Vehicle control method and device, controller, medium, product and vehicle

Abstract

The invention relates to a vehicle control method and device, a controller, a medium, a product and a vehicle, and the method comprises the steps: adjusting the output effect of an interactive perception object outputted to an in-vehicle passenger of a target vehicle based on the vehicle motion change information of the target vehicle; the interactive perception object is used for allowing the passenger in the vehicle to perceive through at least one of touch sense and hearing sense, and the carsickness condition of the passenger can be relieved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, controller, medium, product and vehicle. Background Technology

[0002] As vehicles become increasingly intelligent, people have higher and higher demands for them. Currently, some passengers experience motion sickness while traveling, so alleviating motion sickness has become a top priority in order to improve passenger comfort. Summary of the Invention

[0003] This application provides a vehicle control method that can alleviate motion sickness in passengers, thereby at least partially solving the aforementioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising:

[0005] Based on the vehicle motion change information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

[0006] Optionally, adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes:

[0007] Based on the vehicle motion change information, determine the object control parameters of the interactive sensing object;

[0008] Based on the object control parameters, adjust the output effect of the interactive perception object output to the occupants of the target vehicle.

[0009] Optionally, the interactive sensing object includes air conditioning air, and the object control parameters include the air outlet control parameters corresponding to the air conditioning air.

[0010] Optionally, the vehicle motion change information includes vehicle speed change information and / or vehicle steering change information, and the step of determining the object control parameters of the interactive sensing object based on the vehicle motion change information includes:

[0011] Based on the vehicle speed change information and / or the vehicle steering change information, the wind speed control parameter in the air outlet control parameter is determined.

[0012] Optionally, the vehicle speed change information is used to indicate the speed and / or acceleration of the target vehicle, the wind speed control parameter is used to control the wind speed of the air conditioning air, and determining the wind speed control parameter in the air outlet control parameter based on the vehicle speed change information and / or the vehicle steering change information includes:

[0013] Based on a preset wind speed mapping relationship, wind speed control parameters corresponding to the vehicle speed change information are determined, wherein the wind speed mapping relationship is used to indicate that the greater the speed and / or the acceleration, the greater the wind speed.

[0014] Optionally, the target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle. Determining the wind speed control parameter in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information includes:

[0015] If it is determined that the target vehicle has turned based on the vehicle steering change information, the turning side relative to the target vehicle is determined;

[0016] Based on the steering side of the target vehicle, the wind speed control parameters of the air conditioning vents are determined, wherein the wind speed control parameters are used to indicate that the wind speed of the air conditioning vents on the steering side is greater than the wind speed of the air conditioning vents on the non-steering side.

[0017] Optionally, before adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the object control parameters, the method further includes:

[0018] Obtain the vehicle environment data of the target vehicle;

[0019] The control parameters of the object are adjusted based on the vehicle environment data to obtain the adjusted control parameters of the object.

[0020] Optionally, adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes:

[0021] Obtain the position and pose information of the occupants inside the vehicle;

[0022] Based on the vehicle motion change information and the pose information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted.

[0023] Optionally, the pose information includes head pose information, and obtaining the pose information of the occupant in the vehicle includes:

[0024] Obtain occupant images of the occupants inside the vehicle;

[0025] Facial recognition is performed on the occupant image to determine the head position and pose information of the occupant inside the vehicle.

[0026] Optionally, the target vehicle is equipped with a camera, which captures images of the occupants using target shooting parameters. The step of performing facial recognition on the occupant images to determine the head position and pose information of the occupants includes:

[0027] Perform facial recognition on the occupant image to determine the facial features of the occupants inside the vehicle;

[0028] Based on the facial features and the target shooting parameters, the head posture of the occupant in the vehicle is estimated to obtain the head posture information of the occupant.

[0029] Optionally, the head pose information includes head position and head orientation, the interactive sensing object includes air conditioning airflow, and the adjustment of the output effect of the interactive sensing object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle and the pose information includes:

[0030] Based on the head position and the head orientation, the airflow direction of the air conditioner is determined;

[0031] Based on the vehicle motion change information of the target vehicle, the output effect of the air conditioning air output in the direction of the wind is adjusted.

[0032] According to a second aspect of this application, a vehicle control device is provided, comprising:

[0033] The effect adjustment module is used to adjust the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

[0034] Optionally, the effect adjustment module is specifically used for:

[0035] Based on the vehicle motion change information, determine the object control parameters of the interactive sensing object;

[0036] Based on the object control parameters, adjust the output effect of the interactive perception object output to the occupants of the target vehicle.

[0037] Optionally, the interactive sensing object includes air conditioning air, and the object control parameters include the air outlet control parameters corresponding to the air conditioning air.

[0038] Optionally, the vehicle motion change information includes vehicle speed change information and / or vehicle steering change information, and the effect adjustment module is specifically used for:

[0039] Based on the vehicle speed change information and / or the vehicle steering change information, the wind speed control parameter in the air outlet control parameter is determined.

