making continuous upward and downward movements in the vertical direction, the target control command is a stationary jump command, which is sent to the vehicle. After receiving the command, the vehicle sends an emergency lift control command to the air suspension system, controlling the suspension to complete a rapid rise and fall within a preset time, simulating a jump posture. Through the above operations, the vehicle body makes various movements in sync with the terminal's movements, creating a unique interactive performance.

[0108] Furthermore, users can control the vehicle's music and lights in the vehicle's "Dancing Mode." When a user loads music in the terminal app (e.g., selects locally stored music A) and triggers the beat-light synchronization function, the terminal analyzes the music's beat, melody, volume, and other characteristic parameters in real time, generating corresponding lighting control signals (e.g., including light switching frequency, color switching cycle, brightness adjustment range, etc.). Users can also adjust the lighting control signals through the lighting control interface displayed on the terminal. For example, the terminal displays a lighting control interface, including a color wheel and a brightness slider. Users can drag the color wheel to adjust the real-time color changes of the adjustable RGB ambient lights inside and outside the vehicle, and slide the brightness slider to simultaneously adjust the brightness of the headlights and taillights. The terminal sends the lighting control signals and music playback commands to the vehicle synchronously. Upon receiving the commands, the vehicle sends a music playback command to the in-vehicle audio system, controlling it to play music A at a preset volume. Simultaneously, it sends a lighting control command to the lighting control system, controlling the vehicle's headlights and body LED light strips to perform actions such as flashing, color switching, and brightness gradation, achieving real-time synchronization between the lighting effects and the music rhythm.

[0109] To enrich the user experience, users can also control music or light switching and playback through gestures on the device. The accelerometer and gyroscope on the device can detect rapid shaking of the terminal, defining specific gestures to trigger vehicle functions. For example, shaking the terminal twice can start / stop playing specified music and light shows; quickly waving the terminal up and down (detecting a single vertical back-and-forth motion) can switch vehicle lighting modes, and so on. This gesture-based control enriches the interaction methods and enhances the user experience.

[0110] It should be noted that the above examples are merely illustrative and this disclosure is not limited thereto. Users can set different operating postures to correspond to different control commands according to their personal usage habits, and users can also calibrate the sensitivity of the operation according to their personal preferences.

[0111] Example 3: Interactive control modes include follow control mode.

[0112] In residential parking lots, users need a vehicle to follow them. After the terminal and vehicle pair and connect via Bluetooth, the user can trigger the follow control mode through the terminal's app. Specifically, the user can set the follow distance parameter (e.g., 2 meters) in the app interface, and the system writes this parameter into the vehicle control module's safety threshold range. After receiving the activation command, the vehicle unlocks, the power system enters a low-speed standby state, and the steering and braking systems enter automatic control mode. Users can also trigger the follow function in follow control mode by shaking the terminal. For example, a user can shake the terminal to activate the follow function. Once activated, the user walks towards their home, and the terminal continuously sends its location information (e.g., UWB and GPS coordinates) as follow parameters to the vehicle. The vehicle accurately identifies the terminal's direction and distance based on the location information, slowly moving forward and maintaining a follow distance parameter (approximately 2 meters) from the user. Specifically, the vehicle generates the user's real-time location trajectory using a fusion algorithm, driving the execution system to achieve the following control: Based on the difference between the follow distance parameter and the real-time positioning, the power output torque is automatically adjusted to maintain the actual distance between the vehicle and the user within the follow distance parameter range. Simultaneously, the system analyzes the terminal's movement direction vector and, combined with the vehicle's current posture, controls the front wheel steering angle through the steering system to achieve path synchronization. When a change in curvature is detected in the user's trajectory (i.e., encountering a turn), the differential control strategy is activated, adjusting the speed difference between the left and right drive wheels to complete coordinated steering. The vehicle speed is adjusted to maintain the following distance parameter. If the user intentionally avoids an obstacle, the vehicle's vision system uses a visual camera and ultrasonic radar to scan obstacles within a preset range in real time and detours, ensuring path safety. When the user reaches their doorstep and needs to terminate the following control mode, they can trigger the stop button via the app, causing the vehicle to stop smoothly and ending intelligent following. Throughout the process, the user only needs to carry the terminal while the vehicle automatically follows like a helpful robotic assistant, greatly enriching the user's driving experience.

