Vehicle control method and device, storage medium and vehicle

Abstract

The present disclosure relates to a vehicle control method and device, a storage medium and a vehicle. By obtaining attitude information of the vehicle when the vehicle enters a floating water state, adjusting the pose of components on the vehicle based on the attitude information of the vehicle, the attitude adjustment of the vehicle in the floating water state can be realized, and the vehicle can reach a specific attitude, such as a balanced state or a relatively balanced state, thereby improving the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a vehicle control method and apparatus, a storage medium, and a vehicle. Background Technology

[0002] Among related technologies, vehicle buoyancy technology provides the ability for vehicles to float in water. However, due to uneven weight distribution on the vehicle, the vehicle often tilts while floating, resulting in a poor user experience. Therefore, how to adjust the vehicle's posture while floating is a technical problem that needs to be solved. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a vehicle control method and apparatus, a storage medium and a vehicle.

[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, comprising: in response to a vehicle entering a floating state, acquiring attitude information of the vehicle; and adjusting the position and orientation of components on the vehicle based on the attitude information of the vehicle.

[0005] By acquiring the vehicle's attitude information when it enters a floating state, and adjusting the position and orientation of components on the vehicle based on this information, the vehicle's attitude can be adjusted while floating, thereby enabling the vehicle to reach a specific posture, such as a balanced or relatively balanced state, thus improving the user experience.

[0006] In some exemplary embodiments of this disclosure, adjusting the position and orientation of components on the vehicle based on the vehicle's attitude information includes: determining the vehicle's tilt direction based on the vehicle's attitude information; and controlling the movement of components on the vehicle based on the vehicle's tilt direction.

[0007] By using the vehicle's attitude information to determine the vehicle's tilt direction, and based on the vehicle's tilt direction, controlling the movement of components on the vehicle can alleviate vehicle tilt and improve the user experience.

[0008] In some exemplary embodiments of this disclosure, the tilt direction of the vehicle includes a first direction in the direction of a first coordinate axis of the vehicle body coordinate system and a second direction in the direction of a second coordinate axis of the vehicle body coordinate system; based on the tilt direction of the vehicle, controlling the movement of components on the vehicle includes: controlling a first component on the vehicle to move in the opposite direction of the first direction, and controlling a first component and / or a second component on the vehicle to move in the opposite direction of the second direction.

[0009] When the vehicle tilts in the first and second directions, by controlling the movement of a first component in the opposite direction of the first direction, and by controlling the movement of the first and / or second components in the opposite direction of the second direction, the tilt in the first and second directions can be mitigated. Furthermore, by simultaneously adjusting the tilt in multiple directions using different components, the adjustment efficiency can be improved, allowing the vehicle to quickly reach a balanced or relatively balanced state.

[0010] In some exemplary embodiments of this disclosure, adjusting the pose of components on the vehicle based on the vehicle's attitude information includes: adjusting the attitude of components on the vehicle based on the vehicle's attitude information.

[0011] By adjusting the posture of components on the vehicle, the vehicle's posture can be adjusted while floating on water, thereby enabling the vehicle to reach a specific posture, such as a balanced or relatively balanced state, thus improving the user experience.

[0012] In some exemplary embodiments of this disclosure, adjusting the attitude of components on the vehicle based on the vehicle's attitude information includes: adjusting the attitude of sub-components of the components on the vehicle based on the vehicle's attitude information.

[0013] By adjusting the posture of sub-components on the vehicle, the vehicle's posture can also be adjusted while floating on water, allowing the vehicle to reach a specific posture, such as a balanced or relatively balanced state, thereby improving the user experience.

[0014] In some exemplary embodiments of this disclosure, adjusting the pose of components on the vehicle based on the vehicle's attitude information includes: Based on the vehicle's posture information, adjust the position of the empty seats in the vehicle.

[0015] By adjusting the position of the empty seats in the vehicle, not only can the vehicle's posture while floating on water be changed, but the posture adjustment can also avoid affecting the passenger experience.

[0016] In some exemplary embodiments of this disclosure, adjusting the position of an empty seat in a vehicle based on the vehicle's posture information includes: when a vehicle includes multiple empty seats, adjusting the position of the target seat that is furthest from the front of the vehicle among the multiple empty seats based on the vehicle's posture information.

[0017] When there are multiple empty seats in a vehicle, adjusting the position of the target seat furthest from the front of the vehicle can reduce the impact on the driver, improve the driver's experience, and ensure the vehicle's safety when floating in water.

[0018] In some exemplary embodiments of this disclosure, adjusting the pose of components on the vehicle based on the vehicle's attitude information includes: adjusting the pose of a console on the vehicle based on the vehicle's attitude information.

[0019] By adjusting the position of the control console on the vehicle, the vehicle's attitude can be adjusted while floating on water without affecting passengers, thus improving the riding experience.

[0020] In some exemplary embodiments of this disclosure, adjusting the position of the console on the vehicle based on the vehicle's posture information includes: adjusting the position of the console on the vehicle when there are no empty seats on the vehicle.

[0021] Adjusting the console's position only when there are no empty seats can minimize the need for console adjustments. Since the console is close to the driver, minimizing console adjustments reduces the impact on the driver.

[0022] In some exemplary embodiments of this disclosure, the vehicle control method provided in the first aspect may further include: pausing the adjustment of the position of components on the vehicle when it is detected that a seat on the vehicle has changed from occupied to vacant.