[0040] Optionally, the vehicle speed change information is used to indicate the speed and / or acceleration of the target vehicle, the wind speed control parameter is used to control the wind speed of the air conditioning, and the effect adjustment module is specifically used for:

[0041] Based on a preset wind speed mapping relationship, wind speed control parameters corresponding to the vehicle speed change information are determined, wherein the wind speed mapping relationship is used to indicate that the greater the speed and / or the acceleration, the greater the wind speed.

[0042] Optionally, the target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle, and the effect adjustment module is specifically used for:

[0043] If it is determined that the target vehicle has turned based on the vehicle steering change information, the turning side relative to the target vehicle is determined;

[0044] Based on the steering side of the target vehicle, the wind speed control parameters of the air conditioning vents are determined, wherein the wind speed control parameters are used to indicate that the wind speed of the air conditioning vents on the steering side is greater than the wind speed of the air conditioning vents on the non-steering side.

[0045] Optionally, the vehicle control device may include a parameter adjustment module, which is specifically used for:

[0046] Obtain the vehicle environment data of the target vehicle;

[0047] The control parameters of the object are adjusted based on the vehicle environment data to obtain the adjusted control parameters of the object.

[0048] Optionally, the effect adjustment module is specifically used for:

[0049] Obtain the position and pose information of the occupants inside the vehicle;

[0050] Based on the vehicle motion change information and the pose information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted.

[0051] Optionally, the pose information includes head pose information, and the effect adjustment module is specifically used for:

[0052] Obtain occupant images of the occupants inside the vehicle;

[0053] Facial recognition is performed on the occupant image to determine the head position and pose information of the occupant inside the vehicle.

[0054] Optionally, the target vehicle is equipped with a camera, which captures the occupant image using target shooting parameters. The effect adjustment module is specifically used for:

[0055] Perform facial recognition on the occupant image to determine the facial features of the occupants inside the vehicle;

[0056] Based on the facial features and the target shooting parameters, the head posture of the occupant in the vehicle is estimated to obtain the head posture information of the occupant.

[0057] Optionally, the head pose information includes head position and head orientation, the interactive sensing object includes air conditioning airflow, and the effect adjustment module is specifically used for:

[0058] Based on the head position and the head orientation, the airflow direction of the air conditioner is determined;

[0059] Based on the vehicle motion change information of the target vehicle, the output effect of the air conditioning air output in the direction of the wind is adjusted.

[0060] According to a third aspect of this application, a controller is provided, including one or more processors and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform any of the vehicle control methods provided in the embodiments of this application.

[0061] According to a fourth aspect of this application, a computer-readable storage medium is provided, including a computer program that, when run on a controller, causes the controller to perform any of the vehicle control methods provided in the embodiments of this application.

[0062] According to a fifth aspect of this application, a computer program product is provided, including a computer program or instructions that, when executed by a processor, implement any of the vehicle control methods provided in the embodiments of this application.

[0063] According to a sixth aspect of this application, a vehicle is provided, the vehicle including a controller.

[0064] In the vehicle control method of this application embodiment, the output effect of the interactive sensing object output to the occupants of the target vehicle is adjusted based on the vehicle motion change information of the target vehicle. The interactive sensing object is used for the occupants to perceive through at least one of touch and hearing, thereby alleviating the motion sickness of the occupants by applying the interactive sensing object to the occupants.

[0065] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0068] Figure 1 This is a schematic flowchart of a vehicle control method provided in an exemplary embodiment of this disclosure;

[0069] Figure 2 This is a schematic diagram of a gentle airflow from an air conditioner provided in an exemplary embodiment of this disclosure;

[0070] Figure 3 This is a schematic diagram illustrating the increased airflow speed of the air conditioner provided in an exemplary embodiment of this disclosure;

[0071] Figure 4 This is a schematic diagram illustrating the slowdown of air conditioning airflow in an exemplary embodiment of this disclosure;

[0072] Figure 5 This is a schematic diagram of the air conditioning airflow when turning right, provided in an exemplary embodiment of this disclosure;

[0073] Figure 6 This is a schematic diagram of the air conditioning airflow when turning left, provided in an exemplary embodiment of this disclosure;

[0074] Figure 7 This is a schematic diagram of the structure of the vehicle control device provided in an exemplary embodiment of this disclosure;

[0075] Figure 8 This is a schematic diagram of the controller provided in the embodiments of this application. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0077] This application provides a vehicle control method, apparatus, and system. The vehicle control apparatus can be integrated into a controller such as a terminal device and / or a cloud server. For example, the terminal device can be a vehicle control terminal, an in-vehicle data processing system, an in-vehicle communication system, a drone controller (handle, etc.), a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, or other devices installed in the vehicle.

