Control method for game carrier, electronic equipment and medium

Abstract

The invention relates to the technical field of game development, in particular to a control method for a game carrier, electronic equipment and a medium. The method comprises the steps of firstly constructing a game three-dimensional scene; in response to a carrier driving instruction issued by the target user in the process of controlling the controlled role model in the game three-dimensional scene, controlling the controlled role model and the controlled carrier model to execute a driving displacement action based on the carrier driving instruction; when the controlled vehicle model is in the driving state, performing real-time physical state detection on the controlled vehicle model to obtain real-time state information of the vehicle; carrying out balance parameter acquisition on the controlled carrier model to obtain carrier balance correlation parameters; performing pose correction analysis based on the carrier state type and the carrier balance correlation parameter to obtain a pose correction parameter; and performing a pose correction operation on the controlled carrier model based on the pose correction parameter. On the basis that a basic credible framework of physical behaviors of the carrier is reserved, stable posture control over the game carrier is achieved.

Description

Technical Field

[0001] This application relates to the field of game development technology, and in particular to a control method, electronic device, and medium for game vehicles. Background Technology

[0002] In the physics simulation system of modern open-world game engines, the digital mapping of game vehicles has always faced a limitation: the physical property matrix formed by the lightweight body structure of some game vehicles (such as motorcycle-shaped game vehicles) and high power output is prone to unexpected airborne behavior under the complex collision detection framework of large-scale terrain mesh.

[0003] Traditional physics engines rely on players to manually correct vehicle attitude through reverse torque input. However, this requires precise prediction of Euler angular rate, conservation of angular momentum, and gravitational torque, placing a cognitive load far beyond the comfort zone of most players. This leads to frequent hard landings, momentum loss, and even vehicle damage, disrupting the smoothness and experience expected of high-speed traversal gameplay. Therefore, how to achieve stable attitude control of game vehicles while preserving the basic, reliable framework of vehicle physics has become a pressing issue for the industry. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a control method, electronic device, and medium for game vehicles, which can achieve attitude stabilization control of game vehicles while preserving the basic reliable framework of the vehicle's physical behavior.

[0005] The control method for a game vehicle according to a first aspect embodiment of this application includes: The game configuration file is obtained, and the target game is loaded based on the game configuration file to construct a three-dimensional game scene; wherein, the three-dimensional game scene includes a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model; In response to a target user issuing a vehicle driving command while manipulating the controlled character model in the game's 3D scene, the controlled character model and the controlled vehicle model are controlled to perform driving displacement actions based on the vehicle driving command, so that the controlled vehicle model is in a driving state; During the process of the controlled vehicle model being in motion, the physical state of the controlled vehicle model is detected in real time to obtain the real-time state information of the vehicle. Based on the vehicle status type reflected by the real-time status information of the vehicle, balance parameters are collected for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters. Based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type, pose correction analysis is performed to obtain pose correction parameters; Based on the pose correction parameters, a pose correction operation is performed on the controlled vehicle model.

[0006] According to some embodiments of this application, the step of collecting balance parameters for the controlled vehicle model based on the vehicle state type reflected by the real-time vehicle state information to obtain the corresponding vehicle balance correlation parameters includes: When the vehicle state type is single-wheel support type, the pivot wheel position parameters and wheel axle direction vector of the current pivot wheel are recorded for the controlled vehicle model; The vehicle balance associated parameters are determined based on the position parameters of the pivot wheel and the direction vector of the wheel axle. The pose correction analysis is performed based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type to obtain pose correction parameters, including: When the vehicle state type is single-wheel support type, the gravity compensation torque is calculated as the pose correction parameter based on the position parameter of the pivot wheel and the direction vector of the wheel axle; wherein, the gravity compensation torque is used to provide pose correction compensation in the direction of the current suspended wheel with the current pivot wheel axle as the rotation center.

[0007] According to some embodiments of this application, the step of collecting balance parameters for the controlled vehicle model based on the vehicle state type reflected by the real-time vehicle state information to obtain the corresponding vehicle balance correlation parameters includes: When the vehicle state type is vehicle airborne, record the vehicle liftoff time of the controlled vehicle model and calculate the vehicle tilt angle between the controlled vehicle model and the gravity axis; The vehicle balance parameters are determined based on the vehicle's time off the ground and the vehicle's tilt angle.

[0008] According to some embodiments of this application, the step of performing pose correction analysis based on the vehicle state type and the vehicle balance association parameters corresponding to the vehicle state type to obtain pose correction parameters includes: When the vehicle state type is vehicle airborne, determine the current pose representation data and the target pose representation data; Gravity alignment calculation is performed based on the current pose representation data and the target pose representation data to obtain the pose correction difference; Substitute the vehicle's time off the ground into the threshold time intensity curve function to determine the current correction intensity coefficient; The pose correction parameters are calculated based on the pose correction difference and the current correction intensity coefficient.

[0009] According to some embodiments of this application, the vehicle driving command includes a vehicle steering command, and the step of collecting balance parameters for the controlled vehicle model based on the vehicle state type reflected by the real-time vehicle state information to obtain corresponding vehicle balance-related parameters includes: When the vehicle state type is all-wheel ground contact, the controlled vehicle speed, contact point position information, contact point normal vector and contact depth value of each vehicle wheel are collected for the controlled vehicle model. Based on the vehicle steering command, determine the steering input magnitude of the target user; Based on the contact point position information, contact point normal vector and contact depth value of each vehicle wheel corresponding to the controlled vehicle model, the actual tilt pose of the controlled vehicle model is calculated; Calculate the theoretical tilt pose based on the steering input amplitude and the speed of the controlled vehicle; Based on the actual tilt pose and the theoretical tilt pose, the steering compensation torque is calculated as the pose correction parameter; wherein, the steering compensation torque is used to provide pose correction compensation for the speed of the controlled vehicle during the steering process.

[0010] According to some embodiments of this application, before performing pose correction analysis based on the vehicle state type and the vehicle balance association parameters corresponding to the vehicle state type to obtain the pose correction parameters, the method further includes: Based on the vehicle driving commands, the control input is parsed to obtain the control input variance value; The user input activity is obtained by parsing the input variance value. In response to the user input activity meeting the preset valid control judgment conditions, a control inhibition coefficient is determined based on the user input activity. The pose correction analysis is performed based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type to obtain pose correction parameters, including: Based on the vehicle state type, the vehicle balance associated parameters corresponding to the vehicle state type, and the control suppression coefficient, pose correction analysis is performed to obtain the pose correction parameters.

[0011] According to some embodiments of this application, performing a pose correction operation on the controlled vehicle model based on the pose correction parameters includes: Extract the correction calculation torque vector from the pose correction parameters; Based on the vehicle driving command, the input torque is parsed to obtain the user input torque vector; Collision prediction calculations are performed based on the controlled vehicle model and the scene environment model to obtain the environmental collision torque vector; The total pose correction torque is obtained by synthesizing the corrected calculated torque vector, the user input torque vector, and the environmental collision torque vector. The pose correction operation is performed based on the total pose correction torque.

[0012] According to some embodiments of this application, the step of obtaining a game configuration file and loading a target game based on the game configuration file to construct a three-dimensional game scene includes: Obtain the game configuration file; wherein the game configuration file includes character configuration files and vehicle configuration files; The target game is loaded based on the game configuration file to construct the game's three-dimensional scene; wherein, the game's three-dimensional scene includes the controlled character model, at least one controllable vehicle model, and the scene environment model; In response to the target user issuing a vehicle binding command while controlling the controlled character model in the game's 3D scene, based on the character configuration file and the vehicle configuration file, the controllable vehicle model matching the vehicle binding command is bound to the controlled character model; wherein, the controllable vehicle model corresponding to the controlled character model is the controlled vehicle model.