[0023] By pausing adjustments to the position of vehicle components when a seat in a vehicle is detected to be changing from occupied to vacant, it is possible to avoid causing injury to moving personnel inside the vehicle or hindering their escape.

[0024] In some exemplary embodiments of this disclosure, after pausing the adjustment of the position of components on the vehicle, the method may further include: when detecting that a seat on the vehicle has changed from vacant to occupied, outputting a prompt message to ask the user whether to resume the adjustment of the vehicle's posture; and in response to receiving an instruction from the user to resume posture adjustment, continuing to adjust the position of components on the vehicle.

[0025] By detecting when a seat in a vehicle changes from vacant to occupied, outputting a prompt message, and continuing to adjust the position of components in the vehicle upon receiving an instruction from the user to restore posture adjustment, the user experience can be improved.

[0026] In some exemplary embodiments of this disclosure, the vehicle control method provided in the first aspect may further include: in response to the vehicle exiting the floating state, controlling the components on the vehicle to return to their initial positions.

[0027] By controlling the vehicle's components to return to their initial positions when the vehicle is out of the water, the driving experience on land can be guaranteed.

[0028] According to a second aspect of the present disclosure, a vehicle control device is provided, comprising: The acquisition module is used to acquire the vehicle's attitude information in response to the vehicle entering a floating state.

[0029] The attitude adjustment module is used to adjust the position and orientation of components on the vehicle based on the vehicle's attitude information.

[0030] In some exemplary embodiments of this disclosure, the attitude adjustment module includes: The determination unit is used to determine the tilt direction of the vehicle based on the vehicle's attitude information.

[0031] A control unit is used to control the movement of components on the vehicle based on the vehicle's tilt direction.

[0032] In some exemplary embodiments of this disclosure, the tilt direction of the vehicle includes a first direction in the direction of a first coordinate axis of the vehicle body coordinate system and a second direction in the direction of a second coordinate axis of the vehicle body coordinate system.

[0033] The control unit is configured to: control a first component on the vehicle to move in the opposite direction to the first direction; and control a first component and / or a second component on the vehicle to move in the opposite direction to the second direction.

[0034] In some exemplary embodiments of this disclosure, the attitude adjustment module includes: An adjustment unit is used to adjust the attitude of components on the vehicle based on the vehicle's attitude information.

[0035] In some exemplary embodiments of this disclosure, the attitude adjustment module is used to: adjust the attitude of a sub-component of a component on the vehicle based on the vehicle's attitude information.

[0036] In some exemplary embodiments of this disclosure, the posture adjustment module is used to: adjust the position of an empty seat in the vehicle based on the vehicle's posture information.

[0037] In some exemplary embodiments of this disclosure, the posture adjustment module is used to: when a vehicle includes multiple vacant seats, adjust the posture of the target seat that is furthest from the front of the vehicle among the multiple vacant seats based on the vehicle's posture information.

[0038] In some exemplary embodiments of this disclosure, the posture adjustment module is used to: adjust the position and orientation of the console on the vehicle based on the vehicle's posture information.

[0039] In some exemplary embodiments of this disclosure, the posture adjustment module is used to: adjust the position of the console on the vehicle when there are no empty seats on the vehicle.

[0040] In some exemplary embodiments of this disclosure, the posture adjustment module is further configured to: pause adjusting the posture of components on the vehicle when it detects that a seat on the vehicle has changed from occupied to vacant.

[0041] In some exemplary embodiments of this disclosure, after pausing the adjustment of the position of components on the vehicle, the posture adjustment module is further configured to: output a prompt message when it detects that the seat on the vehicle has changed from vacant to occupied, the prompt message being used to ask the user whether to resume the adjustment of the vehicle posture; and continue to adjust the position of components on the vehicle in response to receiving the user's instruction to resume posture adjustment.

[0042] In some exemplary embodiments of this disclosure, the attitude adjustment module is further configured to: control the components on the vehicle to return to their initial pose in response to the vehicle exiting the floating state.

[0043] According to a third aspect of the present disclosure, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of any of the embodiments of the first aspect described above.

[0044] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method of any of the embodiments of the first aspect described above.

[0045] 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

[0046] 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.

[0047] Figure 1 This is a flowchart illustrating a vehicle control method according to some embodiments of the present disclosure.

[0048] Figure 2 This is a schematic diagram illustrating a vehicle posture according to some embodiments of the present disclosure.

[0049] Figure 3 This is a schematic diagram of a seat according to some embodiments of the present disclosure.

[0050] Figure 4 This is a schematic diagram of a seat according to some other embodiments of the present disclosure.

[0051] Figure 5This is a flowchart illustrating a component adjustment method according to some embodiments of the present disclosure.

[0052] Figure 6 This is a schematic diagram illustrating a component movement method according to some embodiments of the present disclosure.

[0053] Figure 7 This is a schematic diagram illustrating a component movement method according to some other embodiments of the present disclosure.

[0054] Figure 8 This is a schematic diagram illustrating a method of moving a component according to some embodiments of the present disclosure.

[0055] Figure 9 This is a flowchart illustrating a component adjustment method according to some other embodiments of the present disclosure.

[0056] Figure 10 This is a schematic diagram illustrating the distribution of occupants inside a vehicle according to some embodiments of the present disclosure.

[0057] Figure 11 This is a schematic diagram illustrating an in-vehicle environment according to some embodiments of the present disclosure.

