Chassis control method, electronic device and vehicle

Abstract

A chassis control method, electronic equipment and vehicle, comprising: in a target mode, based on dynamic data of a target object outside the vehicle, controlling the chassis of the vehicle to perform a target action; wherein the target action includes at least two of the following: azimuth action, attitude action, amplitude action, and timing action. The present disclosure introduces an off-board sensing system to collect dynamic data in the off-board environment, extracts azimuth, attitude, amplitude and timing features and converts them into action labels, combines a multi-label fusion mapping strategy and a scenario-based action library, and drives the chassis to perform coordinated actions, breaking the limitation of traditional chassis entertainment functions relying only on in-vehicle inputs, realizing real-time interaction between the vehicle and the off-board environment, and significantly improving user experience.

Description

Technical Field

[0001] This disclosure relates to the field of automotive chassis technology, and in particular to a chassis control method, electronic equipment, and vehicle. Background Technology

[0002] Currently, most vehicle control methods rely heavily on in-vehicle sound source input as chassis control information, failing to fully analyze and utilize the characteristic information in environmental data. While related technologies can identify ambient music and generate rhythmic signals to control chassis movement or swaying, their mapping rules are relatively simple and fixed, providing only basic rhythmic effects and failing to offer users a comprehensive multi-sensory experience. Summary of the Invention

[0003] The purpose of this disclosure is to provide a chassis control method, electronic equipment, and vehicle. This allows for full utilization of environmental information to achieve interaction with the outside world. To achieve the above objective, this disclosure adopts the following technical solution:

[0004] This disclosure provides a chassis control method, including:

[0005] In target mode, the vehicle chassis is controlled to perform target actions based on dynamic data of external target objects; the target actions include at least two of the following: orientation actions, posture actions, amplitude actions, and timing actions.

[0006] The chassis control method disclosed herein controls the vehicle chassis to perform at least two of the following actions: orientation, posture, amplitude, and timing. It can cover a variety of real-world scenarios, fully achieve interactive effects with the environment, meet the needs of more application scenarios, and improve the user experience.

[0007] In some embodiments, controlling the chassis of a vehicle to perform a target action includes: determining the action label of the dynamic data based on the action characteristics of the dynamic data; and determining the target action of the chassis based on the mapping relationship between the action label and preset chassis actions, so as to control the chassis to perform the target action.

[0008] In some embodiments, determining the action label of dynamic data based on the action characteristics of dynamic data includes: determining a first label of dynamic data based on the orientation characteristics of dynamic data, wherein the orientation characteristics are used to characterize the spatial relationship between the target object outside the vehicle and the vehicle.

[0009] In some embodiments, determining the action label of dynamic data includes: determining a second label of dynamic data based on the posture features of the dynamic data, the posture features being used to characterize the posture changes of a target object outside the vehicle.

[0010] In some embodiments, determining the action label of dynamic data includes: determining a third label of dynamic data based on the amplitude characteristics of the dynamic data, wherein the amplitude characteristics are used to characterize the magnitude of the action amplitude of the target object outside the vehicle.

[0011] In some embodiments, determining the action label of dynamic data includes: determining a fourth label of dynamic data based on the temporal characteristics of the dynamic data, wherein the temporal characteristics are used to characterize the temporal sequence and / or frequency of change of the action of the target object outside the vehicle.

[0012] In some embodiments, determining the target action of the chassis based on the mapping relationship between the action label and the preset chassis action includes: when the action label includes a first label, determining that the target action of the chassis includes an orientation action, the orientation action includes a suspension rotation target angle, and the target angle is determined based on the vehicle's current orientation and the target orientation represented by the first label.

[0013] In some embodiments, determining the target action of the chassis based on the mapping relationship between the action tag and the preset chassis action includes: when the action tag includes a second tag, determining that the target action of the chassis includes an attitude action, wherein the attitude action includes one or more of suspension lifting, roll, pitch, and bounce.