[0013] Secondly, embodiments of this application provide an electronic device, including: a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the control method for a game vehicle as described in any one of the embodiments of the first aspect of this application.

[0014] Thirdly, embodiments of this application provide a computer-readable storage medium storing a program that is executed by a processor to implement the control method for a game vehicle as described in any one of the embodiments of the first aspect of this application.

[0015] The control method, electronic device, and medium for game vehicles according to the embodiments of this application have at least the following beneficial effects: This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a control method, electronic device, and medium for a game vehicle. According to the control method for game vehicles in this application, it is necessary to first obtain a game configuration file and load the target game based on the game configuration file to construct a three-dimensional game scene. The three-dimensional game scene includes a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model. In response to a target user issuing a vehicle driving command while controlling the controlled character model in the three-dimensional game scene, the controlled character model and the controlled vehicle model are controlled to perform driving displacement actions based on the vehicle driving command, so that the controlled vehicle model is in a driving state. While the controlled vehicle model is in a driving state, the physical state of the controlled vehicle model is detected in real time to obtain real-time vehicle state information. Based on the vehicle state type reflected by the real-time vehicle state information, balance parameters are collected for the controlled vehicle model to obtain corresponding vehicle balance-related parameters. Based on the vehicle state type and the corresponding vehicle balance-related parameters, pose correction analysis is performed to obtain pose correction parameters. Based on the pose correction parameters, pose correction operations are performed on the controlled vehicle model.

[0016] The core logic of this application, which achieves attitude stability control while preserving the basic reliable framework of vehicle physical behavior, is as follows: First, a realistic 3D scene containing the character, vehicle, and environment is constructed based on a physics engine. During vehicle movement, the physical state is continuously detected in real time, and real physical parameters, including the time off the ground, tilt angle, pivot wheel position, and contact point normal vector, are obtained as balance-related parameters. Then, based on the detected vehicle state type (such as all wheels on the ground, single wheel support, or vehicle airborne), a pose correction analysis based on physical rules is performed in combination with the corresponding state parameters. The corresponding correction torque vector is only calculated when the vehicle posture deviates from gravity alignment or theoretical tilt posture. Finally, the correction torque is vector-synthesized with the physical resultant forces such as player input torque and environmental collision torque to form a total torque acting on the vehicle model. This ensures that the entire correction process always follows the torque transmission and rigid body dynamics rules of the physics engine, neither excessively interfering with the player's active operation nor destroying the original physical feedback realism. Thus, at the algorithm level, intelligent assisted correction of vehicle posture under complex states such as unexpected airborne or single wheel imbalance is achieved, solving the problem of lightweight vehicles being prone to loss of control.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic flowchart of a control method for a game vehicle according to an embodiment of this application; Figure 2 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 3 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 4 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 5 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 6 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 7 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 8 This is another schematic flowchart illustrating the control method for a game vehicle according to an embodiment of this application; Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this application, it should be understood that the orientation descriptions, such as up, down, left, right, front, and back, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution. Furthermore, the identification of specific steps in the following text does not imply a limitation on the order of steps or execution logic. The execution order and logic between each step should be understood and inferred from the content described in the embodiments.

[0024] In the physics simulation system of modern open-world game engines, the digital mapping of game vehicles has always faced a technical contradiction: the physical property matrix formed by the lightweight body structure of some game vehicles (such as motorcycle-shaped game vehicles) and the high power output is prone to unexpected airborne behavior under the complex collision detection framework of large-scale terrain mesh.

[0025] In traditional technology, the collision objects of such game vehicles are typically simplified into capsules or composite geometries. When the angle between the velocity vector and the terrain normal exceeds the critical friction threshold, the law of conservation of momentum will cause the vehicle to instantly detach from the contact surface and enter free fall. Simultaneously, the ratio of its center of gravity height to wheelbase is often much higher than that of four-wheeled vehicles, making its rotational inertia more sensitive to attitude disturbances. Any tiny input of angular momentum can trigger catastrophic axial rollover. Based on this, traditional physics engines rely on players to manually correct attitude through reverse torque input. However, this requires precise prediction of Euler angular rates, conservation of angular momentum, and gravitational torque, a cognitive load far exceeding the comfort zone of most players. This leads to frequent hard landings, momentum loss, and even vehicle damage, disrupting the smoothness and experience expected of high-speed traversal gameplay.

[0026] This technical predicament manifests in multi-dimensional control failures at the user experience level.

[0027] First, in terms of predictability, when a game vehicle is traveling at speeds of over 100 kilometers per hour over undulating terrain, the player's visual system has difficulty accurately judging the attitude baseline at the moment of takeoff in a short period of time, and is even less able to calculate the amount of reverse rotation required for landing in real time. This information processing delay directly leads to a phase difference between the operation input and the expected result.

[0028] Secondly, at the execution level, even if players have sufficient reaction speed, the discrete input devices of game controllers or keyboards cannot provide a continuous and smooth torque curve. The step torque input triggered by the key is prone to overshoot oscillation, causing the vehicle to fall into periodic swaying before landing, which in turn exacerbates instability.

[0029] A deeper problem lies in the difficulty of balancing the realism of physics simulation with the accessibility of gameplay. While rigid body dynamics, which follows Newtonian mechanics, ensures the fidelity of the simulation, it raises the skill threshold for driving to the level of a professional-grade racing simulator. This is inconsistent with the design philosophy of mainstream action games, which aims for "easy to learn, difficult to master." Therefore, the technical challenge in optimizing the handling of game vehicles is not the lack of precision in physics simulation, but rather how to reconstruct controllability in a cybernetic sense through algorithmic intelligent intervention while maintaining the credibility of physics.

[0030] The core technical problem this application aims to solve is to establish a method for attitude stabilization control of game vehicles while preserving the basic reliable framework of vehicle physical behavior, so as to eliminate the runaway entropy increase of aerial phase.

[0031] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a control method, electronic device, and medium for game vehicles, which can achieve attitude stabilization control of game vehicles while preserving the basic reliable framework of the vehicle's physical behavior.

[0032] Reference Figure 1 The control method for game vehicles according to the embodiments of this application may include: Step S101: Obtain the game configuration file and load the target game based on the game configuration file to construct a 3D game scene; wherein, the 3D game scene includes a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model; Step S102: In response to the target user issuing a vehicle driving command while controlling the controlled character model in the game's 3D scene, the controlled character model and the controlled vehicle model are controlled to perform driving displacement actions based on the vehicle driving command, so that the controlled vehicle model is in a driving state. Step S103: During the process of the controlled vehicle model being in a driving state, the physical state of the controlled vehicle model is detected in real time to obtain the real-time state information of the vehicle. Step S104: Based on the vehicle status type reflected by the real-time vehicle status information, collect balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters. Step S105: Perform pose correction analysis based on vehicle state type and vehicle balance correlation parameters corresponding to vehicle state type to obtain pose correction parameters; Step S106: Perform pose correction operation on the controlled vehicle model based on the pose correction parameters.