[0113] Furthermore, since the control method provided in this disclosure involves remote driving control, safety design is crucial. First, the vehicle can only enter interactive control mode under specific conditions. For example, it must be in an open area, free of obstacles around the vehicle, and the vehicle speed must be limited to a safe range. Vehicle-side sensors (ultrasonic radar, cameras) continuously monitor the surrounding environment, and immediately refuse to execute dangerous commands or perform emergency braking if a pedestrian or vehicle approaches. Second, the user must activate this mode through dual authentication (e.g., enabling remote control mode via a physical button inside the vehicle, and then confirming on the terminal). Third, all actions are subject to access control; driving-related controls are only available to terminals authorized by the vehicle owner, while other terminals can only perform non-driving functions such as lights. In addition, communication between the terminal and the vehicle uses end-to-end encryption to prevent signals from being intercepted or tampered with by third parties.

[0114] Using the above method, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing the user to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0115] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, applied to a vehicle, such as... Figure 3 As shown, the method may include the following steps.

[0116] In step S201, a target control command is received from a terminal connected to the vehicle.

[0117] The target control command is determined by the terminal based on its attitude information. Specifically, the target control command can be... Figure 1 The method for determining the target control command in the vehicle control method shown is as follows.

[0118] In step S202, the target control command is executed.

[0119] Specifically, the vehicle can control the vehicle actuators to execute the target control command.

[0120] To execute the target control command more accurately, the corresponding interactive control mode of the vehicle can be determined first, and the target control command can be executed based on the interactive control mode to determine whether the target control command and the interactive control mode correspond, thereby ensuring the accuracy of the target control command execution.

[0121] In some embodiments, when executing the target control command, if a braking command sent by the terminal is received, the vehicle is controlled to apply the parking brake; wherein, the braking command is generated by the terminal when it is determined that the pressed state of the control confirmation button set on the terminal is released.

[0122] In other words, during the execution of the target control command, the release of the terminal control confirmation button is bound to the braking command, forming a real-time safety intervention mechanism. Once the user releases the button (e.g., due to operation interruption or risk detection), the vehicle can immediately respond to the braking command and execute the parking brake, preventing the vehicle from losing control during command execution (e.g., continuous movement or deviation from the trajectory). Safety protection is triggered without additional operation, significantly reducing risks during dynamic control, enhancing human-vehicle interaction safety, and increasing the user's sense of control and trust in the vehicle control process.

[0123] In other embodiments, to avoid abnormal lag or shutdown on the terminal side, if no new target control command is received within a preset time period after receiving the target control command, the vehicle can be controlled to apply the parking brake, thereby ensuring the safety and reliability of the control.

[0124] By setting a preset time period during which the parking brake is triggered if no new command is received, a command interruption-automatic protection mechanism is established. This mechanism can handle situations such as command transmission interruptions and user operation pauses, preventing the vehicle from continuing to execute its original actions due to the lack of new commands. Without additional user intervention, it automatically ensures the vehicle's static safety during command gaps, reducing the risk of loss of control in unattended or weak network environments, and improving the reliability and security of remote vehicle control.

[0125] In other embodiments, when the interactive control mode is a follow control mode, the target control command includes a follow parameter, which is used to characterize the location information of the terminal; the relative position between the terminal and the vehicle can be determined based on the location information, and the vehicle can be controlled to follow the terminal based on the relative position.

[0126] In other words, the vehicle can plan its driving path based on its relative position, thereby controlling the vehicle to follow the terminal. In follow control mode, the relative position is calculated using the terminal's location information to control the vehicle's following, ensuring a precise spatial relationship between the vehicle and the terminal (user). The dynamic calculation of the relative position can correct the following trajectory in real time, avoiding distance loss due to absolute positioning deviations and improving following stability. At the same time, the control logic based on the terminal's position aligns with the user's movement intentions, making the following more closely suited to actual needs.

[0127] In other embodiments, in response to receiving a target location point sent by the terminal, the vehicle is controlled to move based on the target location point; the target location point is determined by the terminal based on the user's selection operation on any location point on the real-time environment screen displayed on the terminal, and the real-time environment screen is the real-time environment screen of the environment in which the vehicle is located, obtained by the terminal.

