A control method and related apparatus

Abstract

A control method and related device are applied to the technical field of welcome control. In the method, the position of a first light module, the position of a first seat and the position of a first door can match the actual position of a user, can provide more accurate welcome service for the user, and improve the user's ride experience. Moreover, in scenes such as underground garage and night, the first light module is lit to illuminate the ground under the user's feet, improve the senior atmosphere, and facilitate the user to get on and off the vehicle. Moreover, the method can execute multiple welcome operations with different control logics for the on-vehicle scene and the off-vehicle scene, for example, creating a welcome ceremony through multiple welcome operations in the on-vehicle scene, and creating a farewell ceremony through multiple welcome operations in the off-vehicle scene. The two ceremonies are independently designed, which can improve the senior atmosphere, intelligent perception, make the interaction more in line with the user's intuition, and enhance the ceremony.

Description

Technical Field

[0001] This application relates to the field of welcoming control technology, and in particular to a control method and related device. Background Technology

[0002] The primary purpose of a vehicle's welcome function is to enhance the user's riding experience. Currently, common welcome functions in vehicles involve the linkage between welcome lights and the seat system. Welcome lights are typically installed below the door or rearview mirror. When the driver or passenger opens the door, the welcome lights illuminate while the seat automatically adjusts backward, providing greater space for entry. However, existing welcome functions are limited and result in a less than ideal user experience. Summary of the Invention

[0003] This application provides a control method and related device that can provide users with more precise and richer welcoming services, enhance the user's riding experience, and also improve the sense of luxury and intelligent perception, making the interaction more intuitive and enhancing the sense of ceremony.

[0004] Firstly, this application provides a control method that can be executed by a device with control capabilities. For ease of description, the following description uses a control device as an example.

[0005] The control method includes: the control device determining the user's travel scenario, which includes a boarding scenario and an alighting scenario. Based on the user's travel scenario, the control device executes multiple welcoming operations, including illuminating the first light module, opening the first vehicle door, and rotating the first vehicle seat. The control logic for the multiple welcoming operations corresponding to the boarding scenario differs from the control logic for the multiple welcoming operations corresponding to the alighting scenario.

[0006] The positions of the first lighting module, the first seat, and the first door correspond to the user's position. For example, when the user is on the left side of the vehicle (if the user wants to get in and out from the left side), the control device can illuminate the first lighting module on the left side of the vehicle, open the left rear door, and rotate the left seat of the second row. In other words, the positions of the first lighting module, the first seat, and the first door can match the user's actual position, providing a more precise welcome service and enhancing the user's riding experience. Furthermore, in scenarios such as underground parking garages or at night, illuminating the ground under the user's feet enhances the premium atmosphere and facilitates getting in and out of the vehicle.

[0007] Moreover, the control device can execute multiple welcoming operations with different control logic for the boarding and alighting scenarios. For example, multiple welcoming operations can be used to create a welcoming ceremony when boarding and a farewell ceremony when alighting. The two ceremonies are designed independently, which can enhance the sense of luxury and intelligent perception, make the interaction more intuitive for users, and enhance the sense of ceremony.

[0008] In one possible implementation of the first aspect, the control logic of the multiple welcoming operations corresponding to the boarding scenario differs from the control logic of the multiple welcoming operations corresponding to the alighting scenario, including: the execution order of the multiple welcoming operations corresponding to the boarding scenario is different from the execution order of the multiple welcoming operations corresponding to the alighting scenario; and / or, the triggering condition of the first welcoming operation in the multiple welcoming operations corresponding to the boarding scenario is different from the triggering condition of the first welcoming operation in the multiple welcoming operations corresponding to the alighting scenario.

[0009] In the above embodiments, the control device can perform multiple welcoming operations in different execution sequences and / or different triggering conditions for the boarding and alighting scenarios, so as to realize the independent design of the welcoming ceremony when boarding and the farewell ceremony when alighting, which can enhance the sense of high-end atmosphere, intelligent perception, and enhance the sense of ceremony.

[0010] In another possible implementation of the first aspect, the control device determines the user's riding scenario, including: the control device determines the user's riding scenario based on first information, the first information including one or more of the distance between the user and the vehicle and the user's input of a door opening instruction.

[0011] In the above embodiments, the control device can achieve a seamless welcome (i.e., no subjective operation by the user) by determining the user's riding scenario based on the distance between the user and the vehicle, and can achieve a tactile welcome by determining the user's riding scenario based on the user's input of door opening instructions and / or user input of door closing instructions. This can adapt to the needs of different user preferences and take into account both intelligent sense of ceremony and efficient user experience.

[0012] In another possible implementation of the first aspect, at least one of the lighting effect of the first lighting module, the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area, and the position of the illumination area is related to the user's position.

[0013] The above implementation method enables the lighting effect, shape / area / position of the illumination area of ​​the first lighting module to be adaptively adjusted according to the user's position, which optimizes the user's visual experience, the lighting is precisely matched to the user's activity range, reduces the ineffective light emission area, and the light following the user's movement can also form a dynamic interactive ritual, enhancing intelligent perception.

[0014] In another possible implementation of the first aspect, the user's riding scenario is a boarding scenario, and the control device performs multiple welcoming operations according to the user's riding scenario, including: the control device illuminating the first light module; the control device opening the first door; the control device controlling the first seat to rotate around the vertical direction to a first angle, and the first seat facing the first door after rotating to the first angle.

[0015] In the above implementation, when a user wants to get into the vehicle, the first light module corresponding to the user's position is turned on, the first door corresponding to the user's position is opened, and the first seat is rotated so that the first seat faces the first door, providing the user with a more precise and richer welcoming service, enhancing the sense of luxury and intelligent perception, and strengthening the sense of ceremony for the user getting into the vehicle.

[0016] In another possible implementation of the first aspect, the control device opens the first door by: the control device opening the first door when the user's position is within the illumination area of ​​the first lighting module and the distance between the user and the first door decreases over time.

[0017] In the above embodiments, when the user's position is within the illumination area of ​​the first light module, and the distance between the user and the first car door decreases over time, the user is likely to walk towards the first car door within the illumination area and get into the car through the first car door. At this time, the control device can open the first car door, which can provide the user with more precise welcoming service and enhance the sense of ceremony for the user getting into the car.

[0018] In another possible implementation of the first aspect, the control device opens the first vehicle door when the user's position is within the illumination area of ​​the first lighting module and the distance between the user and the first vehicle door decreases over time. This includes: the control device opens the first vehicle door when the user's position is within the illumination area of ​​the first lighting module, the distance between the user and the first vehicle door decreases over time, and the user's speed in a second direction is greater than a speed threshold. Exemplarily, the second direction may be the left-right direction of the vehicle.

[0019] In the above embodiments, the triggering condition for opening the first door also includes the user's speed in the second direction being greater than the speed threshold, that is, when the user is rapidly walking towards the first door in the illumination area (the user is very likely to board the vehicle through the first door), the control device can open the first door. This can reduce the possibility that the control device will mistakenly open the first door if the user does not board the vehicle through the first door, and can provide users with more accurate welcoming services and improve the user's riding experience.

[0020] In another possible implementation of the first aspect, the plurality of welcoming operations further include moving a second seat of the vehicle along a first direction, the movement of the second seat along the first direction altering the seating space of the first seat; the control device controlling the first seat to rotate about a vertical direction to a first angle includes: the control device controlling the second seat to move along the first direction to a first position; and the control device controlling the first seat to rotate about a vertical direction to a first angle.

[0021] In the above embodiments, the control device controls the second seat to move to the first position along the first direction, so as to reserve sufficient front and rear space between the first seat and the second seat, so as to avoid interference with the second seat when the first seat is subsequently controlled to rotate around the vertical direction.

[0022] In yet another possible implementation of the first aspect, the multiple welcoming operations also include adjusting the suspension travel of the vehicle's suspension.

[0023] In the above embodiments, the control device can adjust the suspension travel of the suspension to change the height of the vehicle body from the ground. For example, by adjusting the suspension travel of the suspension to reduce the height of the vehicle body from the ground, the user's step height difference can be reduced, the difficulty of getting on or off the vehicle can be reduced, the risk of stepping into the air or tripping can be reduced, and the user's riding experience can be improved.

[0024] In another possible implementation of the first aspect, the multiple welcoming operations further include at least one of unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to be in a flashing state.

[0025] The above implementation methods illustrate a variety of welcoming operations, which can provide users with richer welcoming services and enhance their travel experience.

[0026] In another possible implementation of the first aspect, the control device illuminating the first light module includes: the control device illuminating the first light module when the distance between the user and the vehicle is within a first distance range.

[0027] In the above embodiments, when the user is within a first distance range from the vehicle, the control device illuminates the first light module, which can illuminate the ground around the vehicle in advance, making it easier for the user to identify road conditions and locate the vehicle, thus improving the safety of nighttime travel. The control device controls the start and stop of the lights by controlling the distance threshold, which can avoid the lights working ineffectively for a long time, reducing power consumption and light source loss. Moreover, this method can achieve lighting preparation before getting into the vehicle without the user's subjective operation, which can reduce the burden of getting in and out of the vehicle and improve the convenience of use.

[0028] In another possible implementation of the first aspect, when the distance between the user and the vehicle is within a first distance range, the control device illuminates the first light module, including: when the distance between the user and the vehicle is within the first distance range and the user is located on the first side of the vehicle, the control device illuminates a light module disposed on the first side of the vehicle, wherein the first light module is a light module disposed on the first side of the vehicle.

[0029] In the above embodiments, the control device illuminates the light module located on the same side as the user, providing the user with more precise lighting services, avoiding ineffective light emission from the light module, and reducing power consumption and light source loss.

[0030] In another possible implementation of the first aspect, the control device illuminates the first light module by: when the distance between the user and the vehicle is within a second distance range, and the distance between the user and the first vehicle door decreases by a first distance, the control device illuminates the first light module, where the maximum distance of the second distance range is less than the minimum distance of the first distance range, or the second distance range is related to the illuminable area of ​​the first light module.

[0031] In the above embodiments, when the user is within a second distance range from the vehicle and the user is approaching the first door at a first distance, the probability of the user getting into the vehicle is relatively high. At this time, the control device illuminates the first light module, which can provide the user with more accurate lighting services, making it easier for the user to identify road conditions, locate the vehicle, and improve the safety of nighttime travel.

[0032] In another possible implementation of the first aspect, the user's riding scenario is an alighting scenario, and the control device performs a welcoming operation according to the user's riding scenario, including: the control device opening the first door; the control device controlling the first seat to rotate around the vertical direction to a second angle, and the first seat facing the first door after rotating to the second angle; and the control device illuminating the first light module.

[0033] In the above implementation, when a user wants to get out of the car, the first door corresponding to the user's position is opened, the first seat is rotated to face the first door, and the first light module corresponding to the user's position is illuminated. This provides the user with a more precise and richer welcoming service, enhancing the premium atmosphere and intelligent perception, and strengthening the sense of ceremony when the user gets out of the car. Moreover, the execution order of multiple welcoming operations in the getting-out scenario is different from that in the getting-in scenario, making the interaction more intuitive for the user and enhancing the sense of ceremony.