[0014] In some embodiments, determining the target action of the chassis based on the mapping relationship between the action label and the preset chassis action includes: when the action label includes a third label, determining that the target action of the chassis includes amplitude action, and amplitude action includes suspension travel.

[0015] In some embodiments, determining the target action of the chassis based on the mapping relationship between the action tag and the preset chassis action includes: when the action tag includes a fourth tag, determining that the target action of the chassis includes a timing action, and the target action includes a suspension beat.

[0016] In some embodiments, controlling the chassis to perform a target action includes: when the vehicle's orientation is consistent with the target orientation represented by the first label, controlling the chassis to perform one or more of the following: a posture action corresponding to the second label, an amplitude action corresponding to the third label, and a timing action corresponding to the fourth label.

[0017] In some embodiments, controlling the chassis to perform a target action includes: controlling the chassis to perform an orientation action when the vehicle's orientation is inconsistent with the target orientation represented by the first label.

[0018] In some embodiments, if the vehicle's orientation is inconsistent with the target orientation represented by the first label, the method further includes: controlling the chassis to first perform an orientation maneuver when the vehicle passes the rotational safety detection.

[0019] In some embodiments, if the vehicle's orientation is inconsistent with the target orientation represented by the first label, the method further includes: controlling the chassis to perform orientation and attitude actions at intervals if the vehicle fails to pass the rotational safety detection.

[0020] In some embodiments, controlling the chassis to perform a target action further includes: controlling the chassis to perform the target action according to a preset control strategy, wherein the control strategy is used to specify the priority of the action label.

[0021] In some embodiments, the control method further includes: controlling the vehicle to activate a target mode according to user instructions.

[0022] In some embodiments, the control method further includes: controlling the vehicle to activate a target mode when dynamic data of a target object outside the vehicle is detected.

[0023] In some embodiments, the dynamic data of the target object outside the vehicle includes audio data and / or image data, and the method further includes: extracting motion features from the audio data and / or image data.

[0024] This disclosure also provides an electronic device including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to execute instructions to implement the above-described method.

[0025] This disclosure also provides a vehicle including the aforementioned electronic equipment.

[0026] The chassis control method, electronic device, and vehicle provided in this disclosure introduce an external perception system to collect audio and image data from the external environment in real time, extract four-dimensional features of orientation, posture, amplitude, and timing, and convert them into action tags. Combined with a multi-tag fusion mapping strategy and a scenario-based action library, the chassis is driven to perform coordinated actions. This breaks the limitation of traditional chassis entertainment functions that rely solely on in-vehicle input, and realizes real-time interaction between the vehicle and the external environment. It provides users with a fun and interactive functional experience, and can also further improve the external stunt effects of the vehicle chassis suspension.

[0027] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a flowchart of a chassis control method according to some embodiments;

[0030] Figure 2 This is a schematic flowchart of a chassis control method according to some embodiments;

[0031] Figure 3 This is an overall flowchart of a chassis control method according to some embodiments;

[0032] Figure 4 This is a schematic diagram illustrating the extraction of motion features from dynamic data based on some embodiments;

[0033] Figure 5 This is a flowchart of a method for controlling a chassis to perform a target action according to some embodiments;

[0034] Figure 6 This is a flowchart of a method for controlling a chassis to perform orientation actions according to some embodiments;

[0035] Figure 7 This is a flowchart of a method for controlling a vehicle to activate a target mode according to some embodiments;

[0036] Figure 8 This is a schematic diagram of an interface for controlling a vehicle to activate a target mode according to some embodiments;

[0037] Figure 9 This is a schematic diagram of an electronic device structure according to some embodiments;

[0038] Figure 10 This is a schematic diagram of a vehicle structure according to some embodiments. Detailed Implementation

[0039] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0040] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0042] In addition, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0043] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "electrical connection," and "communication" should be interpreted broadly. For example, they can refer to fixed electrical connections, detachable electrical connections, or integral electrical connections. Connections can be direct or indirect through an intermediate medium, and can be internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0044] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in embodiments of this disclosure is not limited. Functions may be performed in the order shown or discussed, or may be performed substantially simultaneously or in reverse order depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0045] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0046] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0047] In related technologies, most chassis vibration control solutions are limited to using in-vehicle sound source input as chassis control information, failing to fully analyze and utilize the feature information in environmental data. For users, the vehicle chassis vibration function lacks the fun effect of effectively interacting with the external environment. Currently, it remains a scenario for self-entertainment within the vehicle.