[0128] By displaying real-time images of the vehicle's surroundings, users can intuitively understand the vehicle's surroundings, resolving blind spots during remote control. Users can control the vehicle's movement simply by clicking on the screen to select a target location, seamlessly integrating visual observation, location selection, and vehicle control, replacing traditional, complex operations. This enhances the intuitiveness and convenience of control, while also enabling precise path planning, avoiding risks caused by environmental obstacles, optimizing the safety and efficiency of remote vehicle control, and adapting to scenarios such as parking lot relocation.

[0129] Similarly, after obtaining the target location, the vehicle can determine its target trajectory based on the target location and its current position. Then, the vehicle's movement is controlled according to this target trajectory.

[0130] By planning a target driving trajectory based on the target location and the vehicle's current position, obstacles along the path can be avoided in advance, preventing collisions caused by blind movement. Trajectory-based vehicle control ensures the vehicle travels precisely along the preset path, reducing positional deviations and improving accuracy. Simultaneously, trajectory planning makes vehicle control more predictable, simplifies user operation, balances convenience and safety, and optimizes the remote vehicle control experience.

[0131] Regarding the methods in the above embodiments, the specific manner in which each step is performed has been described. Figures 1 to 2 The embodiments of the method have been described in detail, and will not be elaborated upon here.

[0132] Using the above method, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing the user to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0133] Figure 4 This is a block diagram of a vehicle control device according to an exemplary embodiment, applied to a terminal, such as... Figure 4 As shown, the device 300 includes: The acquisition module 301 is configured to acquire the attitude information of the terminal; The determination module 302 is configured to determine the target control command corresponding to the attitude information; The sending module 303 is configured to send the target control command to the vehicle connected to the terminal to control the vehicle to execute the target control command.

[0134] In some possible implementations, the acquisition module 301 is further configured to acquire the interactive control mode of the vehicle; the interactive control mode is used to characterize the functional modes of the vehicle that the terminal can control. The determining module 302 is configured to determine the target control command based on the attitude information and the interactive control mode.

[0135] In some possible implementations, the determining module 302 is configured to determine the target control command based on the attitude information, the interaction control mode, and a preset correspondence; wherein the preset correspondence includes the correspondence between the terminal attitude, the interaction control mode, and the control command.

[0136] In some possible implementations, the determining module 302 is configured to determine the attitude parameters of the terminal on a specified plane based on the attitude information; and to determine the target control command based on the attitude parameters, the interactive control mode, and the preset correspondence.

[0137] In some possible implementations, the interactive control mode includes one of the following modes: Driving control modes; Vehicle dancing mode; and, Follow control mode.

[0138] In some possible implementations, the interactive control mode includes a driving control mode, wherein the target control command is used to indicate the driving parameters of the vehicle in that driving control mode; or, The interactive control mode includes a vehicle dancing mode, and the target control command is used to indicate the dancing parameters of the vehicle in this mode; or... The interactive control mode includes a follow control mode, and the target control command is used to indicate the follow parameters of the vehicle in the follow control mode.

[0139] In some possible implementations, the determining module 302 is further configured to determine the screen orientation of the terminal; and if the screen orientation is a specified orientation, to determine the target control command corresponding to the attitude information.

[0140] In some possible implementations, the acquisition module 301 is also configured to acquire the pressed state of the control confirmation button set on the terminal; The determining module 302 is configured to determine the target control command corresponding to the attitude information when the pressed state indicates that the control confirmation button is pressed.

[0141] In some possible implementations, the sending module 303 is also configured to send a braking command to the vehicle when the pressed state indicates that the control confirmation button is released, so that the vehicle performs parking braking according to the braking command.

[0142] In some possible implementations, the interactive control mode includes a follow control mode. The determining module 302 is configured to, when determining that the follow function in the follow control mode is to be enabled based on the attitude information, acquire the position information of the terminal; use the position information as the follow parameter; and determine the target control command based on the follow parameter.