[0034] In another possible implementation of the first aspect, when the distance between the user and the vehicle decreases over time, the user's ride scenario is a boarding scenario.

[0035] In the above implementation, the distance between the user and the vehicle decreases over time, meaning the user is getting closer to the vehicle and may be about to get on. This riding scenario can be considered a boarding scenario, which facilitates subsequent welcoming operations based on the user's riding scenario, providing more precise welcoming services and enhancing the user's riding experience.

[0036] In yet another possible implementation of the first aspect, the distance between the user and the vehicle includes the distance between the user's electronic key and the vehicle.

[0037] The above implementation method can determine the distance between the user and the vehicle by measuring the distance between the electronic key and the vehicle. It can reuse the sensing hardware in the electronic key, eliminating the need for additional sensing sensors in the vehicle and thus reducing vehicle costs. Furthermore, the welcome service is only triggered for users carrying a valid electronic key, avoiding security risks caused by accidental activation by passersby.

[0038] In another possible implementation of the first aspect, the method further includes: the control device controlling the first seat to rotate about a vertical direction to a third angle, the first seat being rotated to the third angle and facing the front of the vehicle; the control device closing the first door and turning off the first light module.

[0039] For example, in scenarios where the welcoming service needs to be discontinued, the control device described above restores each device to its pre-welcoming state (such as normal driving conditions), ensuring vehicle safety. Furthermore, this implementation method eliminates the need for manual user adjustments, enhancing the convenience of human-vehicle interaction.

[0040] In another possible implementation of the first aspect, the control device controls the first seat to rotate to a third angle about the vertical direction, including: when the user has not boarded the vehicle within a first time period, or the user has boarded the vehicle, or a door closing instruction is received, the control device controls the first seat to rotate to a third angle about the vertical direction.

[0041] The above implementation examples illustrate some scenarios of exiting the welcoming service, where the control device resets the seats to ensure vehicle driving safety.

[0042] Secondly, this application provides a control device, which includes units for implementing the method described in the first aspect or any possible embodiment of the first aspect. Optionally, the control device includes a processing unit and a control unit. The processing unit processes data, and the control unit controls other components / devices to perform operations. For example, the processing unit determines a user's travel scenario, including a boarding scenario and an alighting scenario. The control unit executes multiple welcoming operations based on the user's travel scenario, including illuminating a first light module, opening a first vehicle door, and rotating a first vehicle seat, with the positions of the first light module and the first seat corresponding to the positions of the first door, respectively. The control logic for the multiple welcoming operations corresponding to the boarding scenario differs from the control logic for the multiple welcoming operations corresponding to the alighting scenario.

[0043] In one possible implementation of the second aspect, the control logic of the multiple welcoming operations corresponding to the boarding scenario differs from the control logic of the multiple welcoming operations corresponding to the alighting scenario, including: the execution order of the multiple welcoming operations corresponding to the boarding scenario is different from the execution order of the multiple welcoming operations corresponding to the alighting scenario; and / or, the triggering condition of the first welcoming operation in the multiple welcoming operations corresponding to the boarding scenario is different from the triggering condition of the first welcoming operation in the multiple welcoming operations corresponding to the alighting scenario.

[0044] In another possible implementation of the second aspect, the processing unit is further configured to determine the user's riding scenario based on first information, the first information including one or more of the distance between the user and the vehicle and the user's input door opening instruction.

[0045] In another possible implementation of the second aspect, at least one of the following is related to the user's position: the lighting effect of the first lighting module, the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area, and the position of the illumination area.

[0046] In another possible implementation of the second aspect, the user's vehicle riding scenario is a vehicle boarding scenario, and the control unit is also used to turn on the first light module; open the first door; control the first seat to rotate around the vertical direction to a first angle, and after the first seat is rotated to the first angle, it faces the first door.

[0047] In another possible implementation of the second aspect, the control unit is further configured to open the first door when the user's position is within the illumination area of ​​the first lighting module and the distance between the user and the first door decreases over time.

[0048] In another possible implementation of the second aspect, the control unit is further configured to open the first door when the user's position is within the illumination area of ​​the first lighting module, the distance between the user and the first door decreases over time, and the user's speed in the second direction exceeds a speed threshold. Exemplarily, the second direction may be the left-right direction of the vehicle.

[0049] In another possible implementation of the second aspect, the multiple welcoming operations further include moving the second seat of the vehicle along a first direction, the movement of the second seat along the first direction altering the seating space of the first seat; the control unit is also configured to control the second seat to move along the first direction to a first position; and control the first seat to rotate about a vertical direction to a first angle.

[0050] In another possible implementation of the second aspect, the multiple welcoming operations also include adjusting the suspension travel of the vehicle's suspension.

[0051] In another possible implementation of the second aspect, the multiple welcoming operations also include at least one of unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to be in a flashing state.

[0052] In another possible implementation of the second aspect, the control unit is also configured to illuminate the first light module when the distance between the user and the vehicle is within a first distance range.

[0053] In another possible implementation of the second aspect, the control unit is further configured to illuminate a light module disposed on the first side of the vehicle when the distance between the user and the vehicle is within a first distance range and the user is located on the first side of the vehicle. The first light module is a light module disposed on the first side of the vehicle.

[0054] In another possible implementation of the second aspect, the control unit is further configured to illuminate the first light module when the distance between the user and the vehicle is within a second distance range and the distance between the user and the first door decreases from the first distance, wherein the maximum distance of the second distance range is less than the minimum distance of the first distance range, or the second distance range is related to the illuminable area of ​​the first light module.

[0055] In another possible implementation of the second aspect, the user's riding scenario is an alighting scenario, and the control unit is also used to open the first door; control the first seat to rotate around the vertical direction to a second angle, and after the first seat rotates to the second angle, it faces the first door; and turn on the first light module.

[0056] In another possible implementation of the second aspect, when the distance between the user and the vehicle decreases over time, the user's ride scenario is the boarding scenario.

[0057] In another possible implementation of the second aspect, the distance between the user and the vehicle includes the distance between the user's electronic key and the vehicle.

[0058] In another possible implementation of the second aspect, the control unit is also used to control the first seat to rotate around the vertical direction to a third angle, after which the first seat faces the front of the vehicle; close the first door and turn off the first light module.

[0059] In another possible implementation of the second aspect, the control unit is also configured to control the first seat to rotate to a third angle about the vertical direction when the user has not boarded the vehicle within a first time period, or when the user has boarded the vehicle, or when a door closing instruction is received.

[0060] Thirdly, embodiments of this application provide a computing device, the computing device including a processor and a memory, the memory storing a program, the processor executing the program stored in the memory to enable the computing device to implement the method described in any of the first aspects above.

[0061] Fourthly, this application provides a vehicle that includes the control device described in the second aspect or the computing device described in the third aspect, the vehicle being used to implement the method described in any of the first aspects.

[0062] Fifthly, embodiments of this application provide a computer-readable storage medium for storing a computer program, the computer program including instructions for performing the method described in any of the first aspects above.

[0063] In a sixth aspect, this application provides a computer program product including computer instructions that, when executed by a control device, computing device, or processor, cause the method described in any of the first aspects to be implemented.

[0064] In a seventh aspect, this application provides a chip including a processor for executing computer instructions to cause a device on which the chip is mounted to perform the method described in any of the first aspects above.

[0065] The solutions provided in the second to seventh aspects above are used to implement or cooperate with the methods provided in the first aspect above, and therefore can achieve the same or corresponding beneficial effects as the first aspect, which will not be elaborated here. Attached Figure Description

[0066] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0067] Figure 1 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application; Figure 2 This is a structural schematic diagram of a seat provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating an embodiment of the present application for adjusting the rotation angle of a seat around a vertical direction; Figure 4 This is a schematic diagram illustrating another method for adjusting the rotation angle of a seat around the vertical direction, as provided in an embodiment of this application. Figure 5 This is a schematic diagram illustrating the connection relationship between multiple devices in a vehicle according to an embodiment of this application; Figure 6 This is a flowchart illustrating a control method provided in an embodiment of this application; Figure 7 This is a schematic diagram of a welcoming scene provided in an embodiment of this application; Figure 8 This is another schematic diagram of a welcoming scene provided in the embodiments of this application; Figure 9 This is another schematic diagram of a welcoming scene provided in the embodiments of this application; Figure 10 This is another schematic diagram of a welcoming scene provided in the embodiments of this application; Figure 11 This is a schematic diagram of an exiting a welcoming scene provided in an embodiment of this application; Figure 12 This is a schematic diagram of an interface provided in an embodiment of this application; Figure 13 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0068] The following describes the vehicle architecture to which this application can be applied. It should be noted that, in addition to vehicles, this application can be applied to other terminals with seats, such as ships, airplanes, manned equipment, or other terminals with seats; this description is only provided for vehicles.

[0069] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0070] Vehicle 100 includes seats 10 (e.g.) Figure 1Seats 101 and 102 are shown. Seat 10 is provided with a seat back. Furthermore, seat 10 is also provided with a cushion, on which a passenger can sit and lean against the seat back. For ease of description, the front-to-back direction of the seat is defined as the X-direction, the left-to-right direction as the Y-direction, and the direction parallel to gravity as the Z-direction. The X, Y, and Z directions are mutually perpendicular. It is understood that in other embodiments, the coordinate system may be established using other reference methods, which are not limited here. Figure 1 The mounting plane of the seat is, for example, the XOY plane, and the backrest surface of the seat back is, for example, the YOZ plane, with the X-axis perpendicular to the backrest surface. The X-axis direction can also be referred to as the front-to-back direction of the seat, and the Y-axis direction can also be referred to as the left-to-right direction of the seat. Optionally, the aforementioned backrest surface refers to the plane of the seat back that is perpendicular to the thickness direction of the seat back, and can be further defined as a plane perpendicular to the thickness direction and close to the seating direction.

[0071] In some cases, the seat 10 is equipped with a drive mechanism ( Figure 1 (Not shown in the diagram), the drive unit can drive the seat to rotate to adjust the rotation angle of the seat about the vertical direction (i.e., the Z direction). Optionally, the drive unit can also drive the seat 10 to move along the fore-and-aft direction of the seat 10 to achieve position adjustment of the seat 10, for example, drive the seat 10 to move backward (i.e., in the positive X-axis direction) or drive the seat 10 to move forward (i.e., in the negative X-axis direction).

[0072] The vehicle 100 also includes a control device 20, which has control capabilities and can control one or more components of the vehicle 100. For example, the control device 20 can control the drive mechanism in the seat 101 to drive the seat 101 to adjust the rotation angle of the seat 101 about the vertical direction. Alternatively, the control device 20 can control the drive mechanism in the seat 101 to drive the seat 101 to move along the fore-and-aft direction.