[0058] Figure 12 This is a schematic diagram illustrating an in-vehicle environment according to other embodiments of the present disclosure.

[0059] Figure 13 This is a flowchart illustrating a component adjustment method according to some embodiments of the present disclosure.

[0060] Figure 14 This is a flowchart illustrating a component adjustment method according to some other embodiments of the present disclosure.

[0061] Figure 15 This is a flowchart illustrating a vehicle control method according to some other embodiments of the present disclosure.

[0062] Figure 16 This is a flowchart illustrating a vehicle control method according to some embodiments of the present disclosure.

[0063] Figure 17 This is a block diagram illustrating a vehicle control device according to some embodiments of the present disclosure.

[0064] Figure 18 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0065] Some embodiments of this disclosure will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0066] When there is deep water ahead, the vehicle enters the wading phase after entering the water. At this point, the vehicle is in contact with the ground and its driving behavior is the same as on land. As the water depth increases, when the buoyancy is greater than or equal to the vehicle's weight, the vehicle enters a floating state. In this floating state, the vehicle can float and navigate on the water. However, due to uneven weight distribution or water erosion, the vehicle may tilt, resulting in a poor user experience.

[0067] In view of the above-mentioned problems existing in related technologies, this disclosure provides a vehicle control method and device, a storage medium and a vehicle, for adjusting the attitude of the vehicle in a floating state.

[0068] The embodiments described in the following examples of this disclosure are not representative of 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.

[0069] Figure 1 This is a flowchart illustrating a vehicle control method according to some embodiments of the present disclosure. Figure 1 As shown, in some embodiments, the vehicle control method provided by this disclosure may include the following steps.

[0070] In step S101, in response to the vehicle entering a floating state, the vehicle's attitude information is acquired.

[0071] The floating state can be understood, for example, as the state in which a vehicle's tires are detached from the ground and float or sail on the water.

[0072] In this disclosure, there are multiple methods for determining whether a vehicle has entered a floating state. Several exemplary methods are described below. However, it is worth noting that the methods provided below are only exemplary methods and not the only methods.

[0073] For example, in some implementations, the vehicle activates a buoyancy function or buoyancy mode when entering deep water. In this case, the vehicle's buoyancy status can be determined by detecting whether the buoyancy function or buoyancy mode is activated; for example, the vehicle is considered to be in a buoyancy state when the buoyancy function or buoyancy mode is activated.

[0074] For example, in other implementations, the presence of a vehicle on the water can be determined using information such as the water depth and / or tire slip ratio at the vehicle's location. For instance, in some examples, when the water depth at the vehicle's location exceeds a preset depth and the tire slip ratio is greater than a preset slip ratio, it can be determined that the vehicle is on the water. The method for determining the water depth at the vehicle's location can be, for example, by using a sensor (such as a ranging radar, but not limited to) mounted on the vehicle's rearview mirror to measure the distance between the rearview mirror and the water surface, and the distance between the rearview mirror and the ground; the water depth at the vehicle's location is obtained by calculating the difference between the distance between the rearview mirror and the ground and the distance between the rearview mirror and the water surface. The method for determining the tire slip ratio can be, for example, by calculating the theoretical value of the vehicle's forward speed using the wheel's angular velocity and rolling radius, and obtaining the tire slip ratio by calculating the difference between the theoretical value and the actual forward speed of the vehicle. Of course, the above methods for determining water depth and tire slip ratio are merely illustrative examples and not the only limitations. In fact, any method in the related art that can be used to determine the water depth at the location of a vehicle and the vehicle's tire slip ratio can be applied to the embodiments of this disclosure.

[0075] In some embodiments of this disclosure, the vehicle's attitude information may include, but is not limited to, the vehicle's tilt angle. For example, in some embodiments, the vehicle's attitude information may also include the vehicle's tilt direction, such as forward, backward, left, or right. The vehicle's tilt angle may be detected by sensors mounted on the vehicle (e.g., a 6-axis gyroscope, but not limited to a 6-axis gyroscope). The vehicle's tilt direction can be determined based on the vehicle's tilt angle.

[0076] For example, Figure 2 This is a schematic diagram illustrating a vehicle posture according to some embodiments of the present disclosure. Figure 2 In the diagram, the x-direction represents the direction of the car's front, and the y-direction represents the direction of the left side of the car. For example... Figure 2 As shown, assuming the downward tilt angle of the car's front is detected by the gyroscope is... The angle of tilt towards the lower left of the vehicle is According to and It can be determined that the vehicle tilts forward (i.e., towards the front of the vehicle) and to the left (i.e., towards the left side of the vehicle). In this case, the vehicle's attitude information can include... and Or it could include and And a first sign indicating that the vehicle is tilted forward and a second sign indicating that the vehicle is tilted to the left. Of course, Figure 2 This is merely an illustrative example and not a limitation on the embodiments disclosed herein.

[0077] In step S103, the position and orientation of the components on the vehicle are adjusted based on the vehicle's attitude information.

[0078] In this disclosure, the term "component" can be understood as a component with adjustable position and / or posture, such as a console (CNSL), armrest box, seat, etc., but is not limited to the components listed herein.

[0079] In the embodiments of this disclosure, adjusting the pose of a component on the vehicle can be understood, by way of example, as adjusting the position and / or orientation of the component on the vehicle.