[0143] In some possible implementations, the acquisition module 301 is also configured to acquire and display a real-time environmental image of the environment in which the vehicle is located. The sending module 303 is also configured to respond to a user's selection operation on any location point on the displayed real-time environment screen, and send the target location point corresponding to the selection operation to the vehicle so that the vehicle can control its movement based on the target location point.

[0144] Through the aforementioned device, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing the user to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch control to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0145] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment, applied to a vehicle, such as... Figure 5 As shown, the device 400 includes: The receiving module 401 is configured to receive a target control command sent by a terminal connected to the vehicle; wherein the target control command is determined by the terminal based on the terminal's attitude information. Execution module 402 is configured to execute the target control instruction.

[0146] In some possible implementations, the execution module 402 is configured to determine the interactive control mode corresponding to the vehicle; and execute the target control command based on the interactive control mode.

[0147] In some possible implementations, the execution module 402 is further configured to, when executing the target control command, control the vehicle to apply the parking brake if a braking command sent by the terminal is received; wherein the braking command is generated by the terminal when it determines that the control confirmation button set on the terminal is in the released state.

[0148] In some possible implementations, the execution module 402 is also configured to control the vehicle to apply the parking brake if no new target control command is received within a preset time period after receiving the target control command.

[0149] In some possible implementations, the interactive control mode is a follow control mode, and the target control command includes a follow parameter, which is used to characterize the location information of the terminal; the execution module 402 is configured to determine the relative position between the terminal and the vehicle based on the location information; and control the vehicle to follow the terminal based on the relative position.

[0150] In some possible implementations, the execution module 402 is configured to control the movement of the vehicle in response to receiving a target location point sent by the terminal; the target location point is determined by the terminal based on the user's selection operation of any location point on the real-time environment screen displayed on the terminal, and the real-time environment screen is the real-time environment screen of the environment in which the vehicle is located, obtained by the terminal.

[0151] In some possible implementations, the execution module 402 is configured to determine the target driving trajectory corresponding to the vehicle based on the target location point and the current location of the vehicle; and control the vehicle to move based on the target driving trajectory.

[0152] Through the aforementioned device, users can manipulate the terminal's posture, thereby transforming the terminal itself into a natural interactive medium. This is then converted into corresponding target control commands based on a mapping mechanism, allowing the user to control the vehicle. This interaction method better aligns with natural human movement habits, expanding the interaction dimension from two-dimensional touch control to three-dimensional posture, making human-vehicle interaction more flexible and intuitive.

[0153] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0154] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle control method provided in this disclosure.

[0155] Figure 6 This is a block diagram illustrating a terminal 500 according to an exemplary embodiment. For example, terminal 500 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0156] Reference Figure 6 Terminal 500 may include one or more of the following components: processing component 502, memory 504, power supply component 506, multimedia component 508, audio component 510, input / output interface 512, sensor component 514, and communication component 516.

[0157] Processing component 502 typically controls the overall operation of terminal 500, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the vehicle control method described above. Furthermore, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0158] Memory 504 is configured to store various types of data to support operation on terminal 500. Examples of this data include instructions for any application or method operating on terminal 500, contact data, phonebook data, messages, pictures, videos, etc. Memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0159] Power supply component 506 provides power to various components of terminal 500. Power supply component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to terminal 500.

[0160] Multimedia component 508 includes a screen that provides an output interface between the terminal 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 508 includes a front-facing camera and / or a rear-facing camera. When the terminal 500 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0161] Audio component 510 is configured to output and / or input audio signals. For example, audio component 510 includes a microphone (MIC) configured to receive external audio signals when terminal 500 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 504 or transmitted via communication component 516. In some embodiments, audio component 510 also includes a speaker for outputting audio signals.

[0162] Input / output interface 512 provides an interface between processing component 502 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0163] Sensor assembly 514 includes one or more sensors for providing state assessments of various aspects of terminal 500. For example, sensor assembly 514 may detect the on / off state of terminal 500, the relative positioning of components such as the display and keypad of terminal 500, changes in position of terminal 500 or a component of terminal 500, the presence or absence of user contact with terminal 500, orientation or acceleration / deceleration of terminal 500, and temperature changes of terminal 500. Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 514 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0164] Communication component 516 is configured to facilitate wired or wireless communication between terminal 500 and other devices. Terminal 500 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 516 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 516 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0165] In an exemplary embodiment, terminal 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.