[0033] This application provides a control method for game vehicles, aiming to solve the problem of unexpected airborne behavior that occurs when traditional physics engines handle vehicles with lightweight body structures and high power output, and the resulting difficulty in player control. This method, through a series of ordered steps, achieves stable attitude control of game vehicles while preserving the basic reliable framework of vehicle physics behavior.

[0034] In some embodiments, step S101 involves obtaining a game configuration file and loading the target game based on the game configuration file to construct a three-dimensional game scene; wherein the three-dimensional game scene includes a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model; It should be noted that this embodiment of the application obtains a game configuration file and loads the target game based on the configuration file to construct a 3D game scene. This process is fundamental to the entire control method. The game configuration file contains various parameters and settings required for game operation. By loading these configurations, this embodiment of the application can construct a 3D game scene that includes a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model. The controlled character model is the character controlled by the player in the game, the controlled vehicle model is the vehicle corresponding to the character, and the scene environment model consists of environmental elements such as terrain and buildings in the game. This step ensures the correct initialization of the game world, providing the necessary scene and objects for subsequent vehicle control.

[0035] Reference Figure 2 According to some embodiments of this application, step S101, which involves obtaining a game configuration file and loading the target game based on the configuration file to construct a 3D game scene, may include: Step S201: Obtain the game configuration file; wherein, the game configuration file includes the character configuration file and the vehicle configuration file; Step S202: Load the target game based on the game configuration file to construct a 3D game scene; wherein the 3D game scene includes a controlled character model, at least one controllable vehicle model, and a scene environment model; Step S203: In response to the target user issuing a vehicle binding command while controlling the controlled character model in the game's 3D scene, based on the character configuration file and the vehicle configuration file, a controllable vehicle model matching the vehicle binding command is bound to the controlled character model; wherein, the controllable vehicle model corresponding to the controlled character model is the controlled vehicle model.

[0036] In some embodiments, step S201 involves obtaining a game configuration file; wherein the game configuration file includes a character configuration file and a vehicle configuration file. It's important to note that the game configuration file is a crucial data set, containing character configuration files and vehicle configuration files. Character configuration files detail the attributes and behavioral patterns of characters in the game, while vehicle configuration files contain information such as the physical characteristics, appearance models, and control parameters of various vehicles. These configuration files form the foundation for building the game world, providing the necessary parameter support for subsequent game loading and vehicle control.

[0037] In some embodiments, step S202 involves loading the target game based on a game configuration file to construct a three-dimensional game scene; wherein the three-dimensional game scene includes a controlled character model, at least one controllable vehicle model, and a scene environment model; It should be noted that after obtaining the game configuration files, this embodiment loads the target game based on these configuration files, thereby constructing a 3D game scene. The 3D game scene is a virtual 3D space that includes a controlled character model, at least one controllable vehicle model, and a scene environment model. The controlled character model is the character directly controlled by the player in the game, whose behavior and actions are determined by the player's commands. The controllable vehicle model consists of vehicles available for selection and use by the player in the game; these vehicles are initialized and set according to parameters in the vehicle configuration file. The scene environment model constitutes the game's background and environment, including elements such as terrain, buildings, and vegetation, providing scene support for the game's progression.

[0038] In some embodiments, step S203, in response to the target user issuing a vehicle binding command during the process of manipulating the controlled character model in the game's three-dimensional scene, binds a controllable vehicle model matching the vehicle binding command to the controlled character model based on the character configuration file and the vehicle configuration file; wherein, the controllable vehicle model corresponding to the controlled character model is the controlled vehicle model.

[0039] It should be noted that when a target user manipulates a controlled character model in a 3D game scene, they may issue a vehicle binding command. This command indicates that the player wishes to bind a controllable vehicle model to the controlled character model so that they can subsequently control the vehicle through the character model. In response to this vehicle binding command, this application's embodiment binds a controllable vehicle model matching the vehicle binding command to the controlled character model based on the character configuration file and the vehicle configuration file. This process involves retrieving and matching relevant information in the configuration file to ensure that the corresponding vehicle model meets the player's command requirements. Once the binding is complete, the controllable vehicle model corresponding to the controlled character model becomes the controlled vehicle model, and the player can indirectly control this controlled vehicle model by manipulating the controlled character model, thus achieving vehicle driving and operation.

[0040] It should be understood that, through the above steps, the embodiments of this application realize the process from obtaining the game configuration file to constructing the game's 3D scene, and then to binding vehicles and characters. This series of steps provides a basic framework for players to control vehicles in the game, enabling players to freely select and use vehicles in the game world, enhancing the game's interactivity and playability. Simultaneously, through the use of configuration files, the embodiments of this application can flexibly adjust the attributes of characters and vehicles, supporting the diversification and personalization of the game.

[0041] In some embodiments, step S102 is in response to the target user issuing a vehicle driving command while controlling the controlled character model in the game's three-dimensional scene. Based on the vehicle driving command, the controlled character model and the controlled vehicle model are controlled to perform driving displacement actions so that the controlled vehicle model is in a driving state. It should be noted that when the target user issues a vehicle driving command by controlling the controlled character model in the game's 3D scene, this embodiment responds to the command, controlling the controlled character model and the controlled vehicle model to perform driving displacement actions, causing the controlled vehicle model to enter a driving state. This is the starting point for the player's interaction with the game vehicle. Through the player's operation commands, the vehicle begins to move, thereby triggering subsequent control processes. Driving commands may include operations such as acceleration, braking, and steering. This embodiment controls the vehicle's movement according to these commands, causing the vehicle to drive according to the player's intention.

[0042] In step S103 of some embodiments, during the process of the controlled vehicle model being in a driving state, the physical state of the controlled vehicle model is detected in real time to obtain the real-time state information of the vehicle. It should be noted that, during the driving process of the controlled vehicle model, this embodiment of the application performs real-time physical state detection on the controlled vehicle model to obtain real-time vehicle state information. This detection process is a crucial step, as it can acquire the vehicle's current physical state in real time, including but not limited to the vehicle's speed, acceleration, and contact with the terrain. This real-time state information provides a basis for subsequent balance parameter acquisition and pose correction. Real-time physical state detection is implemented through the sensors and algorithms of the physics engine, enabling precise monitoring of the vehicle's dynamic behavior in the game world.

[0043] In step S104 of some embodiments, the balance parameters of the controlled vehicle model are collected based on the vehicle state type reflected by the real-time vehicle state information to obtain the corresponding vehicle balance correlation parameters. It should be noted that, based on the vehicle state type reflected in the real-time vehicle state information, this embodiment of the application collects balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance-related parameters. The real-time vehicle state information is the input source for the entire balance mechanism; it is obtained through the physics engine's real-time detection interface and contains the dynamic physical attributes of the vehicle for each frame. Vehicle state types may include different scenarios such as two wheels on the ground, one wheel off the ground, and complete airborne status. Each state type has its corresponding balance-related parameters. For example, in the two-wheel-on-the-ground state, it may be necessary to collect parameters such as the vehicle's steering angle and speed; while in the completely airborne state, it may be necessary to collect parameters such as the vehicle's angular velocity and the angle with the direction of gravity. These balance-related parameters are the basic data for pose correction, reflecting the key physical characteristics of the vehicle in its current state.