[0048] In some embodiments, such as Figure 1 As shown, this disclosure provides a chassis control method, including:

[0049] Step 101: In target mode, based on the dynamic data of the target object outside the vehicle, control the vehicle chassis to perform the target action; wherein the target action includes at least two of the following: orientation action, posture action, amplitude action, and timing action.

[0050] The chassis control method provided by this invention controls the vehicle chassis to perform at least two of the following actions: orientation, posture, amplitude, and timing. This covers a variety of real-world scenarios, fully achieving interactive effects with the environment and enabling two-way interaction between the vehicle and target objects such as people outside the vehicle, sound sources, and performers. This significantly enhances the vehicle's appeal and expressiveness as a mobile social entertainment terminal, meeting the needs of more application scenarios and improving the user experience.

[0051] The chassis control method disclosed herein proposes a method that actively senses the surrounding environment and follows the music / characters dancing in the environment. By using the vehicle chassis movements to achieve interaction with the environment, it can effectively enhance the user's experience of vehicle stunts and satisfy the user's higher entertainment experience of vehicle-environment interaction.

[0052] Specifically, such as Figure 2 As shown, the chassis control methods include:

[0053] Step 201: Detect dynamic data of a target object outside the vehicle or activate the target mode according to user instructions. Users can turn on the external target mode switch on the vehicle's UI interface, or the external sensing system will collect audio and image data from the surrounding environment. When there is someone dancing in the external environment, music is playing outside the vehicle, or a voice command is triggered outside the vehicle, the "dance with the outside" function will be activated.

[0054] Step 202: Extract motion features from audio data and / or image data. Once the function is enabled, the system will analyze the sound source features in the audio data and the human features in the image data, including location features and posture features.

[0055] Step 203: Determine the action labels for the dynamic data based on its motion characteristics. Specifically, orientation features characterize the spatial relationship between the external target object and the vehicle; posture features characterize the posture changes of the external target object; amplitude features characterize the magnitude of the external target object's motion; and temporal features characterize the temporal sequence and / or frequency of the external target object's motion. These four types of labels can be activated independently or in combination, and the system will output a composite action, forming a three-dimensional response.

[0056] Step 204: Based on the mapping relationship between action tags and preset chassis actions, determine the target chassis action. Based on the preset chassis action resource library, if the action tag includes a first tag, the target chassis action is determined to include azimuth action, which includes a suspension rotation target angle, determined based on the vehicle's current orientation and the target orientation represented by the first tag; if the action tag includes a second tag, the target chassis action is determined to include posture action, which includes one or more of suspension rise / fall, roll, pitch, and bounce; if the action tag includes a third tag, the target chassis action is determined to include amplitude action, which includes suspension travel; if the action tag includes a fourth tag, the target chassis action is determined to include timing action, which includes suspension beat. Based on the scene classification, a multi-tag fusion mapping strategy is used to output the corresponding chassis action.

[0057] Step 205: Control the chassis to perform the target action according to the preset control strategy. When the vehicle's orientation matches the target orientation represented by the first label, control the chassis to perform one or more of the following: posture action corresponding to the second label, amplitude action corresponding to the third label, and timing action corresponding to the fourth label; when the vehicle's orientation does not match the target orientation represented by the first label, control the chassis to perform an azimuth action. In some embodiments, when the vehicle's orientation matches the target orientation, such as in a scenario where a pedestrian is facing the vehicle, the system determines that rotation is not required and prioritizes non-azimuth actions. For example, when "continuous jump + high amplitude + fast rhythm" is detected, no azimuth action is used, and only a composite response of "suspension lifting + bounce frequency" is executed; when the orientations do not match, such as in a scenario where the target is located to the left rear, the system prioritizes azimuth actions to ensure that the target is always in the focus of interaction.