[0080] Take seats as an example. Figure 3 This is a schematic diagram illustrating a seat according to some embodiments of the present disclosure. Figure 3 In the middle, the seat 300 is slidably mounted on the slide rail 310. The seat 300 is driven by one or more drive motors ( Figure 3 Driven by a mechanism (not shown), the seat 300 can slide on the slide rail 310, thereby changing its position on the vehicle by sliding on the slide rail 310.

[0081] It should be noted that, although Figure 3 The image only shows a slide rail in one direction, but this does not impede understanding. In other embodiments, slide rails in multiple directions can be provided. By sliding on slide rails in multiple directions, the seat can move in different directions, such as left and right, forward and backward, etc.

[0082] Figure 4 This is a schematic diagram of a seat according to other embodiments of this disclosure. For example... Figure 4 As shown, in some embodiments, the backrest 410 of the seat 400 is a movable part, and the backrest 410 is driven by the motor ( Figure 4 Driven by a mechanism (not shown), the seat can tilt forward or backward around the pivot 420, thereby changing its posture. The backrest 410 can be understood as a sub-component of the seat 400; that is, in some embodiments, the posture of a sub-component of a vehicle component can be adjusted based on the vehicle's posture information.

[0083] By adjusting the posture of sub-components on the vehicle, the vehicle's posture can be adjusted while floating on water, allowing the vehicle to reach a specific posture, such as a balanced or relatively balanced state, thereby improving the user experience.

[0084] It should be noted that similar structures and methods can be used to adjust the position and / or posture of consoles, armrests, etc. on vehicles, which will not be elaborated here.

[0085] In some embodiments of this disclosure, adjusting the position of components on the vehicle based on the vehicle's attitude information may include adjusting one or more components mounted on the vehicle. For example, in some examples, the position of multiple seats may be adjusted, or in other examples, the position of one or more seats, as well as the console and / or armrest box, may be adjusted.

[0086] Taking seats as an example, if the vehicle's tilt angle in one or more directions is greater than a preset angle in the vehicle's posture information, it can be determined that the vehicle's posture is unbalanced. At this time, the vehicle's posture can be changed by adjusting the position of one or more rows of seats. The adjustment methods for different seats can be the same or different. For example, in some examples, one or more seats in the second row can be controlled to move to the left or right, and one or more seats in the third row can be controlled to move towards the rear of the vehicle.

[0087] In some implementations, the vehicle's attitude information and the pose of at least one component on the vehicle can be input into a preset decision model. The decision model outputs the target component to be adjusted, as well as the adjustment method of the component, such as the direction and distance of movement, and / or the direction and angle of tilt. The pose of the target component is then adjusted according to the decision of the decision model. The decision model described in this disclosure can be trained using training methods provided by related technologies. Training samples may include the vehicle's attitude information and the poses of components on the vehicle. Corresponding reference data may include the components that need to be adjusted to a balanced state, and the adjustment method of each component, such as the direction and distance of movement, and / or the direction and angle of tilt.

[0088] Of course, the above is only an example of how to adjust parts on a vehicle, and not the only one.

[0089] It should be noted that, in some implementations, before adjusting the position of the components on the vehicle based on the vehicle's attitude information, a step may be included to ask the passengers in the vehicle (such as the driver, but not limited to the driver) whether they want to adjust the vehicle's attitude. If the passengers in the vehicle agree to the adjustment, the step of adjusting the position of the components on the vehicle based on the vehicle's attitude information is performed; otherwise, the step of adjusting the position of the components on the vehicle based on the vehicle's attitude information is not performed.

[0090] The above embodiments of this disclosure, by acquiring the vehicle's attitude information when the vehicle enters a floating state, and adjusting the position and orientation of the components on the vehicle based on the vehicle's attitude information, can realize the attitude adjustment of the vehicle in a floating state, thereby enabling the vehicle to reach a specific attitude, such as a balanced state or a relatively balanced state, and improving the user experience.

[0091] Example, Figure 5 This is a flowchart illustrating a component adjustment method according to some embodiments of the present disclosure. Figure 5 As shown, in some embodiments, the position of components on the vehicle can be adjusted by the following steps.

[0092] In step 501, the tilt direction of the vehicle is determined based on the vehicle's attitude information.

[0093] The vehicle's tilt direction can be any one or more directions in three-dimensional space, such as the front, back, left, and right of the vehicle, but is not limited to the front, back, left, and right of the vehicle.

[0094] In some implementations, the vehicle's attitude information may include the vehicle's tilt angle in at least one direction, and the vehicle's tilt direction may be determined based on the tilt angle contained in the attitude information.

[0095] For example, suppose the vehicle's attitude information includes a tilt angle. .in, Let be the angle at which the vehicle tilts forward. Then, the vehicle's tilt direction in the horizontal direction is forward. Assume the vehicle's attitude information includes two tilt angles, divided into... and .in, The angle at which the vehicle tilts forward. Let be the angle at which the vehicle tilts to the left. In this case, the tilting direction of the vehicle can, for example, include two directions: tilting forward and tilting to the left.

[0096] Of course, the above is only an example and not the only limitation on the tilt direction and the method for determining the tilt direction.

[0097] In step 503, the movement of components on the vehicle is controlled based on the vehicle's tilt direction.

[0098] In this context, controlling the movement of components on the vehicle based on the vehicle's tilt direction can be understood, for example, as controlling the components on the vehicle to move in a direction that overcomes the tilt.