[0078] Furthermore, in the embodiments of this application, "multiple" refers to two or more. The terms "first" and "second," etc., in the embodiments of this application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0079] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0080] Please see Figure 1 , Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application. For ease of description, this embodiment uses a terminal device for illustration; that is, the above-described vehicle control method may include:

[0081] S101. Based on the vehicle motion change information of the target vehicle, adjust the output effect of the interactive perception object output to the occupants of the target vehicle, wherein the interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

[0082] The aforementioned vehicle motion change information is used to indicate the motion changes of the target vehicle. This vehicle motion change information includes, but is not limited to, vehicle speed change information, vehicle steering change information, and vehicle angle change information. Specifically, the aforementioned vehicle speed change information indicates the target vehicle's speed, acceleration, and other speed-related information; the aforementioned vehicle steering change information indicates the target vehicle's steering angle, steering direction, and other steering-related information; and the aforementioned vehicle angle change information indicates the target vehicle's tilt angle, pitch angle, and other angles.

[0083] In this embodiment, an interactive sensing object is designed for the vehicle occupants to perceive through at least one of the following senses: smell (e.g., aromatherapy), touch (e.g., the air conditioning from the vehicle's air conditioner), and hearing (e.g., music or the sound of the air conditioning). By combining stimulation from at least one sense, a multi-sensory experience is provided to the vehicle occupants, surpassing traditional methods that rely solely on visual signals. This helps occupants synchronize their sensory perception with the vehicle's movement. Through sensory perception, situations where occupants cannot intuitively perceive changes in vehicle operation are avoided. For example, when occupants close their eyes, sleep, or focus on other tasks, tactile stimulation (such as adjusting the air conditioning speed and direction) can directly affect the occupants' skin sensory organs, providing them with real-time and intuitive motion perception. Thus, through the combination of multi-sensory stimulation, the information processing of the inner ear vestibular system and other sensory systems can be better coordinated, effectively alleviating motion sickness symptoms. This improves the comfort of vehicle occupants while reducing the need for medication or other interventions for motion sickness.

[0084] Furthermore, by matching the target vehicle's motion changes with interactive sensing objects, the output effect of the interactive sensing objects can be dynamically adjusted by monitoring the vehicle's motion state in real time (such as acceleration, deceleration, and steering). This enhances the multi-sensory perception of vehicle motion by occupants, making the perception more intuitive and thus more effectively matching information with the inner ear's vestibular system. For example, the air conditioning system can quickly respond to changes in the vehicle's motion state, providing immediate, more direct, and effective sensory feedback. Furthermore, this vehicle control method does not rely on the visual attention of occupants, making it applicable to a wider range of riding scenarios and conditions. It is particularly suitable for situations where sustained visual attention is impossible, such as when the vehicle is bumpy, in poor lighting, or when occupants are reading or using electronic devices. It can provide necessary sensory stimulation without interfering with the occupants' current activities, thus providing a more effective solution to alleviate motion sickness. This overcomes the limitations of relying solely on visual compensation and also enhances the overall riding experience. Occupants can enjoy a more comfortable in-vehicle environment without being forced to focus on a particular visual point, improving the system's applicability and enabling it to work efficiently under various occupant needs and preferences, especially in modern transportation where occupants are increasingly involved in multitasking.

[0085] Specifically, vehicle-mounted sensors such as speed sensors, accelerometers, and gyroscopes can be used to acquire real-time kinematic information about the vehicle, i.e., information on changes in vehicle motion. All the aforementioned sensors collect data from the target vehicle, providing dynamic data such as speed, acceleration, and steering angle. This data serves as the basis for subsequent control of onboard devices (such as the vehicle's air conditioning) to output interactive sensing objects. This helps adjust the parameters of the interactive sensing objects based on the vehicle's dynamic state, ensuring that the output of the interactive sensing objects matches the vehicle's motion changes, thereby improving passenger comfort and driving experience, and alleviating motion sickness. The data from all the aforementioned sensors is aggregated and transmitted through a vehicle bus system (such as a CAN bus), forming a comprehensive kinematic data stream. The system software can process and analyze this data in real time to provide accurate information on changes in vehicle motion.

[0086] The aforementioned vehicle speed sensor is mainly used to measure the instantaneous speed of a vehicle. This vehicle speed sensor is usually installed in the vehicle's transmission system and can use components such as wheel speed sensors or GPS modules to provide real-time linear speed information of the vehicle.

[0087] The aforementioned accelerometer is used to measure the acceleration of a vehicle. It is usually a triaxial accelerometer that can capture the acceleration changes of a vehicle in the front-back, left-right, and up-down directions.

[0088] The aforementioned gyroscope is used to measure information related to the vehicle's rotational motion, such as steering angle and yaw rate. The gyroscope can be a three-axis gyroscope to sense the vehicle's rotational motion in the roll, pitch, and yaw directions.

[0089] Specifically, the step of adjusting the output effect of the interactive sensing object to the occupants of the target vehicle can be executed by the execution module. After receiving the instruction from the control algorithm, the execution module adjusts the control parameters corresponding to the object output device to output the adjusted interactive sensing object. For example, when the interactive sensing object is air conditioning air, the object output device can be the air conditioning fan and air vent of the vehicle's air conditioning system. The air conditioning execution module can adjust the fan speed of the air conditioning fan and the air outlet direction to achieve precise control of the air conditioning air speed and direction. For example, two control units can be set up: a fan speed control unit and an air direction control unit. The fan speed control unit changes the fan speed by adjusting the motor speed of the air conditioning fan, while the air direction control unit adjusts the air outlet direction through a stepper motor or servo motor.