[0073] In some possible implementations, the control device 20 may include a hardware module with computing capabilities and / or a software module with computing capabilities. Examples based on hardware and software implementations are described below.

[0074] As an example of hardware implementation, the control device 20 may include at least one processor, which is a module with processing capabilities. In one implementation, the processor may be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits, which may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the corresponding function. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In some implementations, the control device 20 includes at least one processor integrated as a system-on-chip (SOC), which is commonly referred to as an SOC by those skilled in the art. The SOC may include at least one processor, and when the SOC includes multiple processors, the types of processors can be different, such as including a CPU and an MCU.

[0075] For example, the control device 20 includes, but is not limited to, a domain controller (DC), a mobile data center (MDC), an electronic control unit (ECU), and a vehicle integrated / integration unit (VIU). The DC may include a cockpit domain controller (CDC).

[0076] As an example of software implementation, control device 20 may include software functional units. As another example of a software functional unit, control device 20 may include one or more of the following: an executable computer program, computer code, or computer instructions, where "executable" means capable of running on a processor or computing instance. As yet another example of a software functional unit, control device 20 may include computing instances, including virtual machines, containers, etc. A virtual machine is a computer system simulated by software, possessing complete hardware system functionality and running in an isolated environment. A container is an isolated environment obtained by packaging applications and their dependencies.

[0077] The vehicle 100 also includes at least one lighting module 30. When the lighting module 30 is illuminated, it can project a large area of ​​light and shadow (which may be referred to as an illumination area) or a cursor onto the ground around the vehicle 100. For example, the lighting module 30 includes various types of lights such as light carpet lights and welcome lights. The illumination area of ​​the light carpet lights is relatively large, for example, in the form of a long carpet. In scenarios such as underground parking garages or at night, the lighting module can illuminate the ground under the user's feet, enhancing the sense of luxury. The lighting effects of the lighting module 30 can be adjusted. For example, the lighting effects of the lighting module 30 include one or more of the following: intensity parameters (such as brightness), color-related lighting effects (such as color temperature, color switching, color gradient, independent display of multiple color zones, etc.), timing mode, spatial zoning effects, etc. These one or more lighting effects can be adjusted. The timing mode may include one or more of the following: static constant illumination (e.g., fixed brightness, fixed color), breathing mode (e.g., periodic brightness fluctuations), flashing mode (e.g., high-frequency flashing, intermittent flashing), segmented progressive illumination (lighting from one end to the other), and dynamic rhythmic mode (e.g., changing brightness according to signal rhythm). One or more of the shape, area, and position of the illumination area of ​​the light module 30 can be adjusted. The shape of the illumination area of ​​the light module 30 may be trapezoidal (as shown below). Figure 8 ), oval (as shown below) Figure 9 (e.g., one or more shapes)

[0078] The vehicle 100 also includes at least one door, and the positions of the lighting module 30, the seat 10, and the door correspond to the user's position. For example, the door may include one or more types of doors such as a sliding door, a rotating door, a lift-up door, or a butterfly door. For instance, if the user is on the left side of the vehicle 100, the vehicle 100 includes a left rear door (e.g., the left door of the second row of seats), at least one lighting module 30 includes a first lighting module, which may be located on the longitudinal beam of the vehicle body at the left rear door, and the seat 10 includes a first seat located on the left side of the second row of seats. That is, the positions of the first lighting module, the first seat, and the left rear door correspond to the user's position, and these devices (i.e., the first lighting module, the first seat, and the left rear door) are all located on the same side of the vehicle 100 as the user. For example, when a user appears on the right side of vehicle 100, vehicle 100 includes a right rear door (such as the right door of the second-row seats), at least one lighting module 30 includes a second lighting module, the second lighting module may be installed on the body longitudinal beam at the right rear door, and seat 10 includes a third seat located on the right side of the second-row seats. That is, the positions of the second lighting module, the third seat, and the right rear door correspond to the user's position, and these devices (i.e., the second lighting module, the third seat, and the right rear door) are all located on the same side of vehicle 100 as the user. Optionally, when the user appears on the left side of vehicle 100, the first lighting module installed on the body longitudinal beam at the left rear door is illuminated, the left rear door is opened, and the first seat on the left side of the second-row seats is rotated vertically to face the left rear door, making it easier for the user to enter the vehicle from the left rear door. When the user appears on the right side of vehicle 100, the second light module located on the longitudinal beam of the body at the right rear door is illuminated, the right rear door is opened, and the third seat on the right side of the second row of seats is rotated vertically to face the right rear door, making it easier for the user to get into the vehicle from the right rear door.

[0079] In some possible implementations, vehicle 100 also includes a sensor system 40. Sensor system 40 includes perception sensors. The perception sensors can collect perception data, such as image data, point cloud data, fused perception data (e.g., a fused image of depth, point cloud, and image), or one or more other types of perception data. In some cases, the perception sensors include one or more sensors such as an image sensor (or camera) 401, a radar sensor 402, etc.

[0080] Image sensor 401 is used to capture images, including pictures and videos. Exemplarily, image sensor 401 includes, but is not limited to, dashcams, cameras, or other elements used for taking pictures / photographs, such as fisheye cameras, pinhole cameras, etc. Optionally, vehicle 100 may be equipped with multiple image sensors 401, which may be positioned at different locations within vehicle 100 to capture environmental image data around vehicle 100 and image data inside vehicle 100 from different perspectives. For example, if a camera outside vehicle 100 captures image data of a user, control device 20 can determine the distance between the user and vehicle 100 based on the user's image data. If the distance between the user and vehicle 100 decreases over time, control device 20 may consider that the user may be about to enter vehicle 100 (i.e., get in the vehicle).

[0081] Radar sensor 402 is a device that detects objects using electromagnetic waves (including light). It obtains information about targets in the environment by emitting signals and receiving echoes, including one or more of the following: distance (or depth), position, angle, speed, reflectivity, or color. Radar sensor 402 includes one or more types of radar sensors, such as radio detection and ranging (RADAR) or light detection and ranging (LiDAR). The radar includes one or more types of radar, such as millimeter-wave radar, ultrasonic radar, or centimeter-wave radar. The LiDAR can be a scanning LiDAR or a solid-state LiDAR. Similarly, multiple LiDARs (or multiple radar / fusion sensing devices) can be installed in vehicle 100, distributed at different locations within vehicle 100 to collect point cloud data around vehicle 100 from different perspectives. Optionally, radar sensor 402 is installed within the side skirts of vehicle 100. For example, radar sensor 402 collects point cloud data of a user and determines the user's position (or the user's foot position) based on the user's point cloud data.

[0082] Fusion sensing devices are devices that include at least two sensors, such as fusion sensing devices that integrate image sensors and lidar sensors.

[0083] It should be noted that, Figure 1 The illustration uses only one image sensor and one radar sensor as examples. In actual use, the number of image sensors can be designed to be more, such as three or four, and the number of radar sensors can be designed to be more, such as three or four. These will not be listed here.

[0084] In some possible implementations, vehicle 100 also includes a suspension. The suspension is the force-transmitting connection between the vehicle 100's frame (or monocoque chassis) and axles (or wheels). The suspension includes elastic elements capable of supporting vertical loads and mitigating vibrations and impacts caused by uneven road surfaces. For example, when a vehicle's wheels experience a large impact, the suspension can convert kinetic energy into elastic potential energy and store it, releasing the stored elastic potential energy when the wheels bounce or return to their original driving state. Changes in suspension travel alter the height of vehicle 100; for example, reducing suspension travel lowers the height of vehicle 100, lowering its chassis, thus making it easier for users to get in and out of the vehicle and improving the user's riding experience.

[0085] In some possible implementations, vehicle 100 also includes input / output devices. These input / output devices are used for user interaction; for example, they include displays, audio devices, and other equipment within vehicle 100. For instance, a display device provides a control interface for passengers of vehicle 100, allowing them to select a welcome operation or welcome mode. Similarly, an audio device acquires user voice commands, which can be used to select a welcome operation or welcome mode for vehicle 100. For example, a user's voice command might be, "Welcome operations include turning on the light module 30, opening the vehicle doors, and rotating the seat 101."

[0086] The above provides an introduction to the vehicle. It should be noted that due to technological advancements or changes in application scenarios, some vehicles may include only some of the aforementioned components, or may include even more components.

[0087] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a seat provided in an embodiment of this application. The seat 10 includes a seat back 11, which can support the back and waist of the occupant. The seat 10 also includes a seat cushion 12, which can support the buttocks and legs of the occupant.

[0088] In some possible designs, the position of seat 10 refers to its position in the fore-aft direction. For example, combined with Figure 2 The position of seat 10 is its position in the X-axis direction. The position of seat 10 is adjustable, for example, it can be adjusted backward (i.e., in the positive X-axis direction) or forward (i.e., in the negative X-axis direction).

[0089] In some possible designs, the rotation angle of seat 10 around the vertical direction (i.e., the Z-direction) is adjustable. See [link to relevant documentation]. Figure 3 , Figure 3This is a schematic diagram illustrating the adjustment of a seat's rotation angle around a vertical direction, provided in an embodiment of this application. The rotation angle of the seat 101 around the vertical direction is adjustable. The rotation angle can be the angle formed by the entire seat rotating around its vertical axis relative to a positive reference position (0°). The positive reference position of the seat is a position where the center line of the seat cushion and the center line of the backrest are parallel to the longitudinal center line of the vehicle (i.e., the X direction), and the seat surface faces the front of the vehicle; this position can be defined as a rotation angle of 0°. Optionally, the rotation angle can have positive and negative values, and positive and negative values ​​represent different directions. For example, in some coordinate systems, such as... Figure 3 In a coordinate system, a positive value can represent clockwise rotation of the seat, and a negative value can represent counterclockwise rotation. Similarly, in other coordinate systems, a positive value can represent counterclockwise rotation, and a negative value can represent clockwise rotation. In specific implementation scenarios, the direction represented by positive and negative values ​​can be determined by combining the actual coordinate system; this application does not limit this approach. Figure 3 The dotted line represents the seat 101 in its stationary mounting position (or forward reference position), with a rotation angle of 0°. The seat 101 rotates counterclockwise in the XOY plane to the position shown by the solid line, at which point the rotation angle becomes θ. Optionally, the seat 101 can rotate around the vertical direction to face the vehicle door. Figure 4 , Figure 4 In (a), after the seat 10 rotates around the vertical direction, there is a first angle between it and the door frame of the left door (or the left side of the vehicle body). For example, if the seat 10 rotates 45° counterclockwise around the vertical direction, the first angle is 45°, which welcomes passengers and makes it easier for them to get on or off the vehicle. Figure 4 In (b), after the seat 10 rotates around the vertical direction, there is a first angle between it and the door frame of the left door (or the left side of the vehicle body). If the seat 10 rotates 90° counterclockwise around the vertical direction, the first angle is 90°. The seat 10 faces the left door, providing a good view and making it convenient for the user to enjoy the scenery.