[0058] In some embodiments, when the vehicle's orientation is inconsistent with the target orientation represented by the first label, the method further includes: if the vehicle passes the rotational safety detection, controlling the chassis to first perform an orientational action; the rotational safety detection is determined by multi-sensor fusion; if the vehicle fails the rotational safety detection, controlling the chassis to interweave orientational actions, such as tilting, into the existing sequence to achieve a certain interactive effect. For example, if the target object is on the left side of the vehicle, the vehicle executes a sequence of "tilt left + rhythm + tilt left + rhythm," where the rhythm is a set of action sequences obtained according to the above mapping strategy. The environment is checked for safety; if it is still unsafe, the interleaved action sequence continues to be executed.

[0059] In some embodiments, controlling the chassis to perform a target action further includes: controlling the chassis to perform the target action according to a preset control strategy, wherein the control strategy is used to specify the priority of action tags. For example, the system can preset three types of scenario strategies: 1) For example, a social interaction scenario where people gather, in which the priority of action tags is set as: second tag = fourth tag = third tag > first tag; 2) For example, a music performance scenario where street performers perform, in which the priority of action tags is set as fourth tag > third tag = second tag = first tag; 3) For example, a command response scenario where the voice command "dance" is given, in which the priority of action tags is set as third tag > first tag = second tag = fourth tag. The priority is evaluated in real time by the rule engine, and users can customize the priority through the App to achieve personalized interaction.

[0060] For better control, such as Figure 3 As shown in some embodiments, the overall flow of a chassis control method is as follows:

[0061] Step 301 involves the external sensing system collecting external environmental data. The external sensing system includes, but is not limited to, external microphone arrays and external camera arrays. Environmental data may include external audio data and image data.

[0062] Step 302 is to activate the "Dancing with the Outside of the Vehicle" function. There are two activation methods: the first is manual activation by the user, i.e., inputting a user command into the system; the second is active triggering by the vehicle's external sensing system, requiring the user to activate the intelligent environment detection mode. The system automatically analyzes external environmental data to detect events, including: music playing outside the vehicle, people dancing outside the vehicle, and receiving a voice trigger command from someone outside the vehicle. When at least one of these three events is detected, the "Dancing with the Outside of the Vehicle" function is activated.

[0063] In some embodiments, step 302 is implemented as follows: Figure 7 As shown, the external environment data 701 collected by the vehicle's external perception system first needs to undergo preprocessing. The purpose of preprocessing 702 is to normalize hardware-induced differences, remove interference noise, and enhance effective data, laying the foundation for subsequent event detection and feature analysis. For example, audio signal preprocessing includes noise reduction and directional sound pickup, while image signal preprocessing includes normalization and grayscale processing. After processing, the data undergoes event detection 703, which can use single-mode data or combine multimodal data to perceive the surrounding environment and detect possible preset trigger events. Event detection can use traditional rule-based judgment or an AI-based deep learning recognition model. When at least one of these trigger events occurs, the "Walk Around the Vehicle" function is activated 704. Simultaneously, the system supports manual operation by the in-vehicle user 705, finally activating the "Walk Around the Vehicle" function 706.

[0064] Figure 8 This is a schematic diagram of the user interface. Users can manually activate the "Exterior Dance" mode and / or turn on the intelligent detection switch. When the user manually activates the "Exterior Dance" mode, the system will directly start the function, and the exterior perception system will detect whether there are any triggered events and identify environmental features. If no event is triggered and the required environmental features are not present or not detected in the actual external environment of the vehicle, the system will enter the default mode and perform basic cyclical rhythmic movements. When the intelligent detection switch is turned on but the function is not manually activated, the exterior perception system will still perceive the surrounding environment and trigger the mode based on the event detection results, actively prompting the user to activate the "Exterior Dance" function.