[0090] In some embodiments, adjusting the output effect of the interactive sensing object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes: determining the object control parameters of the interactive sensing object based on the vehicle motion change information; and adjusting the output effect of the interactive sensing object output to the occupants of the target vehicle based on the object control parameters.

[0091] Among them, the above-mentioned object control parameters are parameters used to control the interactive sensing object. Different object control parameters of the interactive sensing object will result in different output effects of the interactive sensing object. Therefore, the object control parameters corresponding to the vehicle movement change information can be determined by the vehicle movement change information in order to control the output effect of the interactive sensing object.

[0092] Specifically, the interactive sensing object includes air conditioning air, and the object control parameters include the air outlet control parameters corresponding to the air conditioning air. The air outlet control parameters are used to control the air direction, air speed, and temperature of the air conditioning air. The specific settings can be configured according to requirements and are not limited here. Among them, the air speed control parameter in the air outlet control parameters is used to control the air speed, the air direction control parameter is used to control the direction, and the temperature control parameter is used to control the temperature.

[0093] In some embodiments, the vehicle motion change information includes vehicle speed change information and / or vehicle steering change information, and determining the object control parameters of the interactive sensing object based on the vehicle motion change information includes: determining the wind speed control parameter in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information.

[0094] In this embodiment, by combining the kinematic information of the target vehicle, the air conditioning speed can be controlled to change accordingly based on the changes in the target vehicle's speed or direction. For example, when the target vehicle accelerates, the air speed can be appropriately increased to enhance the ventilation effect; when the target vehicle turns right, the air volume of the air conditioning vent on the right side of the passenger increases, while the air volume of the air conditioning vent on the left side decreases, thereby intuitively informing passengers of the vehicle's motion status and alleviating motion sickness to some extent.

[0095] In the control strategy for determining the wind speed control parameter in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information, the fuzzy control logic and smooth transition algorithm can be closely combined. By establishing a fuzzy rule base (the mapping relationship between vehicle speed change information and / or vehicle steering change information and wind speed control parameters), the fuzzy inference system (FIS) processes the input fuzzy data based on the corresponding fuzzy rules, and then outputs a suitable wind speed setting.

[0096] Understandably, the aforementioned fuzzy data is obtained by converting precise numerical data (such as the speed and acceleration of the target vehicle) into fuzzy sets. Taking the speed of the target vehicle as an example, the precise speed can be divided into several fuzzy sets, such as fuzzy sets corresponding to "low speed," "medium speed," and "high speed," each fuzzy set corresponding to a range of speed values. Similarly, acceleration can be fuzzified into fuzzy sets such as "negative," "zero," and "positive." Membership functions are typically used in the fuzzification process to define the boundaries and shapes of these sets. For example, a simple triangular membership function can be used to represent the degree to which a vehicle speed falls within a certain range of "medium speed." Through this fuzzification process, different driving conditions can be handled more flexibly, and this fuzzy data can be converted into specific control actions through a fuzzy inference system, thereby achieving dynamic adjustment of wind speed.

[0097] Specifically, the vehicle speed change information is used to indicate the speed and / or acceleration of the target vehicle, and the wind speed control parameter is used to control the wind speed of the air conditioning. Determining the wind speed control parameter in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information includes: determining the wind speed control parameter corresponding to the vehicle speed change information based on a preset wind speed mapping relationship, wherein the wind speed mapping relationship indicates that the greater the speed and / or acceleration, the greater the wind speed. A greater wind speed results in a greater air volume output.

[0098] In this embodiment, wind speed adjustment rules can be defined based on different combinations of the target vehicle's speed and acceleration. In FIS, wind speed adjustment rules are typically defined using a fuzzy rule base. These rules describe the mapping relationship between fuzzy data (e.g., a fuzzy set of speed and acceleration) and wind speed. For example, if the target vehicle's speed is 'high' and its acceleration is 'positive', then the wind speed is 'increasing'. Here, "high", "positive", and "increasing" are all labels of the fuzzy set. FIS determines the corresponding wind speed control parameters, such as specific wind speed setpoints, based on the labels corresponding to the fuzzy data.

[0099] For example, such as Figure 2 , Figure 3 and Figure 4 As shown, if the target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle, then when the target vehicle is stationary and moving at a normal constant speed, it can obtain the following: Figure 2 The air conditioning vents on both sides of the passenger compartment are shown to have a gentle airflow speed; compared to Figure 2 As shown in the example, when the target vehicle is accelerating, the following can be obtained: Figure 3 The air conditioning vents on both sides of the passenger compartment show increased airflow speed and volume; compared to Figure 2 As shown in the example, when the target vehicle is decelerating, the following can be obtained: Figure 4 The air conditioning vents on both sides of the passenger compartment show a decrease in airflow speed and volume.