[0166] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 504 including instructions, which can be executed by a processor 520 of a terminal 500 to complete the vehicle control method described above. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0167] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle control method when executed by the programmable device.

[0168] Figure 7 This is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0169] Reference Figure 7 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0170] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0171] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0172] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0173] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0174] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, and processor 651 may execute instructions 653 stored in memory 652.

[0175] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0176] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0177] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0178] In this embodiment of the disclosure, processor 651 may execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0179] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0180] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0181] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0182] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0183] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein according to the specific circumstances.

Claims

1. A method of vehicle control, characterized by, Applied to a terminal, the method comprises: Obtaining posture information of the terminal; Determining a target control instruction corresponding to the posture information; Sending the target control instruction to a vehicle connected with the terminal to control the vehicle to execute the target control instruction.

2. The method of claim 1, wherein, The method further comprises: Obtaining an interactive control mode of the vehicle; the interactive control mode is used to represent a functional mode of the vehicle that can be controlled by the terminal; The determining of the target control instruction corresponding to the posture information comprises: Determining the target control instruction according to the posture information and the interactive control mode.

3. The method of claim 2, wherein, The determining of the target control instruction according to the posture information and the interactive control mode comprises: Determining the target control instruction according to the posture information, the interactive control mode and a preset corresponding relationship; wherein the preset corresponding relationship comprises a corresponding relationship among a terminal posture, an interactive control mode and a control instruction.

4. The method of claim 3, wherein, The determining of the target control instruction according to the posture information, the interactive control mode and the preset corresponding relationship comprises: Determining a posture parameter of the terminal on a specified plane according to the posture information; Determining the target control instruction according to the posture parameter, the interactive control mode and the preset corresponding relationship.

5. The method of claim 2, wherein, The interactive control mode comprises one of the following modes: A driving control mode; A vehicle dance mode; and A follow-up control mode.

6. The method of claim 5, wherein, The interactive control mode comprises the driving control mode, and the target control instruction is used to instruct a driving parameter of the vehicle in the driving control mode; or The interactive control mode comprises the vehicle dance mode, and the target control instruction is used to instruct a dance parameter of the vehicle in the vehicle dance mode; or The interactive control mode comprises the follow-up control mode, and the target control instruction is used to instruct a follow-up parameter of the vehicle in the follow-up control mode.

7. The method of claim 1, wherein, The method further comprises: Determining a screen orientation of the terminal; The determining of the target control instruction corresponding to the posture information comprises: In a case where the screen orientation is a specified orientation, determining the target control instruction corresponding to the posture information.

8. The method of claim 1, wherein, The method further comprises: Obtaining a pressed state of a control confirmation button arranged on the terminal; The determining of the target control instruction corresponding to the posture information comprises: In a case where the pressed state represents that the control confirmation button is pressed, determining the target control instruction corresponding to the posture information.

9. The method of claim 8, wherein, The method further comprises: In a case where the pressed state represents that the control confirmation button is released, sending a brake instruction to the vehicle to make the vehicle brake according to the brake instruction.

10. The method of claim 6, wherein, The interactive control mode comprises the follow-up control mode, and the determining of the target control instruction according to the posture information and the interactive control mode comprises: In a case where it is determined according to the posture information that a follow-up function in the follow-up control mode is started, obtaining position information of the terminal; Taking the position information as the follow-up parameter; Determining the target control instruction according to the follow-up parameter.

11. The method according to any one of claims 1 to 10, characterized in that, The method further comprises: Obtaining a real-time environment picture of an environment where the vehicle is located and displaying the real-time environment picture. In response to a selection operation of a user on an arbitrary position point on the displayed real-time environment picture, a target position point corresponding to the selection operation is sent to the vehicle so that the vehicle controls movement of the vehicle according to the target position point.

12. A method of vehicle control, characterized by The method is applied to a vehicle and includes the following steps: receiving a target control instruction sent by a terminal connected to the vehicle, wherein the target control instruction is determined by the terminal according to attitude information of the terminal; executing the target control instruction.