[0044] Specifically, the vehicle's real-time status information consists of two parts: first, contact layer data, obtained through raycasting or collision point detection, including the position coordinates of each wheel's contact point with the ground, the terrain normal vector at that point, the contact depth value, and the number of contacting wheels. This data directly determines whether the vehicle is in all-wheel contact, single-wheel support, or airborne status. Second, motion layer data, read from the rigid body components, including linear velocity vectors, angular velocity vectors, and the current rotation quaternion, combined with the gravity direction vector in the world coordinate system, allows calculation of the vehicle's tilt angle relative to the gravity axis. The update frequency of this information is synchronized with the game's rendering frame rate, ensuring that the response latency to changes in vehicle status is controlled within a single frame time window.

[0045] Furthermore, the balance parameter acquisition serves as a bridge connecting state perception and corrective decision-making, and its acquisition logic exhibits state-dependent differentiated characteristics. When the vehicle's real-time state information reflects an all-wheel ground contact type, the acquisition module traverses all wheels, extracts the position information and normal data of each wheel's contact point, calculates the ratio of the vehicle's center of gravity height to the wheelbase, and analyzes the steering input magnitude in conjunction with the vehicle's steering commands. If the state type is a single-wheel support type, the acquisition focus shifts to the single pivot wheel, recording its pivot wheel position parameters and wheel axle direction vector, and measuring the vertical offset of the suspended wheel relative to the pivot wheel. In the vehicle airborne type, the acquisition mechanism starts an off-ground timer, continuously accumulating the vehicle's off-ground duration, and simultaneously calculates the dot product of the local coordinate system's Y-axis and the gravity's opposite direction vector in each frame, thereby deducing the vehicle's tilt angle. This state-specific acquisition strategy avoids the computational overhead of irrelevant parameters, ensuring that the parameter set acquired in each state is what is needed for subsequent corrective calculations.

[0046] On the other hand, the vehicle balance-related parameters are the final output of parameter acquisition and the direct input of pose correction analysis. These parameters are not simply a list of raw physical data, but rather feature vectors that have undergone preliminary processing. In the all-wheel-on-the-ground state, the steering compensation torque, as a pose correction parameter, can be generated by the controller after processing the difference between the theoretical and actual tilt poses. In the single-wheel-support state, the gravity compensation torque, as a pose correction parameter, is calculated based on the pivot wheel position parameter and the wheel axle direction vector, ensuring that the torque direction always points to the minimum rotational path for restoring dual-wheel balance. In the vehicle-on-the-air state, the pose correction difference, as a pose correction parameter, is obtained through quaternion spherical interpolation, while the current correction intensity coefficient is determined by substituting the vehicle's time off the ground into a threshold time intensity curve function; both together constitute the pose correction parameters. These pose correction parameters share the common characteristic of having clear physical meaning and dimensions, and can directly participate in the torque superposition calculation of the physics engine. Their magnitude and direction reflect the degree to which the vehicle deviates from its stable state and the mechanical intervention intensity required to pull it back to a stable state.

[0047] It should be understood that, based on the vehicle status type reflected by the real-time status information of the vehicle, there are various ways to collect balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters, and these are not limited to the examples mentioned above.

[0048] In some embodiments, step S105 involves performing pose correction analysis based on the vehicle state type and the vehicle balance association parameters corresponding to the vehicle state type to obtain pose correction parameters. It should be noted that, based on the vehicle state type and the corresponding vehicle balance correlation parameters, this embodiment performs pose correction analysis to obtain pose correction parameters. This step is the core of the entire control method. It calculates the specific parameters of the pose correction operation to be performed on the vehicle using a specific algorithm, based on the vehicle's current state and the collected balance correlation parameters. These pose correction parameters define how to adjust the vehicle's attitude to maintain stability under different states. The pose correction analysis process considers the vehicle's physical characteristics and current motion state, deriving the optimal correction strategy through mathematical models and algorithms.

[0049] It should be noted that the pose correction parameters in this application embodiment are a set of state-dependent dynamic parameters. Their specific form is directly related to the vehicle state type, but in essence, they are all mechanical commands used to drive the physics engine to adjust the vehicle's attitude.

[0050] In all-wheel contact mode, the posture correction parameter is manifested as steering compensation torque. This torque vector is generated by the closed-loop controller through the difference between the theoretical tilt posture and the actual tilt posture. Its direction is opposite to the steering centrifugal force. The purpose is to compensate for understeer or excessive tilt caused by excessive speed or insufficient ground friction, so that the vehicle can smoothly corner according to the player's steering intention.

[0051] In the single-wheel support type, the posture correction parameter is converted into gravity compensation torque, which is a special torque with the pivot wheel axis as the rotation center. Its calculation is based on the geometric relationship between the pivot wheel position parameter and the relative position of the suspended wheel. The torque direction always points to the minimum rotation path that makes the suspended wheel swing down and restore the balance of the two wheels. The strength is proportional to the suspension height and the angular velocity of the vehicle body, ensuring rapid self-stabilization when the wheel loses contact with the ground briefly.

[0052] In the vehicle airborne mode, the pose correction parameter is further decomposed into two sub-parameters: pose correction difference and current correction intensity coefficient. The pose correction difference is calculated using a quaternion spherical interpolation algorithm, which solves for the shortest arc path from the vehicle's current rotation quaternion to the target rotation quaternion, and decomposes this path into angular axis form to obtain the rotation axis vector and angle value that need to be corrected. The current correction intensity coefficient is a scalar weight based on the dynamic change of the vehicle's airborne time, output by a preset time intensity curve function. The function defines a nonlinear mapping relationship where the correction intensity is zero in the early stage of airborne, gradually increases in the middle stage, and maintains a peak value in the later stage. These two sub-parameters are multiplied and synthesized in subsequent steps to jointly determine the final correction torque vector applied to the vehicle's rigid body.

[0053] Therefore, the pose correction parameter can be a composite mechanical command that carries the triple control information of direction, amplitude and timing. Its physical dimension is unified as torque or angular impulse, which can be directly input into the torque superposition pipeline of the physics engine to achieve precise control of the vehicle's attitude.

[0054] Reference Figure 3 According to some embodiments of this application, before step S105, which performs pose correction analysis based on the vehicle state type and the vehicle balance association parameters corresponding to the vehicle state type to obtain the pose correction parameters, the following may also be included: Step S301: Based on the vehicle driving instructions, analyze the control input to obtain the control input variance value; Step S302: Analyze the input activity based on the variance of the control input to obtain the user input activity. Step S303: In response to the user input activity meeting the preset valid control judgment condition, determine the control inhibition coefficient based on the user input activity. In step S105, pose correction analysis is performed based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type to obtain pose correction parameters, which may include: Step S304: Based on the vehicle state type, the vehicle balance correlation parameters corresponding to the vehicle state type, and the control suppression coefficient, perform pose correction analysis to obtain pose correction parameters.

[0055] In some embodiments of this application, in order to more accurately correct the pose of the game vehicle, the embodiments of this application will first perform a series of analyses and processing on the player's control input before performing pose correction analysis.

[0056] In some embodiments, step S301 involves parsing the control input based on the vehicle driving commands to obtain the control input variance value. It should be noted that the purpose of starting with the analysis of control input based on vehicle driving commands is to obtain the control input variance value. The control input variance value reflects the stability and activity level of the player's operations, and it is derived by analyzing and calculating the vehicle driving commands issued by the player. Specifically, this embodiment collects player input data over a certain period of time, such as joystick offset and button press duration, and then calculates the variance of this data. The larger the variance value, the more unstable or active the player's operations are.