[0090] In some cases, the seat 10 also includes an adjustment device 13. The adjustment device 13 is connected to the seat cushion 12. The adjustment device 13 can change the rotation angle of the seat 10 about the vertical direction (i.e., the Z direction) by rotation (or turning).

[0091] Optionally, the seat 10 also includes a drive unit ( Figure 2(Not shown). The drive device can actively drive the seat adjustment device (such as adjustment device 13) to rotate to adjust the seat's rotation angle about the vertical direction (i.e., the Z direction), for example, driving adjustment device 13 to rotate counterclockwise or clockwise. The drive device can also actively drive seat 10 to move along the fore-and-aft direction of seat 10 to achieve position adjustment of seat 10, for example, driving seat 10 to move forward or backward. Exemplarily, the drive device includes a motor, which rotates to drive adjustment device 13 to rotate counterclockwise or clockwise. More exemplaryly, the motor rotates to drive seat 10 to move forward or backward. Optionally, the motor can be independently powered, for example, using a 12V power supply, to avoid functional failure.

[0092] In some cases, the seat 10 also includes a slide rail 14, and the drive device can drive the seat 10 to slide on the slide rail 14 to achieve position adjustment of the seat 10, such as driving the seat 10 to slide forward on the slide rail, or driving the seat 10 to slide backward on the slide rail.

[0093] It should be noted that, Figure 2 The illustration uses only one adjustment device and two slide rails as an example. In actual use, the number of adjustment devices can be more, such as two or three, and the number of slide rails can be more, such as one or three. This does not constitute a limitation on this application.

[0094] It should be understood that the components in the above-described seat are merely examples, and in actual implementation, the components in the seat may be added or removed as needed. Furthermore, the shape of the seat, the shape and position of the components shown above are all illustrative and the accompanying drawings are not to scale.

[0095] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the connection relationship between multiple devices in a vehicle, as provided in an embodiment of this application.

[0096] In some possible implementations, the vehicle includes a door handle, an open / close button, a control device 20, a door controller, and a door. Exemplarily, the door handle, control device 20, door controller, and door are sequentially connected. The door handle can send (e.g., via a local interconnect network) one or more of the following to the control device 20: door handle touch information, door handle button press information, and door handle pull information. For example, door handle touch information indicates that the user has touched the door handle, thus generating an open door request. Door handle button press information indicates that the user has pressed a button on the door handle, thus generating an open door request. Similarly, door handle pull information indicates that the user has pulled the door handle, thus generating an open door request. Upon receiving one or more of the door handle touch information, door handle button press information, and door handle pull information, the control device 20 sends an open door command to the door controller. The door controller opens the door in response to the open door command. Similarly, exemplarily, the door open / close button, control device 20, door controller, and door are sequentially connected. The door open / close button can send press information for the door open / close button to the control device 20. Optionally, the door open button includes a door open button (or door open switch) on the interior dome light or a door open button (or door open switch) on the reading light, and the press information for the door open button can be a long press (e.g., press for 2 seconds). After receiving the press information for the door open button, the control device 20 sends an open command to the door controller. The door controller opens the door in response to the open command. After receiving the press information for the door close button, the control device 20 sends a close command to the door controller. The door controller closes the door in response to the close command.

[0097] In other possible implementations, the vehicle includes a seat 10, a seat controller, and a control device 20. Exemplarily, the control device 20, the seat controller, and the seat are sequentially connected. For example, the control device 20 may send a rotation command to the seat controller (e.g., instructing the seat 10 to rotate about a vertical direction to a first angle), and the seat controller responds to the rotation command by controlling the seat 10 to rotate. Alternatively, the control device 20 may send a reset (or return to position) command to the seat controller (e.g., instructing the seat 10 to rotate about a vertical direction to a third angle), and the seat controller responds to the rotation command by controlling the seat 10 to rotate (or reset). Furthermore, the control device 20 may send a movement command to the seat controller (e.g., instructing the seat 10 to move along a first direction to a first position), and the seat controller responds to the movement command by controlling the seat 10 to move.

[0098] In other possible implementations, the vehicle includes a suspension, a suspension controller, and a control device 20. Exemplarily, the control device 20, the suspension controller, and the suspension are sequentially connected. For example, the control device 20 may send an adjustment command to the suspension controller (such as instructing the suspension travel to be adjusted to a first travel), and the suspension controller adjusts the suspension travel in response to the adjustment command.

[0099] In some other possible implementations, the vehicle includes a lighting module 30, a left lighting module controller, a right lighting module controller, and a control device 20. The lighting module 30 includes a left lighting module and a right lighting module. Exemplarily, the control device 20, the left lighting module controller, and the left lighting module are sequentially connected. For example, the control device 20 can send a turn-on command to the left lighting module controller, which turns on the left lighting module in response. Similarly, the control device 20 can send a turn-off (or extinguish) command to the left lighting module controller, which turns off the left lighting module in response. Again, exemplarily, the control device 20, the right lighting module controller, and the right lighting module are sequentially connected. For example, the control device 20 can send a turn-on command to the right lighting module controller, which turns on the right lighting module in response. Similarly, the control device 20 can send a turn-off (or extinguish) command to the right lighting module controller, which turns off the right lighting module in response.

[0100] In some possible implementations, the vehicle includes radar sensors, a radar sensor controller, and a control device 20. The radar sensors include a left-side radar sensor and a right-side radar sensor. Exemplarily, the control device 20, the radar sensor controller, and the left-side radar sensor are sequentially connected. For example, the control device 20 can send an activation command to the radar sensor controller, which, in response, controls the left-side radar sensor to start operating. The left-side radar sensor acquires point cloud data. Optionally, the left-side radar sensor obtains the user's position (or the user's foot position) based on the point cloud data. The left-side radar sensor sends the user's position to the radar sensor controller, which then sends the user's position to the control device 20. Optionally, the control device 20 obtains the distance between the user and the vehicle based on the user's position. Alternatively, the left-side radar sensor can also send point cloud data to the radar sensor controller, which then obtains the user's position based on the point cloud data. Or, the radar sensor controller sends point cloud data to the control device 20, which then obtains the user's position based on the point cloud data.

[0101] In some possible designs, the radar sensor controller can generate a left-side door opening request based on the user's location transmitted by the left-side radar sensor and send the request to the control unit 20. The control unit 20 then sends an opening command to the door controller. The door controller opens the left-side door in response to the opening command. Similarly, the radar sensor controller can generate a right-side door opening request based on the user's location transmitted by the right-side radar sensor and send the request to the control unit 20. The control unit 20 then sends an opening command to the door controller. The door controller opens the right-side door in response to the opening command.

[0102] Optionally, the left-side radar-type sensor sends the user's location to the left-side lighting module controller, which then turns the left-side lighting module on or off based on the user's location. In this case, the left-side lighting module controller can also send the user's location to the control device 20. Alternatively, the right-side radar-type sensor sends the user's location to the right-side lighting module controller, which then turns the right-side lighting module on or off based on the user's location. In this case, the right-side lighting module controller can also send the user's location to the control device 20.

[0103] Optionally, one or more of the seat controller, suspension controller, door controller, left-side lighting module controller, right-side lighting module controller, and radar sensor controller may be integrated with the control unit 20, for example, integrated within the control unit 20.

[0104] It should be noted that due to technological advancements or changes in application scenarios, some vehicles may include only some of the aforementioned components, or may include even more components.

[0105] Some vehicles commonly use a welcome feature that integrates welcome lights and seat systems to enhance the user experience. Welcome lights are typically installed below the doors or rearview mirrors; when the driver or passenger opens the door, the lights illuminate while the seat automatically adjusts backward to provide more space for entry. However, this type of welcome feature is limited and offers a less than ideal user experience.

[0106] In some other solutions, the welcome function includes the linkage between the three systems of welcome lights, doors, and seats. However, the matching between the welcome service and the user's actual location is insufficient. For example, if a user only wants to get in from the left rear door, the left front door and the driver's seat may provide welcome services, or all doors and all seats of the vehicle may provide welcome services, resulting in a poor user experience.

[0107] In view of this, the embodiments of this application provide a control method and related device that can provide users with more accurate and richer welcoming services, enhance the user's riding experience, and also enhance the sense of luxury and intelligent perception, making the interaction more intuitive and enhancing the sense of ceremony.

[0108] The apparatus of the present application has been described above. The method of the present application is described below.

[0109] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating a control method provided in an embodiment of this application. Optionally, this method is applied to a device with control capabilities, such as... Figure 1 or Figure 5 The control device 20 shown may be a software and / or hardware module within the control device 20. For ease of description, the following description will use the control device as the executing entity.

[0110] like Figure 6 The control methods shown include S601 and S602. S601 and S602 are detailed below: S601, the control device determines the user's travel scenario.

[0111] Among them, the control device is a device with control capabilities, capable of controlling the working state of one or more components in a terminal (such as a vehicle), such as... Figure 1 or Figure 5 The control device 20 is shown. The following embodiments use a vehicle as the terminal to illustrate the embodiments of this application.

[0112] The riding scenario includes the boarding scenario and the alighting scenario. In some possible implementations, the control device can determine the user's riding scenario based on first information. This first information includes one or more of the following: the distance between the user and the vehicle, and a door opening instruction input by the user.

[0113] For example, the control device can determine the user's travel scenario based on the distance between the user and the vehicle. For instance, if the distance between the user and the vehicle decreases over time, the user's travel scenario is a boarding scenario.

[0114] User-inputted door opening instructions are used to instruct the user to open the vehicle door. As another example, the control device can determine the user's travel scenario based on the user-inputted door opening instructions. For instance, when the user-inputted door opening instruction is from outside the vehicle, it can be assumed that the user wants to open the vehicle door from the outside, i.e., the user wants to get in the vehicle, and the user's travel scenario can be described as a "getting in" scenario. For example, user-inputted door opening instructions from outside the vehicle may include one or more of the following: pressing a door opening button located outside the vehicle; touching a door handle located outside the vehicle; pulling a door handle located outside the vehicle; voice-activated door opening instructions from outside the vehicle; touch-activated door opening instructions from outside the vehicle (such as clicking the door opening control on a handheld terminal outside the vehicle); key-activated door opening instructions from outside the vehicle (such as electronic or physical keys); gesture-activated door opening instructions from outside the vehicle; foot-activated door opening instructions from outside the vehicle; etc. For example, when the user inputs a door opening instruction from inside the vehicle, it can be assumed that the user wants to open the car door from inside the vehicle, i.e., the user wants to get out of the car. In this case, the user's riding scenario can be considered an alighting scenario. For example, the door opening instruction input by the user from inside the vehicle includes one or more of the following: pressing information of the door opening button set inside the vehicle, touching information of the door handle (such as the door handle inside the vehicle), pulling information of the door handle set inside the vehicle, voice door opening information input by the user inside the vehicle, touch door opening information input by the user inside the vehicle (such as the user clicking the door opening control on the display device inside the vehicle), gesture door opening information input by the user inside the vehicle, and key door opening instructions input by the user inside the vehicle (such as electronic key or physical key).