13. The method of claim 12, wherein, The execution of the target control instruction includes the following steps: determining an interactive control mode corresponding to the vehicle; based on the interactive control mode, executing the target control instruction.

14. The method of claim 12, wherein, The method further includes the following steps: in the case of executing the target control instruction, if a brake instruction sent by the terminal is received, controlling the vehicle to perform parking brake, wherein the brake instruction is generated by the terminal in the case that a pressed state of a control confirmation button set on the terminal is released.

15. The method of claim 12, wherein, The method further includes the following steps: in the case that no new target control instruction is received within a preset time period after the target control instruction is received, controlling the vehicle to perform parking brake.

16. The method of claim 13, wherein, The interactive control mode is a follow-up control mode, the target control instruction includes a follow-up parameter, the follow-up parameter is used to represent position information of the terminal, and based on the interactive control mode, the execution of the target control instruction includes the following steps: determining a relative position between the terminal and the vehicle according to the position information; controlling the vehicle to follow the terminal according to the relative position.

17. The method according to any one of claims 12 to 16, characterized in that, The method further includes the following steps: in response to receiving a target position point sent by the terminal, controlling the vehicle to move according to the target position point, wherein the target position point is determined by the terminal according to a selection operation of a user on an arbitrary position point on a real-time environment picture displayed on the terminal, and the real-time environment picture is a real-time environment picture of an environment in which the vehicle is located and which is acquired by the terminal.

18. The method of claim 17, wherein, The control of the vehicle to move according to the target position point includes the following steps: determining a target driving track corresponding to the vehicle according to the target position point and a current position of the vehicle; controlling the vehicle to move according to the target driving track.

19. An apparatus for vehicle control, characterized by The device is applied to a terminal and includes the following components: an acquisition module configured to acquire attitude information of the terminal; a determination module configured to determine a target control instruction corresponding to the attitude information; a sending module configured to send the target control instruction to a vehicle connected to the terminal so as to control the vehicle to execute the target control instruction.

20. The apparatus of claim 19, wherein, The acquisition module is further configured to acquire an interactive control mode of the vehicle, and the interactive control mode is used to represent a functional mode of the vehicle that can be controlled by the terminal. The determination module is configured to determine the target control instruction according to the attitude information and the interactive control mode.

21. The apparatus of claim 20, wherein, The determination module is configured to determine the target control instruction according to the attitude information, the interactive control mode and a preset corresponding relationship, wherein the preset corresponding relationship includes a corresponding relationship among a terminal attitude, an interactive control mode and a control instruction.

22. The apparatus of claim 21, wherein, The determining module is configured to determine a posture parameter of the terminal on a specified plane according to the posture information, and determine the target control instruction according to the posture parameter, the interaction control mode, and the preset correspondence.

23. The apparatus of claim 20, wherein, The interaction control mode comprises one of the following modes: a driving control mode; a vehicle dance mode; and a following control mode.

24. The apparatus of claim 23, wherein, The interaction control mode comprises the driving control mode, and the target control instruction is used to instruct a driving parameter of the vehicle in the driving control mode; or The interaction control mode comprises the vehicle dance mode, and the target control instruction is used to instruct a dance parameter of the vehicle in the vehicle dance mode; or The interaction control mode comprises the following control mode, and the target control instruction is used to instruct a following parameter of the vehicle in the following control mode.

25. An apparatus for vehicle control, characterized by The device is applied to a vehicle and comprises: a receiving module configured to receive a target control instruction sent by a terminal connected to the vehicle, wherein the target control instruction is determined by the terminal according to posture information of the terminal; an executing module configured to execute the target control instruction.

26. The apparatus of claim 25, wherein, The executing module is configured to determine an interaction control mode corresponding to the vehicle, and execute the target control instruction based on the interaction control mode.

27. A terminal, characterized by It comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method of any one of claims 1 to 11 when invoking the executable instructions stored on the memory.

28. A vehicle characterized by It comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method of any one of claims 12 to 18 when invoking the executable instructions stored on the memory.

29. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 11; or implement the steps of the method of any one of claims 12 to 18.

30. A computer program product, characterised in that, It comprises a computer program, which is executed by the processor to implement the steps of the method of any one of claims 1 to 11; or implement the steps of the method of any one of claims 12 to 18.

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