[0057] In some embodiments, step S302 involves parsing the input activity based on the control input variance value to obtain the user input activity. It should be noted that this embodiment analyzes input activity based on the variance of the input manipulation to obtain user input activity. Input activity is an indicator that measures the frequency and intensity of player operations; it determines whether the player is actively manipulating the system based on the variance of the input manipulation. If the variance exceeds a certain preset threshold, this embodiment considers the player's input activity to be high, and vice versa. This threshold is preset based on game design and player operating habits to distinguish between active and passive player operations.

[0058] In some embodiments, step S303 involves determining a control inhibition coefficient based on the user input activity in response to the user input activity meeting a preset valid control determination condition. It should be noted that when the user's input activity meets the preset valid control judgment condition, this embodiment of the application will determine the control inhibition coefficient based on the user's input activity. The valid control judgment condition is a standard used to determine whether the player's operation is valid and whether automatic correction needs to be suppressed. If it is determined that the player is making valid active control, this embodiment of the application will determine an appropriate control inhibition coefficient based on the specific value of the input activity. The role of the control inhibition coefficient is to adjust the intensity of automatic correction according to the intensity of the player's operation during the pose correction process, so as to avoid conflicts between automatic correction and the player's active operation.

[0059] In some embodiments, step S304 involves performing pose correction analysis based on the vehicle state type, the vehicle balance correlation parameters corresponding to the vehicle state type, and the control suppression coefficient to obtain pose correction parameters.

[0060] It should be noted that, when performing pose correction analysis, this embodiment comprehensively considers the vehicle state type, the vehicle balance-related parameters corresponding to the vehicle state type, and the control suppression coefficient. The vehicle state type reflects the current physical state of the vehicle, such as both wheels on the ground, one wheel off the ground, or completely airborne. The vehicle balance-related parameters are various parameters related to the current state of the vehicle, such as velocity, angular velocity, and the angle with the direction of gravity. These parameters are the basic data for pose correction. This embodiment combines these data with the control suppression coefficient and performs pose correction analysis through a specific algorithm to finally obtain the pose correction parameters. The pose correction parameters define the specific correction operations that need to be performed on the vehicle, including the direction, angle, and force of the correction.

[0061] It should be understood that by introducing steps of control input parsing and input activity parsing, and determining the control inhibition coefficient based on input activity, the embodiments of this application can more intelligently handle the relationship between player actions and automatic correction. This not only improves the flexibility and adaptability of vehicle control, but also enhances the player's gaming experience, allowing players to feel more freedom and control when making active operations, while also receiving system-assisted corrections when needed to ensure the stability and safety of the vehicle.

[0062] Reference Figure 4 According to some embodiments of this application, step S104, based on the vehicle state type reflected by the real-time vehicle state information, collects balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters, and may include: Step S401: When the vehicle state type is single-wheel support type, record the pivot wheel position parameters and wheel axle direction vector of the current pivot wheel for the controlled vehicle model; Step S402: Determine the vehicle balance associated parameters based on the fulcrum wheel position parameters and the wheel axle direction vector; In step S105, pose correction analysis is performed based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type to obtain pose correction parameters, which may include: Step S403: When the vehicle state type is single wheel support type, the gravity compensation torque is calculated as the pose correction parameter based on the pivot wheel position parameter and the wheel axle direction vector; wherein, the gravity compensation torque is used to provide pose correction compensation in the direction of the current suspended wheel with the current pivot wheel axle as the rotation center.

[0063] In some embodiments of this application, when the system performs the vehicle balance parameter acquisition step, it will adopt different parameter acquisition strategies according to the vehicle state type reflected by the real-time vehicle state information.

[0064] In step S401 of some embodiments, when the vehicle state type is single-wheel support type, the pivot wheel position parameter and wheel axle direction vector of the current pivot wheel are recorded for the controlled vehicle model. It should be noted that if the vehicle's state type is single-wheel support, meaning only one wheel is in contact with the ground, this embodiment will collect specific balance parameters for the controlled vehicle model. Specifically, this embodiment will record the pivot wheel position parameter and the wheel axle direction vector of the current pivot wheel. The pivot wheel position parameter refers to the position coordinates of the wheel currently in contact with the ground, while the wheel axle direction vector refers to the direction of the wheel's rotation axis. These two parameters are key information describing the balance state of the vehicle in single-wheel support mode.

[0065] In step S402 of some embodiments, the vehicle balance associated parameters are determined based on the fulcrum wheel position parameters and the wheel axle direction vector; It should be noted that, based on the recorded pivot wheel position parameters and wheel axle direction vector, this embodiment determines the vehicle balance-related parameters. These parameters are crucial for subsequent pose correction analysis, reflecting the vehicle's balance requirements in its current state. In the case of a single-wheel support type, these parameters directly affect the pose correction calculation.

[0066] In step S403 of some embodiments, when the vehicle state type is single-wheel support type, the gravity compensation torque is calculated as a pose correction parameter based on the fulcrum wheel position parameter and the wheel axle direction vector; wherein, the gravity compensation torque is used to provide pose correction compensation with the current fulcrum wheel axle as the rotation center and in the direction of the current suspended wheel.

[0067] It should be noted that during pose correction analysis, if the vehicle state type is single-wheel support, this embodiment calculates the gravity compensation torque as the pose correction parameter based on the previously collected pivot wheel position parameters and wheel axle direction vector. The calculation of the gravity compensation torque is to provide pose correction compensation with the current pivot wheel axle as the rotation center and in the direction of the current suspended wheel. This means that when the vehicle is in a single-wheel support state, this embodiment calculates a torque value. The role of this torque value is to help the vehicle recover to a more stable posture, specifically by applying a rotational torque in the direction of the suspended wheel to counteract the unbalanced torque generated by single-wheel support.

[0068] It should be noted that the calculation of the gravity compensation torque takes into account the current physical state and mechanical principles of the vehicle. Since the vehicle's stability is poor in a single-wheel support state, by calculating the gravity compensation torque, the embodiments of this application can effectively help the vehicle return to a more stable dual-wheel ground position, or at least reduce the instability caused by single-wheel support. This torque value is calculated based on the position of the vehicle's pivot wheel and the axle direction vector; it can accurately provide the required rotational torque to achieve vehicle posture correction.

[0069] It should be understood that, in this way, the embodiments of this application can effectively control the balance of the vehicle in the special case of single-wheel support. This control strategy not only improves the stability and maneuverability of the vehicle on complex terrain, but also enhances the player's gaming experience, allowing the player to feel more support and assistance when performing high-difficulty maneuvers.

[0070] Reference Figure 5According to some embodiments of this application, step S104, based on the vehicle state type reflected by the real-time vehicle state information, collects balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters, and may include: Step S501: When the vehicle status type is vehicle airborne, record the vehicle liftoff time of the controlled vehicle model and calculate the vehicle tilt angle between the controlled vehicle model and the gravity axis. Step S502: Determine the vehicle balance correlation parameters based on the vehicle's time off the ground and the vehicle's tilt angle.

[0071] In some embodiments of this application, when performing the vehicle balance parameter acquisition step, the embodiments of this application will adopt different parameter acquisition strategies according to the vehicle state type reflected by the real-time vehicle state information.