[0115] S602, the control device performs multiple welcoming operations based on the user's travel scenario.

[0116] A welcoming operation refers to an operation that provides a welcoming service to users to facilitate their entry or exit from the vehicle. For example, multiple welcoming operations include illuminating the first light module, opening the first vehicle door, and rotating the first vehicle seat. The positions of the first light module, the first seat, and the first door correspond to the user's position, which can be understood as the first light module, the first seat, and the first door being located on the same side as the user (e.g., all on the left side of the vehicle or all on the right side). For example, if the user is located on the left side of the vehicle (including the left side externally and internally), the first door is the left rear door, the first light module is a longitudinal beam located at the left rear door, and the first seat is the seat located on the left side of the second row. Similarly, if the user is located on the right side of the vehicle (including the right side externally and internally), the first door is the right rear door, the first light module is a longitudinal beam located at the right rear door, and the first seat is the seat located on the right side of the second row.

[0117] Optionally, in this embodiment, when the control device performs multiple welcoming operations, a first lighting module, a first seat, and a first door are provided on one side of the vehicle. This avoids the problem of a mismatch between the location of the welcoming service equipment and the user's actual location, such as when a user wants to enter the vehicle from the left rear door but the left front door provides the welcoming service. This improves the accuracy of the welcoming service provided. For example, for the left side of the vehicle, the first door is the left rear door, the first lighting module is the longitudinal beam of the vehicle body located at the left rear door, and the first seat is the seat located on the left side of the second row of seats. Similarly, for the right side of the vehicle, the first door is the right rear door, the first lighting module is the longitudinal beam of the vehicle body located at the right rear door, and the first seat is the seat located on the right side of the second row of seats.

[0118] The control logic for multiple welcoming operations in the boarding scenario differs from that in the alighting scenario. For example, the control logic includes the execution order; that is, the difference between the control logic for multiple welcoming operations in the boarding and alighting scenarios lies in the execution order of the welcoming operations. For instance, when the user's scenario is boarding, the execution order of the welcoming operations is: illuminating the first light module, opening the first vehicle door, and rotating the first vehicle seat. When the user's scenario is alighting, the execution order is: opening the first vehicle door, rotating the first vehicle seat, and illuminating the first light module. It can be seen that the execution order of the welcoming operations in the boarding scenario is different from that in the alighting scenario in the above example. It should be noted that when the control device executes multiple welcoming operations sequentially, the time intervals between these operations are very short (e.g., 1 second, 0.5 seconds, etc.). From the user's perspective, these operations can be perceived as being performed simultaneously. For example, the time intervals between the multiple welcoming operations can be flexibly set. For instance, the control device opens the first door at a first moment and rotates the first seat of the vehicle at a second moment. The second moment is later than the first moment. Optionally, the second moment can be the moment when the opening degree of the first door exceeds an opening threshold (e.g., 10%, 15%, etc., which can be flexibly set according to the actual usage scenario).

[0119] For example, the control logic includes triggering conditions. Specifically, the control logic for multiple welcoming operations corresponding to the boarding scenario differs from that for multiple welcoming operations corresponding to the alighting scenario. This includes the triggering condition for the first welcoming operation in the boarding scenario being different from that in the alighting scenario. For instance, the first welcoming operation includes opening the first car door. When the user's scenario is boarding, the triggering conditions for opening the first car door include the user's position being within the illumination area of ​​the first lighting module, the distance between the user and the first car door decreasing over time, and the user's speed in the second direction being greater than a speed threshold. When the user's scenario is alighting, the triggering condition for opening the first car door includes receiving a door opening instruction input by the user from inside the vehicle. It can be seen that the triggering conditions for the first welcoming operation in the boarding scenario and the alighting scenario are different in the above example. It should be noted that the triggering condition for opening the first car door here is only one possible example. In actual use, there may be many more possible designs for the triggering condition for opening the first car door, which does not constitute a limitation on the embodiments of this application.

[0120] In some possible implementations, at least one of the following—the lighting effect of the first lighting module, the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area of ​​the first lighting module, and the position of the illumination area of ​​the first lighting module—is related to the user's position. For example, the control device may adjust one or more of the following based on the user's position: the lighting effect of the first lighting module (see the detailed description above for specific lighting effects), the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area of ​​the first lighting module, and the position of the illumination area of ​​the first lighting module. Please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of a welcoming scene provided in an embodiment of this application. When the user is in position 1, the lighting effect of the first lighting module is lighting effect 1. When the user is in position 2, the lighting effect of the first lighting module is lighting effect 2, which enables the lighting effect of the first lighting module to match the user's position. Combined with... Figure 7 It can also be seen that when the user is in position 1, the area of ​​the illumination region of the first light module is larger than that when the user is in position 2. Furthermore, the distance between the user and door 1 is greater when the user is in position 1 than it is when the user is in position 2. This achieves the goal of having a larger illumination region when the user is farther from the door, maximizing the illumination of the ground beneath the user's feet, and a smaller illumination region when the user is closer to the door, minimizing power consumption and light source loss. Please refer to [link to relevant documentation]. Figure 8 , Figure 8 This is another schematic diagram of a welcoming scene provided in an embodiment of this application. Please refer to... Figure 9 , Figure 9 This is another schematic diagram of a welcoming scene provided in the embodiments of this application. Combined with... Figure 8 When the user is in position 3, the illumination area of ​​the first light module is biased towards the rear of the vehicle, and the shape of the illumination area of ​​the first light module is trapezoidal. Combined with... Figure 9 When the user is in position 4, the illumination area of ​​the first light module is biased towards the front of the vehicle, and the shape of the illumination area of ​​the first light module is elliptical. Combined with... Figure 8 and Figure 9 It can match the position of the illumination area of ​​the first lighting module with the user's position to illuminate the ground under the user's feet as much as possible. It can also match the shape of the illumination area of ​​the first lighting module with the user's position, and the outline of the illumination area follows the user's position deformation to match, forming a following dynamic interactive effect, enhancing intelligent perception, and providing a high-end and refined sense of welcoming ceremony.

[0121] The following sections will introduce the various welcoming operations performed by the control device during the boarding and alighting scenarios.

[0122] Scenario 1, Getting into the vehicle. For example, in the getting into the vehicle scenario, the control device sequentially executes three welcoming operations: illuminating the first light module, opening the first door, and rotating the first seat of the vehicle (the sequential execution can be found in the aforementioned description). Specifically, rotating the first seat can involve controlling the first seat to rotate vertically to a first angle, after which the first seat faces the first door. Combined with... Figure 3 The first lighting module is a lighting module located at the left rear door (such as a lighting module located on the longitudinal beam of the vehicle body at the left rear door). The first door is the left rear door of the vehicle. The first seat is the left seat of the second row of seats. The first angle is θ, meaning that controlling the first seat to rotate around the vertical direction to the first angle includes controlling the first seat to rotate counterclockwise around the vertical direction by θ. Here, the first seat rotating to the first angle and facing the first door can include the first seat facing the first door completely (such as...). Figure 4 In section (b), where the first angle is 90°, it may also include the first seat portion facing the first door, where the first angle is greater than 0° and less than 90°. Optionally, the first angle may fall within the range of 0° to 90°, for example, the first angle may be 45° (i.e., the aforementioned θ may be 45°). It should be noted that the angle range here does not define the direction of rotation, that is, it does not distinguish between positive and negative angles. In actual use, the positive and negative angles can be distinguished based on the actual direction of rotation.

[0123] The following section will first introduce the triggering conditions for the welcoming operation of illuminating the first light module in the vehicle entry scenario.

[0124] In some possible implementations, the control device illuminates the first light module when the distance between the user and the vehicle is within a first distance range. Optionally, this implementation is used in scenarios where no one is in the vehicle. For example, the first distance range for the control device is 8m to 12m, and the control device illuminates the first light module when the distance between the user and the vehicle falls within this range. For example, combined with... Figure 3 When the distance between the user and the vehicle falls within the range of 8m to 12m, the control device sends a lighting command to the left light module (i.e., the first light module) controller. The left light module controller responds to the lighting command and lights up the left light module, thereby enabling the control device to light up the first light module.

[0125] In some other possible implementations, the control device illuminates the first light module when the distance between the user and the vehicle is within a first distance range and the user's speed in the second direction exceeds a speed threshold. Optionally, this implementation is used in scenarios where no one is in the vehicle. Further alternatively, the first light module includes a light carpet lamp and a digital light processing (DLP) device; that is, in this case, the light carpet lamp and the DLP device can be illuminated simultaneously. The DLP device includes, for example, DLP pixel headlights. Exemplarily, the speed threshold is 1.5 m / s, 1 m / s, etc., and the second direction is the left-right direction of the vehicle (i.e., the direction of travel). Figure 1 As shown in the y-direction, if the user's speed in the second direction is greater than the speed threshold, it means that the user is quickly walking towards the vehicle in the left and right directions (the user is very likely to get on the vehicle). At this time, the control device can illuminate the first light module to provide the user with more precise lighting services.

[0126] In some other possible implementations, when the distance between the user and the vehicle is within a first distance range, and the user is located on the first side of the vehicle, the control device illuminates the light module located on the first side of the vehicle. Optionally, this implementation can be used in scenarios where no one is in the vehicle. For example, when the distance between the user and the vehicle is within the first distance range, and the user is located on the left side of the vehicle (e.g., the left side of the vehicle's exterior, i.e., the first side is the left side), the control device illuminates the light module located on the left side of the vehicle. In this case, the first light module is the light module located on the left side of the vehicle.

[0127] In some other possible implementations, the control device illuminates the first light module when the distance between the user and the vehicle is within a second distance range, and the distance between the user and the first door decreases by a first distance. Optionally, this implementation is used in scenarios where someone is in the driver's seat (i.e., someone is sitting in the driver's seat). Here, the maximum distance of the second distance range is less than the minimum distance of the first distance range, or the second distance range is related to the illuminated area of ​​the first light module. For example, the second distance range is 5m to 7m, the maximum distance of the second distance range (7m) is less than the minimum distance of the first distance range (8m), and the first distance is 1m. That is, when the distance between the user and the vehicle falls within the range of 5m to 7m, and the distance between the user and the first door decreases by 1m (i.e., the user moves 1m closer to the first door), the control device illuminates the first light module. Again, for example, the second distance range is related to the illuminated area of ​​the first light module. For example, the maximum distance of the second distance range is the range between the minimum distance between the illuminated area of ​​the first light module and the first door, and the maximum distance between the illuminated area of ​​the first light module and the first door. Figure 3The minimum distance between the illuminated area of ​​the first light module and the first vehicle door is the distance d1 between the first edge of the illuminated area of ​​the first light module and the first vehicle door, and the maximum distance between the illuminated area of ​​the first light module and the first vehicle door is the distance d2 between the second edge of the illuminated area of ​​the first light module and the first vehicle door. Therefore, the second distance range can be from d1 to d2. Optionally, d1 is 0.8m and d2 is 2m, meaning the illuminated area of ​​the first light module is within the range of 0.8m to 2m. The second distance range is related to the illuminated area of ​​the first light module and can also be understood as the user being within the illuminated area of ​​the first light module. That is, when the user is within the illuminated area of ​​the first light module, and the distance between the user and the first vehicle door decreases by the first distance, the control device illuminates the first light module. For example, if the first distance is 0.5m, then when the user is within the illuminated area of ​​the first light module, and the distance between the user and the first vehicle door decreases by 0.5m (i.e., the user moves 0.5m closer to the first vehicle door), the control device illuminates the first light module.