[0099] For example, in some implementations, if the vehicle's tilt direction is one of forward tilt, backward tilt, left tilt, or right tilt, then one or more components on the vehicle (e.g., one or more of the armrest box, console, or seat) can be controlled to move in the opposite direction of the vehicle's tilt direction to reduce the vehicle's tilt angle. During the movement of the components, the vehicle's attitude can be assessed simultaneously, and movement of the components stops when the vehicle reaches a balanced or relatively balanced posture, or when the component reaches its maximum limit position.

[0100] for example, Figure 6 This is a schematic diagram illustrating a method of moving a component according to some embodiments of the present disclosure. Figure 6 In this diagram, the vehicle's tilt direction 610 is specifically defined as a forward tilt. In this case, components on the vehicle can be moved in the direction of 620 (i.e., the rear of the vehicle) to reduce the angle of the vehicle's forward tilt. During the movement, if the vehicle reaches a balanced or relatively balanced posture, or if the component reaches its maximum limit position, the movement of the component is stopped.

[0101] In other implementations, if the vehicle's tilt direction includes multiple directions, different components can be moved in different directions, or the same component can be moved in different directions, to reduce the vehicle's tilt angle in each tilt direction. Similarly, during the movement of components, the vehicle's attitude can be judged simultaneously. When the vehicle reaches a balanced or relatively balanced attitude, or when a component reaches its maximum limit position, the movement of the component is stopped.

[0102] for example, Figure 7 This is a schematic diagram illustrating a method of moving a component according to other embodiments of this disclosure. Figure 7 In this configuration, the vehicle's tilt direction 710 is specifically tilted forward, and the tilt direction 720 is specifically tilted to the left. In this case, the second-row seats 730 can be tilted to the left. Figure 7 Move the third seat 750 in the direction of the center 740 (i.e., the right side of the vehicle). Figure 7Move the vehicle in the 760° direction (i.e., towards the rear) to reduce the forward and leftward tilt angles. Stop moving the second and third row seats once the vehicle reaches a balanced position. Alternatively, stop moving the second and / or third row seats after they have reached their maximum limit positions.

[0103] or, Figure 8 This is a schematic diagram illustrating a method of moving a component according to further embodiments of the present disclosure. Figure 8 In this configuration, the vehicle's tilt direction 810 is specifically defined as tilting forward, and the tilt direction 820 is specifically defined as tilting to the left. In this case, the second-row seats 830 can be tilted to the left. Figure 8 The seats can be moved in two directions: 840 and 860. For example, the second-row seats 830 can be moved to direction 840 first, and then to direction 860, or vice versa. Simultaneously, other components can also be moved to the right or rear. For instance, while moving the second-row seats 830, the third-row seats 850 can also be moved to direction 860.

[0104] For example, if tilting forward is exemplarily described as a first direction along the first coordinate axis of the vehicle coordinate system; tilting to the left is exemplarily described as a second direction along the second coordinate axis of the vehicle coordinate system; the second-row seats are exemplarily described as a first component; and the third-row seats are exemplarily described as a second component. Then, in some exemplary descriptions, Figure 8 The embodiment shown can be described as: controlling a first component on the vehicle to move in the opposite direction to a first direction; controlling a first component and / or a second component on the vehicle to move in the opposite direction to a second direction.

[0105] When the vehicle tilts in the first and second directions, by controlling the movement of a first component in the opposite direction of the first direction, and by controlling the movement of the first and / or second components in the opposite direction of the second direction, the tilt in the first and second directions can be mitigated. Furthermore, by simultaneously adjusting the tilt in multiple directions using different components, the adjustment efficiency can be improved, allowing the vehicle to quickly reach a balanced or relatively balanced state.

[0106] The embodiments disclosed above determine the vehicle's tilt direction by using the vehicle's attitude information, and control the movement of components on the vehicle based on the vehicle's tilt direction, which can alleviate vehicle tilt and improve user experience.

[0107] Example, Figure 9 This is a flowchart illustrating a component adjustment method according to other embodiments of this disclosure. For example... Figure 9As shown, in some embodiments, the component adjustment method involved in this disclosure may include the following steps.

[0108] In step S901, the position of the empty seat on the vehicle is adjusted based on the vehicle's posture information.

[0109] For example, in some embodiments of this disclosure, a occupancy sensor installed on the seat can be used to determine whether the seat is vacant. For instance, the occupancy sensor can typically output two states: occupancy and non-occupancy. The occupancy state corresponds to someone sitting in the seat, while the non-occupancy state corresponds to no one sitting in the seat, i.e., the seat is vacant.

[0110] When adjusting the position of components on a vehicle based on its attitude information, vacant seats can be identified using occupancy sensors on each seat. By adjusting the position of these vacant seats, the vehicle's attitude in the water can be changed.

[0111] for example, Figure 10 This is a schematic diagram illustrating the distribution of occupants inside a vehicle according to some embodiments of this disclosure. For example... Figure 10 As shown, assuming that a passenger 1002 is seated in the second row of seats 1001 and the third row of seats 1003 is empty, the position of the third row of seats 1003 can be adjusted based on the vehicle's posture information. For example, when the vehicle is tilted forward, the third row of seats can be adjusted towards... Figure 10 The vehicle moves in the direction of 1004 (i.e., towards the rear of the vehicle) to change its attitude in the water. The specific method for adjusting the seat position based on the vehicle's attitude information can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0112] Example, Figure 11 This is a schematic diagram illustrating an interior environment of a vehicle according to some embodiments of this disclosure. For example... Figure 11 As shown, in some other embodiments of this disclosure, an in-vehicle camera 110 can be used to determine unoccupied seats inside the vehicle, thereby adjusting the position of the unoccupied seats in the vehicle to change the vehicle's posture in the water.