[0072] In some embodiments, step S501 involves recording the time the controlled vehicle model is off the ground when the vehicle state type is vehicle airborne, and calculating the vehicle tilt angle between the controlled vehicle model and the gravity axis. It should be noted that if the vehicle's state type is "vehicle airborne," meaning both wheels of the vehicle are off the ground, this embodiment will collect specific balance parameters for the controlled vehicle model. Specifically, this embodiment will record the duration of the controlled vehicle model's airborne status, which is the time from the start of airborne operation to the current moment. Simultaneously, this embodiment will calculate the vehicle tilt angle between the controlled vehicle model and the gravity axis; this angle reflects the degree of deviation of the vehicle from the direction of gravity while airborne.

[0073] In some embodiments, step S502 involves determining vehicle balance-related parameters based on the vehicle's time off the ground and its tilt angle.

[0074] It's important to note that vehicle liftoff duration and tilt angle are key parameters describing the vehicle's balance requirements while airborne. Liftoff duration reflects the length of time the vehicle is airborne, which is crucial for subsequent attitude correction strategies, as different liftoff durations may require different correction strategies. For example, short liftoff times may only require smaller correction forces, while longer liftoff times may necessitate stronger corrections to ensure a smooth landing. The vehicle tilt angle directly reflects the vehicle's current attitude, and the magnitude and direction of this angle are critical for calculating the direction and magnitude of the correction torque.

[0075] It should be noted that when determining the vehicle balance-related parameters, this embodiment of the application comprehensively considers both the vehicle's time off the ground and its tilt angle. The vehicle balance-related parameters are crucial for subsequent pose correction analysis; they contain information on the balance adjustments the vehicle needs to make in its current airborne state. These parameters directly affect the pose correction calculation, ensuring the vehicle remains stable in the airborne state and recovers to a safe driving posture upon landing.

[0076] It should be understood that, in this way, the embodiments of this application can effectively control the balance of the vehicle in the special situation of being airborne. This control strategy not only improves the stability and maneuverability of the vehicle on complex terrain, but also enhances the player's gaming experience, allowing players to feel more support and assistance when performing high-difficulty maneuvers.

[0077] Reference Figure 6 According to some embodiments of this application, step S105 performs pose correction analysis based on the vehicle state type and the vehicle balance association parameters corresponding to the vehicle state type to obtain pose correction parameters, which may include: Step S601: When the vehicle status type is vehicle airborne, determine the current pose representation data and the target pose representation data. Step S602: Perform gravity alignment calculation based on the current pose representation data and the target pose representation data to obtain the pose correction difference; Step S603: Substitute the vehicle's time off the ground into the time intensity curve function of the threshold to determine the current correction intensity coefficient; Step S604: Calculate the correction parameters based on the pose correction difference and the current correction intensity coefficient to obtain the pose correction parameters.

[0078] In some embodiments of this application, when performing the pose correction analysis step, the embodiments of this application will perform a series of calculations based on the vehicle state type and the vehicle balance associated parameters corresponding to the state type to obtain the pose correction parameters.

[0079] In some embodiments, step S601 involves determining the current pose representation data and the target pose representation data when the vehicle state type is vehicle airborne. It should be noted that if the vehicle's state type is "vehicle airborne," meaning both wheels of the vehicle are off the ground, this embodiment will first determine the current pose representation data and the target pose representation data. The current pose representation data is a set of parameters describing the vehicle's current attitude, including but not limited to the vehicle's rotation angle, direction vector, etc.; the target pose representation data is the attitude parameters that the vehicle should achieve under ideal conditions, typically referring to the state where the vehicle is perpendicular to the direction of gravity and both wheels remain horizontal.

[0080] In some embodiments, step S602 involves performing gravity alignment calculations based on the current pose representation data and the target pose representation data to obtain the pose correction difference. It should be noted that the embodiments of this application perform gravity alignment calculations based on the current pose representation data and the target pose representation data. The purpose of gravity alignment calculation is to find the difference between the vehicle's current attitude and the target attitude, and obtain the pose correction difference value. This difference value reflects the amount of rotational adjustment that the vehicle needs to make, including the rotation axis and rotation angle. By calculating the quaternion difference or Euler angle difference value, the embodiments of this application can determine in which directions the vehicle needs to rotate, and the specific angle of rotation, so that the vehicle can transition from the current attitude to the target attitude.

[0081] In some embodiments, step S603 involves substituting the vehicle's ground-lift time into a threshold time-intensity curve function to determine the current correction intensity coefficient. It should be noted that after obtaining the pose correction difference, this embodiment of the application substitutes the vehicle's airborne time into a preset threshold time intensity curve function. This time intensity curve function is a mathematical model used to determine the current correction intensity coefficient based on the vehicle's airborne time. The correction intensity coefficient is a value between 0 and 1, which determines the magnitude of the correction applied to the vehicle at the current moment. The design of the time intensity curve function takes into account the dynamic characteristics of the vehicle during its airborne process, as well as the player's operating experience. For example, when the vehicle has just left the ground, the correction intensity coefficient may be relatively low to avoid overly drastic corrections interfering with the player's operation; as the airborne time increases, the correction intensity coefficient gradually increases to ensure that the vehicle can gradually adjust to a more stable state in the air.

[0082] In some embodiments, step S604 involves calculating the correction parameters based on the pose correction difference and the current correction intensity coefficient to obtain the pose correction parameters.

[0083] It should be noted that the embodiments of this application calculate the correction parameters based on the pose correction difference and the current correction intensity coefficient. The correction parameter calculation combines the pose correction difference with the correction intensity coefficient to obtain the final pose correction parameters. This parameter includes a specific rotational torque vector, which is applied to the vehicle's physical model to achieve attitude adjustment. In this way, the embodiments of this application can dynamically adjust the correction intensity based on the vehicle's real-time status and liftoff time while the vehicle is in the air, ensuring that the vehicle can smoothly adjust its attitude in the air and return to a safe driving posture upon landing.

[0084] Reference Figure 7According to some embodiments of this application, the vehicle driving command includes a vehicle steering command. Step S104, based on the vehicle state type reflected by the real-time vehicle state information, collects balance parameters for the controlled vehicle model to obtain the corresponding vehicle balance correlation parameters, which may include: Step S701: When the vehicle state type is all-wheel ground contact type, collect the speed of the controlled vehicle and the contact point position information, contact point normal vector and contact depth value of each vehicle wheel for the controlled vehicle model. Step S702: Determine the steering input magnitude of the target user based on the vehicle steering command; Step S703: Based on the contact point position information, contact point normal vector and contact depth value of each vehicle wheel corresponding to the controlled vehicle model, calculate the actual tilt pose of the controlled vehicle model; Step S704: Calculate the theoretical tilt pose based on the steering input amplitude and the speed of the controlled vehicle; Step S705: Based on the actual tilt pose and the theoretical tilt pose, the steering compensation torque is calculated as a pose correction parameter; wherein, the steering compensation torque is used to provide pose correction compensation for the speed of the controlled vehicle during the steering process.

[0085] In some embodiments of this application, when the vehicle driving command includes a vehicle steering command, the embodiments of this application will adopt a specific parameter acquisition and calculation strategy based on the vehicle state type reflected by the real-time vehicle state information when performing the balance parameter acquisition step.

[0086] In step S701 of some embodiments, when the vehicle state type is all-wheel ground contact type, the controlled vehicle speed and the contact point position information, contact point normal vector and contact depth value of each vehicle wheel are collected for the controlled vehicle model. It should be noted that if the vehicle's state type is all-wheel contact, meaning all wheels of the vehicle are in contact with the ground, this embodiment will collect a series of key parameters for the controlled vehicle model. These parameters include the speed of the controlled vehicle, the contact point position information of each wheel, the contact point normal vector, and the contact depth value. The contact point position information refers to the specific coordinates of each wheel's contact point with the ground, the contact point normal vector represents the normal direction of the ground at that contact point, and the contact depth value reflects the degree to which the wheel is embedded in the ground (if applicable). These parameters collectively describe the physical interaction of the vehicle in all-wheel contact mode.