[0128] Optionally, when the control device receives an instruction from the user inside the vehicle to open the first door (such as a user pressing and holding (e.g., 2 seconds) the door opening button located on the reading light inside the vehicle), it illuminates the first light module. In other words, the triggering condition for this welcoming operation of illuminating the first light module during the entry scenario may include receiving an instruction from the user inside the vehicle to open the first door. This method is used in scenarios where the driver's seat is occupied (i.e., someone is sitting in the driver's seat) or when there are other people inside the vehicle.

[0129] The following describes the triggering conditions for the welcoming operation of opening the first car door in the boarding scenario.

[0130] In some possible implementations, the control device opens the first door when the user's position is within the illumination area of ​​the first lighting module and the distance between the user and the first door decreases over time (i.e., the user gradually moves closer to the first door).

[0131] In some possible implementations, the control device opens the first car door when the user's position is within the illumination area of ​​the first light module, the distance between the user and the first car door decreases over time, and the user's speed in the second direction exceeds a speed threshold (i.e., the user rapidly approaches the first car door within the illumination area). Optionally, this implementation is used in scenarios where no one is in the car and / or the driver's seat is occupied (or someone is inside the car). For example, the second direction can be the left-right direction of the vehicle. Optionally, the speed threshold is the same as the aforementioned speed threshold. Of course, the speed threshold here can also be different from the aforementioned speed threshold, and this speed threshold can be flexibly set based on actual usage requirements. Figure 3As the user's behavior is observed, the user gradually approaches the left rear door (i.e., the first door). If the speed threshold is 1.5 m / s, the control device can open the first door when the user's speed in the y-direction (i.e., the second direction) exceeds 1.5 m / s during this approach. In some possible designs, the control device adjusts the lighting effect of the first lighting module based on the user's position (e.g., the user's foot position, or the user stepping on a specific pattern within the lighting module's illumination area) when the distance between the user and the first door decreases over time and the user's speed in the second direction exceeds the speed threshold (i.e., interactive lighting effects based on the user's position). In other possible designs, the control device opens the first door based on the user's position (e.g., the user's foot position) when the distance between the user and the first door decreases over time and the user's speed in the second direction exceeds the speed threshold (i.e., interactive door opening based on the user's position). In this case, the illumination area of ​​the first lighting module can also be called the interactive area, which can be located in the range of 0.8 m to 2 m.

[0132] In other possible implementations, the control device opens the first door upon receiving a door opening instruction from the user (such as a door opening instruction input by the user from outside the vehicle). That is, the triggering condition for the welcoming operation of opening the first door in the boarding scenario may include receiving a door opening instruction from the user.

[0133] Optionally, when the triggering condition for the welcoming operation of opening the first car door is met, the control device sequentially executes opening the first car door and rotating the first seat of the vehicle. That is, the triggering condition for rotating the first seat is similar to the triggering condition for opening the first car door, and will not be repeated here. For example, the control device rotates the first seat of the vehicle when the opening degree of the first car door exceeds an opening threshold (e.g., 10%, 15%, etc., which can be flexibly set according to the actual usage scenario), as described above. For instance, if the user's position is within the illumination area of ​​the first lighting module, the distance between the user and the first car door decreases over time, and the user's speed in the second direction is greater than a speed threshold, the control device sequentially executes opening the first car door (i.e., interacting with the user's position to open the first car door) and rotating the first seat (i.e., interacting with the user's position to rotate the first seat) according to the user's position (e.g., the user's foot position), thus triggering a linked welcoming operation of opening the first car door and rotating the first seat.

[0134] In some other possible implementations, the welcoming operations further include moving the second seat of the vehicle along a first direction, the movement of the second seat along the first direction altering the seating space of the first seat. Exemplarily, the first direction may be the fore-and-aft direction of the vehicle, and the movement of the second seat along this direction alters the seating space in front of the first seat. Exemplarily, the control device controls the second seat to move to a first position along the first direction and controls the first seat to rotate to a first angle around a vertical direction. Optionally, after the first seat is moved to the first position, the control device controls the first seat to rotate to the first angle around the vertical direction without interfering with the first seat. Further exemplarily, when the distance between the second seat and the first seat along the first direction is less than a distance threshold, the control device controls the second seat to move to the first position along the first direction; after the first seat is moved to the first position, when the distance between the second seat and the first seat along the first direction is greater than or equal to the distance threshold, the control device controls the first seat to rotate to the first angle around the vertical direction. The distance threshold may be a pre-set minimum distance at which the control device controls the first seat to rotate to the first angle around the vertical direction without interfering with the first seat. See also... Figure 10 , Figure 10 This is another schematic diagram of a welcoming scene provided in the embodiments of this application. The first direction can be the front-to-back direction of the vehicle (i.e., Figure 10 (in the x-direction). Figure 10 The first seat (i.e., seat 101) is the left seat of the second row, and the second seat (i.e., seat 102) is the left seat of the first row. The first angle is θ. The control device controls seat 102 to move from the position of seat 102 (dotted line) along the negative x-axis (i.e., towards the front of the car or forward) to the position of seat 102 (solid line) (i.e., the first position), and controls seat 101 to rotate counterclockwise by θ around the vertical direction. The control logic of the first door and the first lighting module can be found in the previous description. Figure 3 The relevant explanations will not be repeated here.

[0135] In other possible implementations, the multiple welcoming operations also include adjusting the suspension travel of the vehicle's suspension. For example, the control device controls the suspension travel to a first travel. The first travel may be the suspension travel when the suspension is in its lowest setting. When the suspension travel is adjusted to the first travel, the vehicle's passenger compartment is at its lowest point above the ground, thus facilitating user entry and exit.

[0136] In other possible implementations, the multiple welcoming operations also include at least one of the following: unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to flash. Optionally, when the distance between the user and the vehicle is within a third distance range, the control device performs at least one of the following welcoming operations: unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to flash. The maximum distance in the third distance range is less than the minimum distance in the first distance range. For example, the third distance range is 0 to 2 meters. For example, when the distance between the user and the vehicle is less than or equal to 2 meters, the control device unlocks the vehicle.

[0137] Scenario 2, Getting Out of the Vehicle. For example, in the getting out of the vehicle scenario, the control device sequentially executes three welcoming operations: opening the first door, rotating the first seat, and illuminating the first headlight module (similar sequential execution can be found in the aforementioned description). Specifically, rotating the first seat can involve controlling the first seat to rotate around a vertical direction to a second angle, after which the first seat faces the first door. The second angle may be the same as or different from the aforementioned first angle. Here, the first seat rotating to the second angle and facing the first door is similar to the first seat rotating to the first angle and facing the first door described above, and will not be repeated here.

[0138] In some possible implementations, the control device opens the first door upon receiving a door opening instruction from the user (such as a door opening instruction input by the user from inside the vehicle). That is, the triggering condition for the welcoming operation of opening the first door in the scenario of getting out of the vehicle may include receiving a door opening instruction from the user.

[0139] Similarly, when the triggering condition for the welcoming operation of opening the first car door is met, the control device sequentially executes opening the first car door and rotating the first seat of the vehicle. That is, the triggering condition for the welcoming operation of rotating the first seat of the vehicle is similar to the triggering condition for the welcoming operation of opening the first car door, and the triggering condition for the welcoming operation of rotating the first seat of the vehicle will not be described again here.

[0140] In some possible implementations, during the alighting scenario, multiple welcoming operations also include a parking function (or P-gear function) and a locking function (i.e., locking the vehicle). For example, during the alighting scenario, when the distance between the user and the vehicle exceeds a first distance threshold (e.g., 1m, 1.5m, etc.), the control device activates the parking function. As another example, during the alighting scenario, when the distance between the user and the vehicle exceeds a second distance threshold (e.g., 2m, 5m, etc.), the control device activates the locking function.

[0141] In some possible scenarios, during the exiting-from-vehicle scenario, the control device may simultaneously activate the first lighting module and rotate the vehicle's first seat. Alternatively, during the exiting-from-vehicle scenario, the control device may simultaneously open the first door and activate the first lighting module.

[0142] The preceding text discussed the distance between the user and the vehicle; the following describes how to determine this distance. For example, the distance between the user and the vehicle includes the distance between the user's electronic key and the vehicle; that is, the control device can determine the distance between the user and the vehicle based on the distance between the user's electronic key and the vehicle. As another example, the vehicle is equipped with a radar-like sensor, which can detect the distance between the user and the vehicle. Alternatively, the radar-like sensor can detect the user's position, and the control device can determine the distance between the user and the vehicle based on the user's position and the vehicle's position. Optionally, the radar-like sensor can detect targets within a horizontal 120° field of view (FOV) range, within an 8m range. As yet another example, the vehicle is equipped with an image sensor, and the control device can calculate the distance between the user and the vehicle based on image data of the user collected by the image sensor.

[0143] Furthermore, the control device can also control one or more of the first seat, first door, and first lighting module to return to their pre-welcome state (such as normal driving conditions), i.e., the vehicle exits the welcome service. For example, the control device controls the first seat to rotate around the vertical direction to a third angle, closes the first door, and turns on the first lighting module. As another example, the control device controls the first seat to rotate around the vertical direction to a third angle, closes the first door, and turns off the first lighting module. In this case, after rotating to the third angle, the first seat faces the front of the vehicle, thus returning to its pre-welcome state. Please see [link to relevant documentation]. Figure 11 , Figure 11This is a schematic diagram of an exiting the welcoming scene provided in an embodiment of this application. Seat 101 rotates clockwise from the position of the dotted-line seat 101 to the position of the solid-line seat 101 (i.e., facing the front of the vehicle). Optionally, when the user has not boarded the vehicle within a first time period, or the user has boarded the vehicle, or a door closing instruction is received, the control device controls one or more of the first seat, the first door, and the first lighting module to return to their pre-welcoming state. For example, when the user has not boarded the vehicle within the first time period, or the user has boarded the vehicle (this can be determined by data from sensors such as image sensors), or a door closing instruction is received, the control device controls the first seat to rotate to a third angle around the vertical direction and close the first door; or, the control device controls the first seat to rotate to a third angle around the vertical direction, close the first door, and turn off the first lighting module. The first time period is a preset time threshold, such as 30s, 45s, etc. For example, the control device can determine whether the user has boarded the vehicle by data from sensors such as image sensors. For example, the control device can determine whether a user has boarded the vehicle by checking the opening and closing of the doors. For instance, if any door is opened or the first door is closed, it can be assumed that the user has boarded. Optionally, when the vehicle exits the welcome service, radar sensors or local control functions can still keep the first lighting module illuminated; this method can be applied to scenarios where the vehicle is unmanned. Optionally, the control device can also control the second seat and / or suspension to return to their pre-welcome state (such as normal driving conditions), i.e., the vehicle exits the welcome service. A door closing indicator is used to indicate when the doors are closed. For example, the door closing instruction includes one or more of the following: pressing information of the door closing button located outside or inside the vehicle; voice closing information input by the user outside or inside the vehicle; touch closing information input by the user outside or inside the vehicle (such as the user clicking the door closing control on a handheld terminal outside the vehicle); key closing instruction input by the user outside or inside the vehicle (such as an electronic key or physical key); gesture closing information input by the user outside or inside the vehicle; foot closing instruction input by the user outside the vehicle; and other information used to indicate closing the door.