[0113] Example, Figure 12 This is a schematic diagram illustrating an in-vehicle environment according to other embodiments of this disclosure. For example... Figure 12As shown, in some further embodiments of this disclosure, microphones 120 mounted near each seat in the vehicle can be used to collect sound from the vicinity of each seat. Based on the audio collected by the microphones 120, empty seats inside the vehicle can be identified. By adjusting the position of these empty seats, the vehicle's attitude in the water can be altered. The method for determining whether a seat is occupied based on audio collected by microphones near the seat can be found in related technologies and will not be elaborated upon here.

[0114] The above-described embodiments of this disclosure, by adjusting the position of the empty seats in the vehicle, can not only change the vehicle's posture when floating on water, but also avoid the posture adjustment from affecting the passenger experience.

[0115] Example, Figure 13 This is a flowchart illustrating a component adjustment method according to further embodiments of the present disclosure. Figure 13 As shown, in some embodiments, the component adjustment method involved in this disclosure may include the following steps.

[0116] In step S1301, when the vehicle includes multiple vacant seats, the pose of the target seat that is furthest from the front of the vehicle among the multiple vacant seats is adjusted based on the vehicle's posture information.

[0117] For example, assuming that the second and third rows of seats in the vehicle are empty, in some implementations, the position of the third row of seats can be adjusted to change the vehicle's posture in the water.

[0118] In some implementations, if the third-row seats have reached their maximum limit position but the vehicle's posture has not yet reached a balanced posture, the posture of the empty second-row seats can be further adjusted to enable the vehicle to reach a balanced posture, or a relatively balanced posture, in the water.

[0119] In the above embodiments of this disclosure, when there are multiple empty seats in the vehicle, by adjusting the position of the target seat that is furthest from the front of the vehicle, the impact on the driver can be reduced, the driver's experience can be improved, and the safety of the vehicle floating on water can be guaranteed.

[0120] Figure 14 This is a flowchart illustrating a component adjustment method according to further embodiments of the present disclosure. Figure 14 As shown, in some embodiments, the component adjustment method involved in this disclosure may include the following steps.

[0121] In step S1401, when there are no empty seats in the vehicle, the position of the control console in the vehicle is adjusted.

[0122] For example, suppose a vehicle has three rows of seats, with occupants in the second and third rows. The vehicle's attitude can be adjusted by changing the position of the control console. For instance, in some examples, when the vehicle tilts forward, the console can be moved backward (towards the rear of the vehicle), and when the vehicle tilts backward, the console can be moved towards the front of the vehicle. Of course, this is just an example and not the only possible interpretation.

[0123] The embodiments disclosed above allow for adjustments to the console's position only when there are no empty seats, thus reducing the need for console adjustments. Since the console is close to the driver, minimizing console adjustments reduces the impact on the driver.

[0124] Figure 15 This is a flowchart illustrating a vehicle control method according to other embodiments of this disclosure. For example... Figure 15 As shown, in some embodiments, the vehicle control method provided by this disclosure may include the following steps.

[0125] In step S1501, when the seat on the vehicle is detected to change from occupied to vacant, the adjustment of the position of the components on the vehicle is paused.

[0126] For example, in some embodiments of this disclosure, a occupancy sensor installed on the seat can be used to determine changes in the seat's state. For a given seat, if the occupancy sensor detects that someone is sitting in the seat at a first moment, and then detects that the seat is empty at a second moment (i.e., the seat becomes an empty seat), it indicates that the passenger has left the seat. At this time, the passenger may be moving around in the vehicle or escaping. In this case, it is necessary to pause and adjust the posture of the vehicle's components (which may or may not be seats) to avoid affecting the passenger.

[0127] In other embodiments of this disclosure, images of the vehicle interior can be captured by an in-vehicle camera, and changes in the seating status can be identified using image recognition technology. If a passenger leaves a seat, i.e., the seat becomes vacant, adjustments to the posture of vehicle components are paused to avoid affecting the passenger.

[0128] In some further embodiments of this disclosure, microphones mounted near each seat in the vehicle can be used to collect sound from the vicinity of each seat. Based on the audio collected by the microphones, changes in the occupancy status of the seats in the vehicle can be determined. If a seat in the vehicle becomes vacant after being occupied, adjustments to the posture of vehicle components are paused to avoid affecting passengers. The method for determining whether a seat is occupied using audio collected by microphones can be found in related technologies and will not be elaborated upon here.

[0129] The above-described embodiments of this disclosure, by pausing the adjustment of the position of components on the vehicle when the seat on the vehicle is detected to change from occupied to vacant, can avoid causing injury to moving personnel inside the vehicle or affecting personnel escape.

[0130] Figure 16 This is a flowchart illustrating a vehicle control method according to further embodiments of the present disclosure. Figure 16 As shown, in some embodiments, the vehicle control method provided by this disclosure may include the following steps.

[0131] In step S1601, when it is detected that the seat in the vehicle has changed from empty to occupied, a prompt message is output to ask the user whether to restore the vehicle's posture adjustment.

[0132] The method for detecting whether a seat is vacant or occupied can be found in the above embodiments, and will not be repeated here.

[0133] In this embodiment of the disclosure, there are multiple ways to output prompt information.