[0100] Specifically, the target vehicle is equipped with air conditioning vents on both sides of the occupants inside the vehicle. The step of determining the wind speed control parameter in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information includes: determining the steering side of the target vehicle when it is determined that the target vehicle is steering based on the vehicle steering change information; and determining the wind speed control parameter of the air conditioning vent based on the steering side of the target vehicle, wherein the wind speed control parameter is used to indicate that the wind speed of the air conditioning vent on the steering side is greater than the wind speed of the air conditioning vent on the non-steering side.

[0101] For example, such as Figure 5 and Figure 6 As shown, if the target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle, then, compared to Figure 2 As shown in the example, when the target vehicle is turning right, the following can be obtained: Figure 5 The air conditioning fan speed on the right side increases, while the air conditioning fan speed on the left side decreases; compared to... Figure 2 As shown in the example, when the target vehicle is turning left, the following can be obtained: Figure 6 The airflow speed of the air conditioner on the left increases, while the airflow speed of the air conditioner on the right decreases.

[0102] In some embodiments, before adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the object control parameters, the method further includes: acquiring vehicle environment data of the target vehicle; and adjusting the object control parameters based on the vehicle environment data to obtain adjusted object control parameters.

[0103] In this embodiment, the control parameters of the object are further optimized based on environmental data such as temperature and humidity inside and outside the vehicle. For example, when the outside temperature is high, the fan speed can be increased appropriately to enhance the cooling effect, and vice versa. When the humidity inside the vehicle is high, the fan speed can be increased to help air circulation and dehumidification. By combining environmental data, the system can respond more intelligently to changes in external conditions, thereby improving passenger comfort and the energy efficiency of the air conditioning system. This integrated approach not only improves the system's responsiveness but also enhances passenger comfort.

[0104] In practice, a series of environmental control rules can be set to adjust the control parameters of the object based on the vehicle's environmental data. For example, if the outside temperature is high and the inside humidity is high, the wind speed can be increased.

[0105] In some embodiments, before adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the object control parameters, a smooth transition algorithm can be used for processing. Specifically, this may include: performing a smooth transition processing on the object control parameters using a smooth transition algorithm to obtain processed object control parameters, wherein the processed object control parameters include object control sub-parameters at at least two time points.

[0106] In this embodiment, to avoid discomfort caused by sudden changes in the output effect of the interactive sensing object controlled by object control parameters such as wind speed, a smooth transition algorithm can be introduced. The purpose of this smooth transition algorithm is to avoid the discomfort caused to passengers by sudden changes in wind speed, thereby controlling the wind speed in a gradual or slow manner.

[0107] For example, when a need to increase wind speed is detected, the wind speed is not immediately jumped from the current value to the target value (the value corresponding to the object control parameter). Instead, it is gradually adjusted through a series of small increments (i.e., object control sub-parameters at least two time points). For instance, assuming the current wind speed is 10 units and the target wind speed is 20 units, it can be increased by 1 unit per second until the target wind speed is reached. This gradual change can be achieved through interpolation algorithms, ensuring that the wind speed change process is smooth and natural. In addition, a fuzzy rule base can assist in smooth transition algorithms, transforming the defuzzification process into specific control actions, ensuring that the wind speed change is gradual rather than sudden, and ensuring a natural and smooth transition during wind speed adjustment.

[0108] In some embodiments, adjusting the output effect of the interactive sensing object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes: acquiring the pose information of the occupants; and adjusting the output effect of the interactive sensing object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle and the pose information.

[0109] In this embodiment, the obtained data can be integrated, for example, based on the occupant's pose information and vehicle motion change information, to adjust the output effect of the interactive sensing object output to the occupant of the target vehicle. For example, data analysis can be performed through a control algorithm module, such as using an adaptive control algorithm to dynamically adjust the output effect of the interactive sensing object (e.g., the aforementioned object control parameters) and air conditioning parameters based on real-time data (vehicle motion change information and pose information).

[0110] Optionally, to facilitate data analysis by the control algorithm module, vehicle motion change information and pose information can be integrated into a unified input data stream. This facilitates further analysis and control, improving system response speed and accuracy, enabling faster analysis and decision-making, and reducing latency. Furthermore, a unified data stream simplifies the system architecture, allowing subsequent control algorithm modules to run in an integrated environment, reducing complexity and potential errors. This can be achieved through processing methods such as Kalman filtering and Bayesian networks to synchronize and integrate data from different sources, forming a unified data stream.

[0111] In some embodiments, the pose information includes head pose information (e.g., three-dimensional head position and head orientation), and obtaining the pose information of the occupant in the vehicle includes: obtaining an image of the occupant in the vehicle; performing facial recognition on the occupant image to determine the head pose information of the occupant in the vehicle.

[0112] Among them, cameras installed in the vehicle can be used to capture passenger images in real time. Based on the head position in the passenger images, three-dimensional position tracking can be performed, which can determine the specific position of the passenger's head in the vehicle at multiple times. In addition to accurately locating the passenger's head, it can also adapt to different passenger sitting postures, avoiding passengers not being captured by the camera due to changes in sitting posture, thereby more accurately adjusting the air conditioning direction.