[0087] In some embodiments, step S702 involves determining the steering input magnitude of the target user based on the vehicle steering command. It should be noted that, in this embodiment, the steering input amplitude of the target user is further determined based on the vehicle's steering command. The steering input amplitude is a quantitative representation of the steering intention given by the user through an operating device (such as a joystick or steering wheel), reflecting the degree to which the user desires the vehicle to turn. This amplitude value is an important basis for subsequent calculations of the theoretical tilt pose.

[0088] In step S703 of some embodiments, the actual tilt pose of the controlled vehicle model is calculated based on the contact point position information, contact point normal vector and contact depth value of each vehicle wheel corresponding to the controlled vehicle model. It should be noted that, in this embodiment, the contact point position information, contact point normal vector, and contact depth value of each vehicle wheel are collected to calculate the actual tilt pose of the controlled vehicle model. The actual tilt pose refers to the tilt state that the vehicle is currently exhibiting due to various physical factors (such as ground slope, wheel contact conditions, etc.). This calculation process takes into account the real-time interaction between the vehicle and the ground, and can accurately reflect the vehicle's current actual attitude.

[0089] In some embodiments, step S704 involves calculating the theoretical tilt pose based on the steering input amplitude and the speed of the controlled vehicle. It should be noted that the embodiments of this application calculate the theoretical tilt pose based on the steering input amplitude and the speed of the controlled vehicle. The theoretical tilt pose is an ideal tilt state calculated based on a physical model and dynamic principles, combined with the user's steering intention and the vehicle's current speed. This state is the tilt angle that the vehicle should achieve under ideal conditions to maintain stable and efficient steering performance.

[0090] In step S705 of some embodiments, the steering compensation torque is calculated as a posture correction parameter based on the actual tilt posture and the theoretical tilt posture; wherein, the steering compensation torque is used to provide posture correction compensation for the speed of the controlled vehicle during the steering process.

[0091] It should be noted that the embodiments of this application calculate the steering compensation torque as a posture correction parameter based on the actual tilt posture and the theoretical tilt posture. The calculation of the steering compensation torque is to compensate for the difference between the actual tilt posture and the theoretical tilt posture, providing necessary posture correction compensation. This torque will be applied to the vehicle's physical model to help the vehicle maintain stability during steering and reduce instability factors caused by ground conditions or improper operation. The role of the steering compensation torque is to ensure that the vehicle can smoothly adjust its attitude according to the user's intention during steering, improving the accuracy and comfort of handling.

[0092] In some embodiments, step S106 involves performing a pose correction operation on the controlled vehicle model based on pose correction parameters.

[0093] It should be noted that this embodiment performs pose correction operations on the controlled vehicle model based on pose correction parameters. This operation adjusts the vehicle's pose according to the previously calculated pose correction parameters, thereby achieving stable control of the vehicle's attitude. Through this series of steps, this embodiment can automatically correct the attitude when the vehicle experiences unstable states such as unexpected airborne states, reducing the difficulty of player operation and improving the smoothness and experience of the game. This method not only improves the game's playability but also enhances the player's control over the game vehicle, making the game process more natural and fluid.

[0094] Reference Figure 8 According to some embodiments of this application, step S106, which performs a pose correction operation on the controlled vehicle model based on pose correction parameters, may include: Step S801: Extract the correction calculation torque vector from the pose correction parameters; Step S802: Based on the vehicle driving command, analyze the input torque to obtain the user input torque vector; Step S803: Perform collision prediction calculations based on the controlled vehicle model and the scene environment model to obtain the environmental collision torque vector; Step S804: Based on the corrected calculated torque vector, the user input torque vector and the environmental collision torque vector, the total pose correction torque is obtained by synthesizing them. Step S805: Perform pose correction operation based on the total pose correction torque.

[0095] In some embodiments of this application, when performing pose correction operations, the embodiments of this application will perform a series of processes on the controlled vehicle model based on pose correction parameters to ensure that the vehicle can achieve stable and reasonable attitude adjustment according to the current physical state and operation instructions.

[0096] In some embodiments, step S801 involves extracting the corrected torque vector from the pose correction parameters. It should be noted that, in this embodiment, the corrected torque vector is extracted from the pose correction parameters. This corrected torque vector is derived from the pose correction parameters calculated in the preceding steps, and it includes the direction and magnitude of the torque that needs to be applied to adjust the vehicle's attitude. This torque vector represents the optimal correction strategy calculated by the system, with the aim of transitioning the vehicle from its current attitude to the target attitude.

[0097] In some embodiments, step S802 involves parsing the input torque based on the vehicle driving command to obtain the user-input torque vector. It should be noted that this embodiment of the application analyzes the input torque based on vehicle driving commands to obtain the user-input torque vector. The user-input torque vector reflects the player's rotational intention given through operating devices (such as joysticks, steering wheels, etc.). This torque vector is a manifestation of the player's active control over the vehicle, containing the direction and force of rotation that the player desires. This embodiment of the application needs to analyze the steering, acceleration, and other operations in the vehicle driving commands and convert them into specific torque vectors so that the player's operational intentions can be considered in the subsequent synthesis process.

[0098] In step S803 of some embodiments, a collision prediction calculation is performed based on the controlled vehicle model and the scene environment model to obtain the environmental collision torque vector; It should be noted that, in this embodiment, collision prediction calculations are performed based on the controlled vehicle model and the scene environment model to obtain the environmental collision torque vector. The environmental collision torque vector is the torque generated due to the possible collision between the vehicle and environmental objects (such as terrain, obstacles, etc.) in the game world. The calculation of this torque vector takes into account the vehicle's current speed, direction, and relative position and shape with environmental objects. Through collision prediction calculations, this embodiment can predict the collision forces that the vehicle may experience in advance and convert them into a torque vector, so as to consider the influence of environmental factors on the vehicle's attitude in pose correction.

[0099] In some embodiments, step S804 involves synthesizing the corrected calculated torque vector, the user-input torque vector, and the environmental collision torque vector to obtain the total pose correction torque. It should be noted that after obtaining the corrected calculated torque vector, the user-input torque vector, and the environmental collision torque vector, this embodiment synthesizes these three torque vectors to obtain the total pose correction torque. The synthesis process is a vector addition operation, which takes into account the direction and magnitude of the three torque vectors to obtain a final torque vector. This total pose correction torque is the final result that integrates the system's correction intention, the player's operation intention, and the influence of environmental collisions; it determines the total rotational torque that the vehicle will experience at the current moment.

[0100] In some embodiments, step S805 involves performing a pose correction operation based on the total pose correction torque.

[0101] It should be noted that the embodiments of this application perform pose correction operations based on the total pose correction torque. This operation applies the total pose correction torque to the physical model of the controlled vehicle model, causing the vehicle to rotate and adjust its attitude according to this total torque. In this way, the embodiments of this application can accurately correct the vehicle's attitude while taking into account player operation and environmental factors, ensuring that the vehicle maintains a stable and reasonable attitude in the game world. This not only improves the vehicle's maneuverability but also enhances the player's gaming experience, allowing players to interact with the vehicle in the game world more naturally.