[0144] Optionally, we can design the time required for the entire process of the control device opening or closing the car door, for example, designing the control device to open or close the car door within time duration 1. For example, time duration 1 can be between 5 seconds and 6 seconds. Further, we can design the time required for the control device to control the seat rotation (e.g., controlling the first seat to rotate around the vertical direction to a first angle), for example, designing the control device to control the seat rotation within time duration 2. For example, time duration 2 can be between 15 seconds and 20 seconds. Optionally, if the distance between the first seat and the second seat along the first direction is relatively close, when the control device controls the rotation of the first seat, it needs to control the second seat to move along the first direction (e.g., move forward). Time duration 2 may also include the time required for the coordinated control of the second seat to move along the first direction. The rotation speed of the control device when controlling the seat rotation can be designed as a fixed value, or the rotation speed can be flexibly adjusted according to the user's needs. It should be noted that time duration 1 and time duration 2 here are only some possible examples. In actual use, there may be more possible designs for these time durations, which can be flexibly set according to actual usage needs.

[0145] In some possible implementations, multiple welcome actions support user selection of welcome modes. For example, users can select a welcome mode through an interface displayed on the vehicle's display device, meeting their personalized usage needs. Please see [link to relevant documentation]. Figure 12 , Figure 12 This is a schematic diagram of an interface provided in an embodiment of this application. Interface 1200 illustrates multiple second-row welcome modes. Users can select from the following modes: "Light up side lights, open second-row doors, rotate seats", "Light up side lights, open second-row doors", "Light up side lights", and "Off" (i.e., the second-row welcome service is not activated). When the user selects the "Light up side lights, open second-row doors, rotate seats" mode, the control device lights up the side lights, opens the second-row doors, and rotates the seats when passengers board the vehicle. When the user selects the "Light up side lights, open second-row doors" mode, the control device lights up the side lights and opens the second-row doors when passengers board the vehicle. When the user selects the "Light up side lights" mode, the control device lights up the side lights when passengers board the vehicle. When the user selects the "Off" mode, the control device does not perform the welcome operation when passengers board the vehicle.

[0146] In some scenarios, Figure 6The control method shown supports sensor-activated side door welcome. For example, a user can trigger the welcome by pressing and holding the door open button on the door handle (e.g., pressing for 2 seconds) or the door open button on the interior dome light. Taking boarding from the right side of the second-row seats as an example, the control device opens the right-side door of the second row and simultaneously moves the front passenger seat (i.e., the right-side seat of the first row) forward, creating space for the right-side seat of the second row to rotate clockwise around the vertical direction. After the front passenger seat is in place, the control device rotates the right-side seat of the second row 45° clockwise around the vertical direction (i.e., the first angle can be 45°), and simultaneously adjusts the suspension to the lowest position, completing the welcome service. When the user boards the vehicle, pressing any door close button will trigger the return of the right-side seat of the second row, the right-side seat of the first row, the closing of the right-side door of the second row, and the return of the suspension to its original position.

[0147] In some other scenarios, Figure 6 The control method shown supports seamless side door welcome without requiring subjective user operation. For example, after a user approaches the vehicle with a key (such as an electronic key) to unlock it, an image sensor or radar sensor illuminates the side light module as the user approaches the vehicle (e.g., along the illuminated area of ​​the light module), projecting an illuminated area (or cursor) onto the ground. As the user approaches the door, the image sensor or radar sensor detects the user's position. When the control device detects that the user is gradually approaching the vehicle within a distance of 2m to 0.8m (or within the illuminated area of ​​the light module), it interactively triggers the entire welcome process based on the user's foot position. For instance, the control device opens the second-row right-side door and simultaneously controls the front passenger seat (i.e., the right-side seat of the first row) to move forward, creating space for the right-side seat of the second row to rotate clockwise around the vertical direction. After the front passenger seat is in place, the control device controls the right-side seat of the second row to rotate clockwise by 45° (i.e., the first angle can be 45°), while simultaneously adjusting the suspension to the lowest setting, completing the welcome service. When a user enters the vehicle, pressing any door closing button will trigger the return of the right-side second-row seats and the right-side first-row seats to their original positions, as well as the closing of the right-side second-row door and the return of the suspension to its original position. In this scenario, a non-contact recognition method, such as an image sensor or radar sensor, is used to detect the user's movement and distance from the vehicle along the illuminated area of ​​the lighting module, enabling interaction between the lighting and the user. Furthermore, after unlocking the vehicle as the user approaches, a specific button press or a non-contact method, such as an image sensor or radar sensor, can trigger the opening of the first-side second-row door, the rotation of the first-side (e.g., right-side) second-row seat, and suspension adjustment, allowing the user to conveniently enter the vehicle.

[0148] exist Figure 6In the illustrated embodiment, the positions of the first lighting module, the first seat, and the first door can be matched to the user's actual location, providing a more precise welcome service and enhancing the user's riding experience. Furthermore, in scenarios such as underground parking garages or at night, illuminating the ground beneath the user's feet enhances the premium atmosphere and facilitates getting in and out of the vehicle.

[0149] Moreover, the control device can execute multiple welcoming operations with different control logic for the boarding and alighting scenarios. For example, multiple welcoming operations can be used to create a welcoming ceremony when boarding and a farewell ceremony when alighting. The two ceremonies are designed independently, which can enhance the sense of luxury and intelligent perception, make the interaction more intuitive for users, and enhance the sense of ceremony.

[0150] Please see Figure 13 , Figure 13 This is a schematic diagram of a control device provided in an embodiment of this application. Optionally, the control device 20 can be a standalone device, such as a controller, processor, or SOC. Alternatively, the control device 20 can be a component within a standalone device, such as a chip, integrated circuit, or software module (cloud service, AI model). The control device 20 is used to implement the aforementioned method, such as... Figure 6 The control method shown, or at least a part of a method executed by a control device, etc.

[0151] The control device 20 includes a processing unit 21 and a control unit 22. The processing unit 21 processes data, performing one or more operations such as processing, determining, generating, calculating, encoding, decoding, reasoning, or compression. Optionally, it may also perform other operations involved in the aforementioned method embodiments. The control unit 22 controls other components / devices to perform operations. It should be understood that the unit division and naming here are only illustrative; in actual implementation, some units may be combined together, or one unit may be split into multiple units.

[0152] In one possible implementation, processing unit 21 is used to determine the user's travel scenario, which includes a boarding scenario and an alighting scenario. Control unit 22 is used to execute multiple welcoming operations based on the user's travel scenario. These welcoming operations include illuminating a first light module, opening the first vehicle door, and rotating the first vehicle seat. The positions of the first light module and the first seat correspond to the positions of the first vehicle door, respectively. The control logic for the multiple welcoming operations corresponding to the boarding scenario differs from the control logic for the multiple welcoming operations corresponding to the alighting scenario.

[0153] In another possible implementation, the control logic of the multiple welcoming operations corresponding to the boarding scenario differs from that of the multiple welcoming operations corresponding to the alighting scenario, including: the execution order of the multiple welcoming operations corresponding to the boarding scenario is different from that of the multiple welcoming operations corresponding to the alighting scenario; and / or, the triggering condition of the first welcoming operation in the multiple welcoming operations corresponding to the boarding scenario is different from that of the first welcoming operation in the multiple welcoming operations corresponding to the alighting scenario.

[0154] In another possible implementation, the processing unit 21 is further configured to determine the user's riding scenario based on the first information, which includes one or more of the distance between the user and the vehicle and the user's input door opening instruction.

[0155] In another possible implementation, at least one of the following is related to the user's position: the lighting effect of the first lighting module, the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area, and the position of the illumination area.

[0156] In another possible implementation, the user's vehicle travel scenario is the vehicle boarding scenario, and the control unit 22 is also used to turn on the first light module; open the first door; control the first seat to rotate around the vertical direction to a first angle, and after the first seat rotates to the first angle, it faces the first door.

[0157] In another possible implementation, the control unit 22 is also configured to open the first door when the user's position is within the illumination area of ​​the first lighting module and the distance between the user and the first door decreases over time.

[0158] In another possible implementation, the control unit 22 is further configured to open the first door when the user's position is within the illumination area of ​​the first lighting module, the distance between the user and the first door decreases over time, and the user's speed in the second direction exceeds a speed threshold. For example, the second direction may be the left-right direction of the vehicle.

[0159] In another possible implementation, the multiple welcoming operations also include moving the second seat of the vehicle along a first direction, the movement of the second seat along the first direction changing the seating space of the first seat; the control unit 22 is also used to control the second seat to move along the first direction to a first position; and to control the first seat to rotate about the vertical direction to a first angle.

[0160] In another possible implementation, the multiple welcoming operations also include adjusting the suspension travel of the vehicle's suspension.

[0161] In another possible implementation, the multiple welcoming operations also include at least one of unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to flash.

[0162] In another possible implementation, the control unit 22 is also configured to illuminate the first light module when the distance between the user and the vehicle is within a first distance range.

[0163] In another possible implementation, the control unit 22 is further configured to illuminate a light module disposed on the first side of the vehicle when the distance between the user and the vehicle is within a first distance range and the user is located on the first side of the vehicle. The first light module is a light module disposed on the first side of the vehicle.

[0164] In another possible implementation, the control unit 22 is further configured to illuminate the first light module when the distance between the user and the vehicle is within a second distance range and the distance between the user and the first door is reduced by the first distance, wherein the maximum distance of the second distance range is less than the minimum distance of the first distance range, or the second distance range is related to the illuminable area of ​​the first light module.

[0165] In another possible implementation, the user's riding scenario is the alighting scenario, and the control unit 22 is also used to open the first door; control the first seat to rotate around the vertical direction to a second angle, and after the first seat rotates to the second angle, it faces the first door; and turn on the first light module.

[0166] In another possible implementation, when the distance between the user and the vehicle decreases over time, the user's travel scenario is the boarding scenario.