[0113] Specifically, the acquisition frequency of the aforementioned occupant images can be set according to requirements and is not limited here. For example, in the image capture and preprocessing stage, the camera captures passenger occupant images, such as facial images, in real time at a fixed frame rate (e.g., 30 frames per second).

[0114] Optionally, key components of the high-resolution camera system can be mounted near the rearview mirror inside the vehicle to ensure clear images are acquired under various lighting conditions, covering the entire interior environment (passenger compartment).

[0115] Alternatively, in order to work effectively in low-light environments (such as at night), an infrared camera can be equipped to capture clear images in the absence of visible light.

[0116] Alternatively, a high-speed shutter setting can be used to reduce motion blur.

[0117] Optionally, member images can be preprocessed, including image denoising, brightness and contrast adjustment, and edge enhancement, to improve the accuracy of subsequent analysis.

[0118] Specifically, the process of determining the head pose information mentioned above can be implemented through the DMS system.

[0119] In some embodiments, a camera is installed on the target vehicle, and the camera captures the occupant image using target shooting parameters. The step of performing facial recognition on the occupant image to determine the head position and pose information of the occupant includes: performing facial recognition on the occupant image to determine the facial features of the occupant; and estimating the head pose of the occupant based on the facial features and the target shooting parameters to obtain the head position and pose information of the occupant.

[0120] Specifically, the aforementioned face recognition can be achieved through face detection algorithms (such as algorithms based on convolutional neural networks). By using face detection algorithms to identify facial features in images, key facial points (such as eyes, nose, and mouth) can be quickly identified.

[0121] Specifically, the head pose information of the occupants in the vehicle can be obtained through pose estimation algorithms (such as PnP problem solving algorithms). For example, based on the relative positions of key points on the face and combined with the target shooting parameters of the camera, facial feature points in the image are detected, and the rotation and translation matrix of the camera relative to the face is calculated by combining the PnP algorithm with the coordinates of the three-dimensional facial model, thereby determining the head position, head orientation and other pose information in the vehicle.

[0122] To improve the accuracy of recognition, well-trained deep learning models can be used. These models are trained on a large amount of facial data and can accurately identify facial features under different angles and lighting conditions. By using deep learning models trained on large-scale data, feature points can be identified more accurately under different lighting and angles, further improving the calculation accuracy and calculating the head position and posture information inside the vehicle.

[0123] The target capture parameters include the camera's intrinsic parameters and extrinsic parameters. The intrinsic parameters indicate information such as the camera's focal length and optical center, while the extrinsic parameters indicate information such as the camera's rotation and translation.

[0124] Specifically, the head posture information includes head position and head orientation, the interactive sensing object includes air conditioning air, and the adjustment of the output effect of the interactive sensing object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle and the posture information includes: determining the air conditioning air direction based on the head position and head orientation, i.e., obtaining the optimal direction for the air conditioning air to be output from the air conditioning vents; and adjusting the output effect of the air conditioning air output in the stated air direction based on the vehicle motion change information of the target vehicle.

[0125] In this embodiment, the air conditioning air direction adjustment needs to take into account the passenger's head position and head orientation to ensure that the airflow is accurately directed at the passenger's head.

[0126] In some embodiments, before adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information and the pose information, the method further includes: performing data calibration on the vehicle motion change information and the pose information to obtain calibrated vehicle motion change information and calibrated pose information.

[0127] In this embodiment, the vehicle motion change information and the pose information can be calibrated in at least two dimensions, such as time and space, through a data processing module to improve data accuracy. Since data from different sensors have different timestamps and spatial coordinates, time synchronization and spatial calibration are necessary. For example, since the vehicle motion change information and the pose information may be collected at different times, preprocessing the data ensures that they are compared and analyzed within a unified time and space framework. This ensures that when analyzing and controlling the output of the interactive sensing object, the pose information at a certain moment can be accurately correlated with the vehicle motion change information at the same moment, thereby improving the accuracy and response speed of the analysis.

[0128] Specifically, the aforementioned time synchronization can be achieved through standardized timestamps and data alignment, for example, by using interpolation methods to align data from different sampling frequencies to a unified time point. The aforementioned spatial calibration can be achieved by transforming all sensor data in the vehicle motion change information to a common coordinate system, and / or by performing position calibration based on the sensor's installation location. For example, a rotation matrix can be used to transform the camera's coordinate system to the vehicle's center of gravity coordinate system.

[0129] As can be seen from the above, by adjusting the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information, the interactive perception object is used for the occupants to perceive through at least one of touch and hearing, thereby alleviating the motion sickness of the occupants by applying the interactive perception object to the occupants.

[0130] To facilitate better implementation of the vehicle control method provided in this application, this application also provides an apparatus based on the above-described vehicle control method. The meanings of the terms used are the same as in the above-described vehicle control method, and specific implementation details can be found in the descriptions within the method embodiments.