[0134] For example, in some implementations, a display device installed in the vehicle can be used to show a prompt to the user. This prompt may include at least one of text, images, and animations. In this case, the display device is also used to display convenient response options from which the user can select their response. For instance, in some examples, while displaying the prompt to the user, options for agreeing to continue adjusting the vehicle's posture and options for refusing to continue adjusting the vehicle's posture can be shown. The user can choose the option to agree to continue adjusting the vehicle's posture or the option to refuse to continue adjusting the vehicle's posture, depending on their needs.

[0135] For example, in other embodiments, the prompts can be played to passengers in the vehicle via voice, while simultaneously, the voice commands of passengers are collected through the vehicle's microphone. Passengers can choose whether to continue adjusting the vehicle's posture using voice commands. For instance, a user can use the voice command "Continue adjusting" to instruct continued adjustment of the vehicle's posture. Alternatively, a user can use the voice command "Stop adjusting" to stop adjusting the vehicle's posture. Of course, this is merely an illustrative example of the voice commands used in the embodiments of this disclosure, and not the only limitation.

[0136] In step S1603, in response to receiving an instruction from the user to resume attitude adjustment, the position of the components on the vehicle is further adjusted.

[0137] It should be noted that if no instruction is received from the user to resume attitude adjustment, or if an instruction is received to terminate attitude adjustment, the adjustment of the position and posture of the components on the vehicle will be terminated.

[0138] The above embodiments of this disclosure improve the user experience by outputting a prompt message when the seat in the vehicle is detected to change from vacant to occupied, and by continuing to adjust the position of the components in the vehicle when the user instructs to restore the posture adjustment.

[0139] For example, in some embodiments of this disclosure, after the vehicle is out of the floating state, a step may be included to control the components on the vehicle to return to their initial positions.

[0140] By controlling the vehicle's components to return to their initial positions when the vehicle is out of the water, the driving experience on land can be guaranteed.

[0141] Figure 17 This is a block diagram illustrating a vehicle control device according to some embodiments of the present disclosure. (Refer to...) Figure 17 The vehicle control device 170 includes: The acquisition module 171 is used to acquire the vehicle's attitude information in response to the vehicle entering a floating state.

[0142] The attitude adjustment module 173 is used to adjust the position and orientation of components on the vehicle based on the vehicle's attitude information.

[0143] In some exemplary embodiments of this disclosure, the attitude adjustment module 173 includes: The determination unit is used to determine the tilt direction of the vehicle based on the vehicle's attitude information.

[0144] A control unit is used to control the movement of components on the vehicle based on the vehicle's tilt direction.

[0145] In some exemplary embodiments of this disclosure, the tilt direction of the vehicle includes a first direction in the direction of a first coordinate axis of the vehicle body coordinate system and a second direction in the direction of a second coordinate axis of the vehicle body coordinate system.

[0146] The control unit is configured to: control a first component on the vehicle to move in the opposite direction to the first direction; and control a first component and / or a second component on the vehicle to move in the opposite direction to the second direction.

[0147] In some exemplary embodiments of this disclosure, the attitude adjustment module 173 includes: An adjustment unit is used to adjust the attitude of components on the vehicle based on the vehicle's attitude information.

[0148] In some exemplary embodiments of this disclosure, the attitude adjustment module 173 is used to: adjust the attitude of a sub-component of a component on the vehicle based on the vehicle's attitude information.

[0149] In some exemplary embodiments of this disclosure, the posture adjustment module 173 is used to: adjust the position of an empty seat in the vehicle based on the vehicle's posture information.

[0150] In some exemplary embodiments of this disclosure, the posture adjustment module 173 is used to: when a vehicle includes multiple vacant seats, adjust the posture of the target seat that is furthest from the front of the vehicle among the multiple vacant seats based on the vehicle's posture information.

[0151] In some exemplary embodiments of this disclosure, the posture adjustment module 173 is used to: adjust the position and orientation of the console on the vehicle based on the vehicle's posture information.

[0152] In some exemplary embodiments of this disclosure, the posture adjustment module 173 is used to: adjust the position of the console on the vehicle when there are no empty seats on the vehicle.

[0153] In some exemplary embodiments of this disclosure, the posture adjustment module 173 is further configured to: pause adjusting the posture of components on the vehicle when it is detected that a seat on the vehicle has changed from occupied to vacant.

[0154] In some exemplary embodiments of this disclosure, after pausing the adjustment of the position of components on the vehicle, the posture adjustment module is further configured to: output a prompt message when it detects that the seat on the vehicle has changed from vacant to occupied, the prompt message being used to ask the user whether to resume the adjustment of the vehicle posture; and continue to adjust the position of components on the vehicle in response to receiving the user's instruction to resume posture adjustment.

[0155] In some exemplary embodiments of this disclosure, the attitude adjustment module 173 is further configured to: control the components on the vehicle to return to their initial pose in response to the vehicle exiting the floating state.

[0156] Regarding the above Figure 17 The specific manner in which the various modules perform their operations in the embodiments of the apparatus have been described in detail in the embodiments relating to the method, and will not be elaborated upon here.

[0157] In some embodiments, a vehicle is also provided, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: implement the method of any of the above method embodiments.

[0158] Figure 18 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Figure 18 As shown, vehicle 1800 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 1800 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0159] Reference Figure 18 The vehicle 1800 may include various subsystems, such as an infotainment system 1810, a perception system 1820, a decision control system 1830, a drive system 1840, and a computing platform 1850. The vehicle 1800 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 1800 can be interconnected via wired or wireless means.