[0102] Reference Figure 9 , Figure 9 This illustration shows the hardware structure of an electronic device according to another embodiment. The electronic device may include: The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 to execute the control method for game vehicles according to the embodiments of this application. The input / output interface 903 is used to implement information input and output; The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904); The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0103] This application also provides a computer program product, which includes a computer program. A processor of a computer device reads and executes the computer program, causing the computer device to perform the aforementioned control method for a game vehicle.

[0104] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in this disclosure and the foregoing drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “including,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0105] It should be understood that in this disclosure, "at least one item" means one or more, and "more than one" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0106] It should be understood that in the description of the embodiments of this application, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0107] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0108] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0109] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0110] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium may include: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code.

[0111] It should also be understood that the various implementation methods provided in this application can be combined arbitrarily to achieve different technical effects.

[0112] The above is a detailed description of the embodiments of this disclosure. However, this disclosure is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this disclosure. All such equivalent modifications or substitutions are included within the scope defined by the claims of this disclosure.

Claims

1. A control method for a game vehicle, characterized by, The method is applied to a game three-dimensional scene, and the method comprises: obtaining a game configuration file and loading a target game based on the game configuration file to construct the game three-dimensional scene; wherein the game three-dimensional scene comprises a controlled character model, a controlled vehicle model corresponding to the controlled character model, and a scene environment model; in response to a vehicle driving instruction issued by a target user in the process of controlling the controlled character model in the game three-dimensional scene, controlling the controlled character model and the controlled vehicle model to perform a driving action based on the vehicle driving instruction, so that the controlled vehicle model is in a running state; in the process that the controlled vehicle model is in the running state, performing real-time detection on the physical state of the controlled vehicle model to obtain vehicle real-time state information; according to a vehicle state type reflected by the vehicle real-time state information, collecting balance parameters for the controlled vehicle model to obtain corresponding vehicle balance related parameters; based on the vehicle state type and the vehicle balance related parameters corresponding to the vehicle state type, performing pose correction analysis to obtain pose correction parameters; based on the pose correction parameters, performing a pose correction operation on the controlled vehicle model.

2. The method of claim 1, wherein, According to the vehicle state type reflected by the vehicle real-time state information, collecting balance parameters for the controlled vehicle model to obtain corresponding vehicle balance related parameters, comprising: in the case that the vehicle state type is a single-wheel support type, recording a support wheel position parameter of a current support wheel and a wheel shaft direction vector for the controlled vehicle model; determining the vehicle balance related parameters according to the support wheel position parameter and the wheel shaft direction vector; based on the vehicle state type and the vehicle balance related parameters corresponding to the vehicle state type, performing pose correction analysis to obtain pose correction parameters, comprising: in the case that the vehicle state type is a single-wheel support type, calculating a gravity compensation torque as the pose correction parameter based on the support wheel position parameter and the wheel shaft direction vector; wherein the gravity compensation torque is used to provide a pose correction compensation in the direction of the current suspended wheel with the axis center of the current support wheel as the rotation center.

3. The method of claim 1, wherein, According to the vehicle state type reflected by the vehicle real-time state information, collecting balance parameters for the controlled vehicle model to obtain corresponding vehicle balance related parameters, comprising: in the case that the vehicle state type is a vehicle emptying type, recording a vehicle off-ground duration of the controlled vehicle model and calculating a vehicle inclination angle between the controlled vehicle model and a gravity axis; determining the vehicle balance related parameters according to the vehicle off-ground duration and the vehicle inclination angle.

4. The method of claim 3, wherein, based on the vehicle state type and the vehicle balance related parameters corresponding to the vehicle state type, performing pose correction analysis to obtain pose correction parameters, comprising: in the case that the vehicle state type is a vehicle emptying type, determining current pose representation data and target pose representation data; based on the current pose representation data and the target pose representation data, performing gravity alignment calculation to obtain a pose correction difference value; substituting the length of time that the vehicle is off the ground into the time intensity curve function of the threshold value to determine a current correction intensity coefficient; performing correction parameter calculation based on the pose correction difference value and the current correction intensity coefficient to obtain the pose correction parameter.

5. The method of claim 1, wherein, The vehicle driving instruction includes a vehicle steering instruction. According to the vehicle state type reflected by the real-time state information of the vehicle, balance parameters of the controlled vehicle model are collected to obtain corresponding vehicle balance associated parameters, including: In the case that the vehicle state type is a full-wheel landing type, the controlled vehicle speed and the contact point position information, the contact normal vector and the contact depth value of each vehicle wheel of the controlled vehicle model are collected; Based on the vehicle steering instruction, the steering input amplitude of the target user is determined; Based on the contact point position information, the contact normal vector and the contact depth value of each vehicle wheel of the controlled vehicle model, the actual inclined pose of the controlled vehicle model is calculated; Based on the steering input amplitude and the controlled vehicle speed, the theoretical inclined pose is calculated; Based on the actual inclined pose and the theoretical inclined pose, the steering compensation torque is calculated as the pose correction parameter; wherein the steering compensation torque is used to provide pose correction compensation for the controlled vehicle speed in the steering process.

6. The method of claim 1, wherein, Before the pose correction analysis based on the vehicle state type and the vehicle balance associated parameters corresponding to the vehicle state type to obtain the pose correction parameter, it further includes: Based on the vehicle driving instruction, the control input analysis is performed to obtain the control input variance value; According to the control input variance value, the input activity analysis is performed to obtain the user input activity; In response to the user input activity satisfying the preset effective control determination condition, the control suppression coefficient is determined according to the user input activity; The pose correction analysis based on the vehicle state type, the vehicle balance associated parameters corresponding to the vehicle state type and the control suppression coefficient to obtain the pose correction parameter includes: Based on the vehicle state type, the vehicle balance associated parameters corresponding to the vehicle state type and the control suppression coefficient, the pose correction analysis is performed to obtain the pose correction parameter.

7. The method of claim 1, wherein, The pose correction operation based on the pose correction parameter on the controlled vehicle model includes: The correction calculation torque vector is extracted from the pose correction parameter; Based on the vehicle driving instruction, the input torque analysis is performed to obtain the user input torque vector; According to the collision prediction calculation of the controlled vehicle model and the scene environment model, the environmental collision torque vector is obtained; Based on the correction calculation torque vector, the user input torque vector and the environmental collision torque vector, the pose correction total torque is obtained; The pose correction operation is performed according to the pose correction total torque.

8. The method of claim 1, wherein, The game configuration file is obtained, and the target game is loaded based on the game configuration file to construct a three-dimensional game scene, including: A game configuration file is obtained; wherein the game configuration file includes a character configuration file and a vehicle configuration file; load the target game based on the game profile to build a game three-dimensional scene; wherein the game three-dimensional scene contains the controlled character model, at least one controllable vehicle model and the scene environment model; in response to the target user issuing a vehicle binding instruction in the process of manipulating the controlled character model in the game three-dimensional scene, binding the controllable vehicle model matched with the vehicle binding instruction for the controlled character model based on the character profile and the vehicle profile; wherein the controllable vehicle model corresponding to the controlled character model is the controlled vehicle model.

9. An electronic device, comprising: comprise: a memory and a processor, the memory stores a computer program, and the processor implements the control method for a game vehicle according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a program, and the program is executed by the processor to implement the control method for a game vehicle according to any one of claims 1 to 8.

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