[0131] For example, such as Figure 7 As shown, the vehicle control device may include:

[0132] The effect adjustment module 701 is used to allow the interactive sensing object in the effect adjustment module to be perceived by the occupants of the vehicle through at least one of touch and hearing.

[0133] Optionally, the effect adjustment module 701 is specifically used for:

[0134] Based on the vehicle motion change information, determine the object control parameters of the interactive sensing object;

[0135] Based on the object control parameters, adjust the output effect of the interactive perception object output to the occupants of the target vehicle.

[0136] Optionally, the interactive sensing object includes air conditioning air, and the object control parameters include the air outlet control parameters corresponding to the air conditioning air.

[0137] Optionally, the vehicle motion change information includes vehicle speed change information and / or vehicle steering change information, and the effect adjustment module 701 is specifically used for:

[0138] Based on the vehicle speed change information and / or the vehicle steering change information, the wind speed control parameter in the air outlet control parameter is determined.

[0139] Optionally, the vehicle speed change information is used to indicate the speed and / or acceleration of the target vehicle, the wind speed control parameter is used to control the wind speed of the air conditioning, and the effect adjustment module 701 is specifically used for:

[0140] Based on a preset wind speed mapping relationship, wind speed control parameters corresponding to the vehicle speed change information are determined, wherein the wind speed mapping relationship is used to indicate that the greater the speed and / or the acceleration, the greater the wind speed.

[0141] Optionally, the target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle, and the effect adjustment module 701 is specifically used for:

[0142] If it is determined that the target vehicle has turned based on the vehicle steering change information, the turning side relative to the target vehicle is determined;

[0143] Based on the steering side of the target vehicle, the wind speed control parameters of the air conditioning vents are determined, wherein the wind speed control parameters are used to indicate that the wind speed of the air conditioning vents on the steering side is greater than the wind speed of the air conditioning vents on the non-steering side.

[0144] Optionally, the vehicle control device may include a parameter adjustment module, which is specifically used for:

[0145] Obtain the vehicle environment data of the target vehicle;

[0146] The control parameters of the object are adjusted based on the vehicle environment data to obtain the adjusted control parameters of the object.

[0147] Optionally, the effect adjustment module 701 is specifically used for:

[0148] Obtain the position and pose information of the occupants inside the vehicle;

[0149] Based on the vehicle motion change information and the pose information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted.

[0150] Optionally, the pose information includes head pose information, and the effect adjustment module 701 is specifically used for:

[0151] Obtain occupant images of the occupants inside the vehicle;

[0152] Facial recognition is performed on the occupant image to determine the head position and pose information of the occupant inside the vehicle.

[0153] Optionally, the target vehicle is equipped with a camera, which captures the occupant image using target shooting parameters. The effect adjustment module 701 is specifically used for:

[0154] Perform facial recognition on the occupant image to determine the facial features of the occupants inside the vehicle;

[0155] Based on the facial features and the target shooting parameters, the head posture of the occupant in the vehicle is estimated to obtain the head posture information of the occupant.

[0156] Optionally, the head pose information includes head position and head orientation, the interactive sensing object includes air conditioning airflow, and the effect adjustment module 701 is specifically used for:

[0157] Based on the head position and the head orientation, the airflow direction of the air conditioner is determined;

[0158] Based on the vehicle motion change information of the target vehicle, the output effect of the air conditioning air output in the direction of the wind is adjusted.

[0159] The vehicle control device proposed in this application adjusts the output effect of an interactive sensing object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle. The interactive sensing object is used for the occupants to perceive through at least one of touch and hearing, thereby alleviating motion sickness by applying the interactive sensing object to the occupants.

[0160] In practice, each of the above modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation methods and corresponding beneficial effects of each of the above modules, please refer to the previous method embodiments, which will not be repeated here.

[0161] This application also provides a controller, such as... Figure 8 As shown, it illustrates a schematic diagram of the controller involved in an embodiment of this application. Specifically:

[0162] The controller may include components such as a processor 801 with one or more processing cores, a memory 802 with one or more computer-readable storage media, a power supply 803, and an input unit 804. Those skilled in the art will understand that... Figure 8 The controller structure shown does not constitute a limitation on the controller and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0163] in:

[0164] The processor 801 is the control center of the controller, connecting various parts of the controller via various interfaces and lines. It executes various functions and processes data by running or executing computer programs and / or modules stored in the memory 802, and by calling data stored in the memory 802. Optionally, the processor 801 may include one or more processing cores; preferably, the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 801.

[0165] The memory 802 can be used to store computer programs and modules. The processor 801 executes various functional applications and data processing by running the computer programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 802 may also include a memory controller to provide the processor 801 with access to the memory 802.

[0166] The controller also includes a power supply 803 that supplies power to the various components. Preferably, the power supply 803 can be logically connected to the processor 801 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 803 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0167] The controller may also include an input unit 804, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0168] Although not shown, the controller may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 801 in the controller loads the executable files corresponding to the processes of one or more computer programs into the memory 802 according to the following instructions, and the processor 801 runs the computer programs stored in the memory 802 to realize various functions, such as:

[0169] Based on the vehicle motion change information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

[0170] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the detailed description of the vehicle control method above, which will not be repeated here.