[0160] In some embodiments, the infotainment system 1810 may include a communication system, an entertainment system, and a navigation system, etc.

[0161] The perception system 1820 may include several sensors for sensing information about the environment surrounding the vehicle 1800. For example, the perception system 1820 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0162] The decision control system 1830 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0163] The drive system 1840 may include components that provide powered motion to the vehicle 1800. In one embodiment, the drive system 1840 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.

[0164] Some or all of the functions of vehicle 1800 are controlled by computing platform 1850. Computing platform 1850 may include at least one processor 1851 and memory 1852, processor 1851 may execute instructions 1853 stored in memory 1852.

[0165] The processor 1851 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0166] The memory 1852 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.

[0167] In addition to instruction 1853, memory 1852 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1852 can be used by computing platform 1850.

[0168] In this embodiment of the disclosure, processor 1851 may execute instructions 1853 to perform all or part of the steps of any of the above method embodiments.

[0169] This disclosure also provides a non-transitory computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is able to perform the methods in any of the above method embodiments.

[0170] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0171] 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.”

[0172] Furthermore, in the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “front,” “back,” “left,” and “right,” can be used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0173] 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 following claims.

[0174] 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.

Claims

1. A vehicle control method, characterized in that, include: In response to the vehicle entering a floating state, the attitude information of the vehicle is acquired; Based on the attitude information, the position and / or orientation of the components on the vehicle are adjusted. The method further includes: when it is detected that a seat on the vehicle changes from occupied to vacant, pausing the adjustment of the position of the components on the vehicle.

2. The method according to claim 1, characterized in that, The step of adjusting the position and orientation of the components on the vehicle based on the attitude information includes: Based on the attitude information, the tilt direction of the vehicle is determined; Based on the tilt direction, the movement of components on the vehicle is controlled.

3. The method according to claim 2, characterized in that, The tilting direction includes a first direction along the first coordinate axis of the vehicle coordinate system and a second direction along the second coordinate axis of the vehicle coordinate system; The control of the movement of components on the vehicle based on the tilt direction includes: Control the first component on the vehicle to move in the opposite direction to the first direction; Control the first and / or second components on the vehicle to move in the opposite direction to the second direction.

4. The method according to claim 1, characterized in that, The step of adjusting the position and orientation of the components on the vehicle based on the attitude information includes: Based on the attitude information, the attitude of the components on the vehicle is adjusted.

5. The method according to claim 4, characterized in that, Adjusting the attitude of components on the vehicle based on the attitude information includes: Based on the attitude information, the attitude of the sub-components on the component is adjusted.

6. The method according to any one of claims 1-5, characterized in that, The step of adjusting the position and orientation of the components on the vehicle based on the attitude information includes: Based on the posture information, the position of the empty seat in the vehicle is adjusted.

7. The method according to claim 6, characterized in that, The step of adjusting the position of the vacant seat in the vehicle based on the posture information includes: When the vehicle includes multiple vacant seats, the posture of the target seat that is furthest from the front of the vehicle is adjusted based on the posture information.

8. The method according to claim 1, characterized in that, The step of adjusting the position and orientation of the components on the vehicle based on the attitude information includes: Based on the posture information, the position of the console on the vehicle is adjusted.

9. The method according to claim 8, characterized in that, The step of adjusting the position and orientation of the console on the vehicle based on the attitude information includes: When there are no empty seats in the vehicle, adjust the position of the control console in the vehicle.

10. The method according to claim 1, characterized in that, After pausing the adjustment of the position of the components on the vehicle, the method further includes: If the system detects that a seat in the vehicle has changed from being empty to being occupied, a prompt message is output, which asks the user whether to restore the vehicle's posture. In response to receiving a user instruction to resume attitude adjustment, the position of the components on the vehicle continues to be adjusted.

11. The method according to claim 1, characterized in that, The method further includes: In response to the vehicle exiting the floating state, the control unit is restored to its initial position.

12. A vehicle control device, characterized in that, include: The acquisition module is used to acquire the attitude information of the vehicle in response to the vehicle entering a floating state; An attitude adjustment module is used to adjust the position and / or orientation of components on the vehicle based on the attitude information. The posture adjustment module is further configured to: pause adjusting the position of components on the vehicle when it detects that a seat on the vehicle has changed from occupied to vacant.

13. The apparatus according to claim 12, characterized in that, The attitude adjustment module includes: A determining unit is configured to determine the tilt direction of the vehicle based on the attitude information; A control unit for controlling the movement of components on the vehicle based on the tilt direction.

14. The apparatus according to claim 12, characterized in that, The attitude adjustment module includes: An adjustment unit is used to adjust the attitude of components on the vehicle based on the attitude information.

15. The apparatus according to any one of claims 12-14, characterized in that, The attitude adjustment module is used for: Based on the posture information, the position of the empty seat in the vehicle is adjusted.

16. The apparatus according to claim 15, characterized in that, The attitude adjustment module is used for: When the vehicle includes multiple vacant seats, the posture of the target seat that is furthest from the front of the vehicle is adjusted based on the posture information.

17. The apparatus according to claim 15, characterized in that, The attitude adjustment module is used for: Based on the posture information, the position of the console on the vehicle is adjusted.

18. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: Implement the method according to any one of claims 1 to 11.

19. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any one of claims 1 to 11.

Images