[0167] In another possible implementation, the distance between the user and the vehicle includes the distance between the user's electronic key and the vehicle.

[0168] In another possible implementation, the control unit 22 is also used to control the first seat to rotate around the vertical direction to a third angle, after which the first seat faces the front of the vehicle; close the first door and turn off the first light module.

[0169] In another possible implementation, the control unit 22 is also used to control the first seat to rotate to a third angle about the vertical direction when the user has not boarded the vehicle within a first time period, or the user has boarded the vehicle, or a door closing instruction is received.

[0170] In another possible implementation, the control device 20 further includes a transceiver unit, which is used to perform one or more operations such as receiving, acquiring, reading, or sending, and optionally also to perform other operations involved in the foregoing method embodiments. For example, the transceiver unit is used to acquire first information.

[0171] For details on the operations performed by the control device 20, please refer to the description of the system architecture and method embodiments above.

[0172] Please see Figure 14 , Figure 14 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application, such as... Figure 14 The computing device 200 shown can be a standalone device, such as an MDC, GPU, or server. Alternatively, the computing device 200 can be a component within a standalone device, such as a chip, integrated circuit, or software module (e.g., cloud service, AI model). The computing device 200 is used to implement the aforementioned methods, such as... Figure 6 The control method shown, or at least a portion thereof, is performed by a first controller or a first actuator.

[0173] The computing device 200 includes at least one processor and at least one memory. Optionally, the computing device 200 also includes a communication interface. Further optionally, the computing device 200 also includes connection lines, wherein the processor, communication interface, and / or memory are connected via the connection lines, and / or communicate with each other via the connection lines to transmit control signals and / or data signals. Wherein: A processor is a module with computing capabilities, including one or more of the following: arithmetic operations, logical operations, image-related operations, and artificial intelligence-related operations. Memory provides storage space, which can store data such as the operating system and computer programs. Memory can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0174] A communication interface can be used to provide information input or output to at least one processor, and / or to receive and / or send signals to externally transmitted signals. For example, a computing device may be a package containing chips or circuitry, and its communication interface may include interface circuitry. Alternatively, a computing device may be a communication-enabled device, and its communication interface may include data transmission interfaces such as Ethernet interfaces, serial data interfaces, and parallel data interfaces, and / or wireless link interfaces (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies). In some cases, the functionality of the communication interface is implemented through transceiver circuitry or dedicated transceiver chips.

[0175] The functions and actions of each module or unit in the control computing device listed above are merely illustrative examples.

[0176] The functional units in the computing device can be used to implement the aforementioned method, such as Figure 6 The control methods shown, etc.

[0177] Optionally, the processor is a processor specifically designed to perform the aforementioned methods (referred to as a dedicated processor for easy distinction), or a processor that performs the aforementioned methods by invoking a computer program (referred to as a dedicated processor for easy distinction). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0178] Optionally, if the computing device includes at least one memory, and the processor implements the aforementioned processing method by calling a computer program, the computer program may be stored in the memory.

[0179] This application also provides a chip including a processor and an interface circuit. The interface circuit is used for inputting and / or outputting data, and the processor is used for calling (or executing) computer instructions. This chip is used to implement the aforementioned methods, such as... Figure 6 The control method shown, or at least a part of a method executed by a control device, etc.

[0180] This application also provides a computer-readable storage medium storing computer program instructions, including instructions for performing the aforementioned methods, such as... Figure 6 The instructions in the control method shown. When the computer program instructions are executed by at least one processor, the aforementioned method is implemented, such as... Figure 6 The control method shown, or at least a part of a method executed by a control device, etc.

[0181] This application also provides a computer program product, which includes computer program instructions for implementing the aforementioned method, such as... Figure 6 The control method shown, or at least a part of a method executed by a control device, etc.

[0182] This application embodiment also provides a vehicle (such as...) Figure 1 The vehicle 100 shown includes the aforementioned control device 20, computing device 200, the aforementioned chip, or the aforementioned computer-readable storage medium, or a product including the aforementioned computing program. The vehicle is used to implement the aforementioned method, such as... Figure 6 The control method shown.

[0183] In addition, a few additional points need to be made regarding this application: I. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the protection scope of the technical solutions of the embodiments of this application.

[0184] 2. Unless otherwise stated, “multiple” means two or more.

[0185] 3. Unless otherwise specified or in case of logical conflict, the terms and / or descriptions in different embodiments of this application are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0186] IV. The various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of protection of this application. The magnitude of the serial numbers used in this application does not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic. For example, the terms "first," "second," "third," "fourth," and other various terminology (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0187] Furthermore, any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0188] V. The terms “comprising” and “having” and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are expressly listed, but may include other steps or modules that are not expressly listed or that are inherent to such process, method, product or device.

[0189] VI. Unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. In this application, "and / or" is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0190] VII. Unless otherwise stated, the names of devices, systems, modules and other information in the embodiments of this application are merely examples, and devices, modules and modules are used to represent possible entities that implement a certain function, and the meanings of the three can be used interchangeably.

Claims

1. A control method, characterized in that, The method includes: Determine the user's travel scenario, which includes the boarding scenario and the alighting scenario; Multiple welcoming operations are performed based on the user's travel scenario. These operations include illuminating the first light module, opening the first door of the vehicle, and rotating the first seat of the vehicle. The positions of the first light module, the first seat, and the first door correspond to the user's position, respectively. The control logic for the multiple welcoming operations corresponding to the boarding scenario is different from the control logic for the multiple welcoming operations corresponding to the alighting scenario.

2. The method according to claim 1, characterized in that, The control logic for the multiple welcoming operations corresponding to the boarding scenario differs from the control logic for the multiple welcoming operations corresponding to the alighting scenario, including: The execution order of the multiple welcoming operations corresponding to the boarding scenario is different from the execution order of the multiple welcoming operations corresponding to the alighting scenario; And / or, the triggering condition of the first welcoming operation among the multiple welcoming operations corresponding to the boarding scenario is different from the triggering condition of the first welcoming operation among the multiple welcoming operations corresponding to the alighting scenario.

3. The method according to claim 1 or 2, characterized in that, The determination of the user's travel scenario includes: The user's travel scenario is determined based on the first information, which includes one or more of the distance between the user and the vehicle and the user's input of a door opening instruction.

4. The method according to any one of claims 1-3, characterized in that, At least one of the lighting effect of the first lighting module, the shape of the illumination area of ​​the first lighting module, the area of ​​the illumination area, and the position of the illumination area is related to the user's position.

5. The method according to any one of claims 1-4, characterized in that, The user's travel scenario is a boarding scenario, and the execution of multiple welcoming operations based on the user's travel scenario includes: Light up the first light module; Open the first car door; Control the first seat to rotate around the vertical direction to a first angle, and after the first seat rotates to the first angle, it faces the first door.

6. The method according to claim 5, characterized in that, Opening the first vehicle door includes: The first door is opened when the user's position is within the illumination area of ​​the first light module and the distance between the user and the first door decreases over time.

7. The method according to claim 6, characterized in that, The step of opening the first car door when the user's position is within the illumination area of ​​the first light module and the distance between the user and the first car door decreases over time includes: The first door is opened when the user's position is within the illumination area of ​​the first light module, the distance between the user and the first door decreases over time, and the user's speed in the second direction is greater than a speed threshold.

8. The method according to any one of claims 5-7, characterized in that, The plurality of welcoming operations also include moving the second seat of the vehicle along a first direction, the movement of the second seat along the first direction changing the seating space of the first seat; The control of rotating the first seat around the vertical direction to a first angle includes: Control the second seat to move along the first direction to the first position; Control the first seat to rotate around the vertical direction to a first angle.

9. The method according to any one of claims 1-8, characterized in that, The multiple welcoming operations also include adjusting the suspension travel of the vehicle's suspension.

10. The method according to any one of claims 1-9, characterized in that, The multiple welcoming operations also include at least one of the following: unlocking the vehicle, playing an unlocking audio, unfolding the vehicle's rearview mirrors, and controlling the vehicle's turn signals to be in a flashing state.

11. The method according to any one of claims 5-8, characterized in that, The step of illuminating the first light module includes: When the distance between the user and the vehicle is within a first distance range, the first light module is illuminated.

12. The method according to claim 11, characterized in that, When the distance between the user and the vehicle is within a first distance range, illuminating the first light module includes: When the distance between the user and the vehicle is within a first distance range, and the user is located on the first side of the vehicle, the light module disposed on the first side of the vehicle is turned on.

13. The method according to any one of claims 5-8, characterized in that, The step of illuminating the first light module includes: When the distance between the user and the vehicle is within a second distance range, and the distance between the user and the first door is reduced by a first distance, the first light module is turned on. The maximum distance in the second distance range is less than the minimum distance in the first distance range, or the second distance range is related to the illuminated area of ​​the first light module.

14. The method according to any one of claims 1-4, characterized in that, The user's travel scenario is an alighting scenario. The step of performing a welcoming operation based on the user's travel scenario includes: Open the first car door; Control the first seat to rotate around the vertical direction to a second angle, and after the first seat rotates to the second angle, it faces the first door; Turn on the first light module.

15. The method according to any one of claims 1-14, characterized in that, When the distance between the user and the vehicle decreases over time, the user's travel scenario is a boarding scenario.

16. The method according to any one of claims 1-15, characterized in that, The distance between the user and the vehicle includes the distance between the user's electronic key and the vehicle.

17. The method according to any one of claims 5-8 or any one of claims 11-14, characterized in that, The method further includes: Control the first seat to rotate around the vertical direction to a third angle, and after the first seat is rotated to the third angle, it faces the front of the vehicle; Close the first door and turn off the first lighting module.

18. The method according to claim 17, characterized in that, The control of rotating the first seat around the vertical direction to a third angle includes: When the user does not board the vehicle within a first time period, or the user has boarded the vehicle, or a door closing instruction is received, the first seat is controlled to rotate around the vertical direction to a third angle.

19. A control device, characterized in that, The control device includes: The processing unit is used to determine the user's travel scenario, which includes the boarding scenario and the alighting scenario; The control unit is used to perform multiple welcoming operations according to the user's riding scenario. The multiple welcoming operations include turning on the first light module, opening the first door of the vehicle, and rotating the first seat of the vehicle. The position of the first light module and the position of the first seat correspond to the position of the first door, respectively. The control logic for the multiple welcoming operations corresponding to the boarding scenario is different from the control logic for the multiple welcoming operations corresponding to the alighting scenario.

20. A computing device, characterized in that, The computing device includes a processor and a memory, the memory storing a program, and the processor executing the program to cause the computing device to perform the method as described in any one of claims 1-18.

21. A vehicle, characterized in that, The vehicle includes the control device as described in claim 19 or the computing device as described in claim 20.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, the computer program including instructions for performing the method as described in any one of claims 1-18.

23. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a processor, cause the method as described in any one of claims 1-18 to be implemented.

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