[0171] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0172] Therefore, embodiments of this application provide a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the vehicle control methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0173] Based on the vehicle motion change information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

[0174] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

[0175] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0176] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the vehicle control methods provided in the embodiments of this application, the beneficial effects that any of the vehicle control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0177] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned vehicle control method.

[0178] According to one aspect of this application, a vehicle is provided that includes the aforementioned controller.

[0179] The foregoing has provided a detailed description of a vehicle control method, device, controller, medium, product, and vehicle provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Based on the vehicle motion change information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

2. The vehicle control method according to claim 1, characterized in that, The adjustment of the output effect of the interactive perception object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes: Based on the vehicle motion change information, determine the object control parameters of the interactive sensing object; Based on the object control parameters, adjust the output effect of the interactive perception object output to the occupants of the target vehicle.

3. The vehicle control method according to claim 2, characterized in that, The interactive sensing object includes the air conditioner airflow, and the object control parameters include the air outlet control parameters corresponding to the air conditioner airflow.

4. The vehicle control method according to claim 3, characterized in that, The vehicle motion change information includes vehicle speed change information and / or vehicle steering change information. The step of determining the object control parameters of the interactive sensing object based on the vehicle motion change information includes: Based on the vehicle speed change information and / or the vehicle steering change information, the wind speed control parameter in the air outlet control parameter is determined.

5. The vehicle control method according to claim 4, characterized in that, The vehicle speed change information is used to indicate the speed and / or acceleration of the target vehicle, and the wind speed control parameter is used to control the wind speed of the air conditioning air. Determining the wind speed control parameter in the air outlet control parameter based on the vehicle speed change information and / or the vehicle steering change information includes: Based on a preset wind speed mapping relationship, wind speed control parameters corresponding to the vehicle speed change information are determined, wherein the wind speed mapping relationship is used to indicate that the greater the speed and / or the acceleration, the greater the wind speed.

6. The vehicle control method according to claim 4, characterized in that, The target vehicle is equipped with air conditioning vents located on both sides of the occupants inside the vehicle. The determination of the wind speed control parameters in the air outlet control parameters based on the vehicle speed change information and / or the vehicle steering change information includes: If it is determined that the target vehicle has turned based on the vehicle steering change information, the turning side relative to the target vehicle is determined; Based on the steering side of the target vehicle, the wind speed control parameters of the air conditioning vents are determined, wherein the wind speed control parameters are used to indicate that the wind speed of the air conditioning vents on the steering side is greater than the wind speed of the air conditioning vents on the non-steering side.

7. The vehicle control method according to claim 2, characterized in that, Before adjusting the output effect of the interactive perception object to the occupants of the target vehicle based on the object control parameters, the method further includes: Obtain the vehicle environment data of the target vehicle; The control parameters of the object are adjusted based on the vehicle environment data to obtain the adjusted control parameters of the object.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that, The adjustment of the output effect of the interactive perception object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle includes: Obtain the position and pose information of the occupants inside the vehicle; Based on the vehicle motion change information and the pose information of the target vehicle, the output effect of the interactive perception object output to the occupants of the target vehicle is adjusted.

9. The vehicle control method according to claim 8, characterized in that, The pose information includes head pose information, and obtaining the pose information of the occupants in the vehicle includes: Obtain occupant images of the occupants inside the vehicle; Facial recognition is performed on the occupant image to determine the head position and pose information of the occupant inside the vehicle.

10. The vehicle control method according to claim 9, characterized in that, The target vehicle is equipped with a camera, which captures images of the occupants using target shooting parameters. The process of performing facial recognition on the occupant images to determine the head position and pose information of the occupants includes: Perform facial recognition on the occupant image to determine the facial features of the occupants inside the vehicle; Based on the facial features and the target shooting parameters, the head posture of the occupant in the vehicle is estimated to obtain the head posture information of the occupant.

11. The vehicle control method according to claim 9, characterized in that, The head pose information includes head position and head orientation; the interactive sensing object includes air conditioning airflow; and the adjustment of the output effect of the interactive sensing object to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle and the pose information includes: Based on the head position and the head orientation, the airflow direction of the air conditioner is determined; Based on the vehicle motion change information of the target vehicle, the output effect of the air conditioning air output in the direction of the wind is adjusted.

12. A vehicle control device, characterized in that, The device includes: The effect adjustment module is used to adjust the output effect of the interactive perception object output to the occupants of the target vehicle based on the vehicle motion change information of the target vehicle. The interactive perception object is used for the occupants to perceive through at least one of touch and hearing.

13. A controller, characterized in that, It includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the vehicle control method according to any one of claims 1 to 11.

14. A storage medium, characterized in that, Includes a computer program, which, when run on a controller, causes the controller to perform the steps of the vehicle control method according to any one of claims 1 to 11.

15. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, implement the steps of the vehicle control method according to any one of claims 1 to 11.

16. A vehicle, characterized in that, The vehicle includes the controller as described in claim 13.

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