[0065] Step 303 involves analyzing the dynamic data features of the environment. These dynamic data features include at least one spatial action feature, such as sound source location features and person location features. If music is playing outside the car, the time-frequency features, sound source location features, and beat features of the music are analyzed and obtained. If there are people around outside the car, the location features of the people are analyzed and obtained. If the people are dancing, the action features and beat features of the people are analyzed. If a voice command is received from someone outside the car, the location features and semantic features of the voice source are analyzed and obtained. It is understood that these three scenarios are not mutually exclusive; therefore, analyzing actions occurring simultaneously will yield richer action features. Finally, the action features are set as optional action labels in the mapping strategy.

[0066] Figure 4 A schematic diagram illustrating the extraction of motion features from dynamic data is shown. Step 401 involves various events that could trigger the vehicle's external dancing function. As mentioned earlier, if the user manually activates the function but no event is triggered, the system enters the default mode and performs basic rhythmic movements. When an event is triggered, it indicates the presence of target object elements in the current environment, such as music, voice, or people, and the system analyzes and obtains the feature information of different objects.

[0067] Step 402 involves analyzing directional features, which refer to the spatial relationship between the target person / sound source and the vehicle, such as being in front, behind, left front, right front, left rear, or right rear of the vehicle. When music or voice-triggered commands are present outside the vehicle, a sound source localization method is used to analyze the directional features of the external sound source. When a voice-triggered command or a person is present outside the vehicle, an image recognition method is used to locate the person's position. The aforementioned sound source localization method can use microphone array delay to determine the sound source direction, or more simply, determine it through microphone energy values. When there is more than one interactive object, multiple directional features are marked.

[0068] Step 403 involves analyzing the chassis posture features matched to the current object. These posture features are the executable actions within the chassis / action sequences from the action library. For human objects, image-based human posture recognition is used to obtain human actions, which are then mapped to vehicle chassis actions. Possible human action-chassis action mapping strategies include:

[0069] The rise and fall of the human torso corresponds to the overall rise and fall of the vehicle chassis suspension. For example, the human body's squatting-standing-jumping action corresponds to the suspension system's compression-normal-lifting.

[0070] The turning motion of the human body corresponds to the tilting motion of the vehicle. For example, when the human body turns to the left, the left front wheel and left rear wheel suspension of the chassis suspension system lowers, while the right front wheel and right rear wheel suspension rises.

[0071] The left and right movement of the human torso corresponds to the pitching and rolling motion of the vehicle chassis. For example, the left and right swaying dance motion of the human body is mapped to the wave motion of the front axle rising and the rear axle rising of the vehicle chassis suspension.

[0072] For musical objects, time-frequency analysis can be used to obtain frequency band composition, energy level, and bpm, and these characteristics can then be used to distinguish musical styles. An example of musical style classification is soothing, dynamic, etc. Different preset musical styles correspond to different preset action libraries, and the action mapping strategies that can be implemented are as follows:

[0073] When the music style is soothing, the motion library should consist of motions with small changes in the vehicle's pitch / roll angle and small changes in the vehicle's center of gravity. This could include individual alternating rises of the four wheel suspensions, or individual rises of the front and rear suspensions.

[0074] When the music style is dynamic, the motion library should consist of motions with large changes in vehicle pitch / roll angle and large changes in vehicle center of gravity. For example, it may include motions with opposite sides raised or lowered, such as the left front suspension rising and the right rear suspension falling, or the entire vehicle rising or falling.

[0075] For voice commands, their semantic features are identified and converted into corresponding posture features. Triggering keywords in voice commands can be preset keywords; for example, the user's voice command "do push-ups" is converted into the raising and lowering of the front axle suspension. Alternatively, large AI-based model analysis can be introduced to identify the intent in the semantics and convert it into executable actions or action sequences in the suspension and steering systems.

[0076] Step 404 involves analyzing amplitude and temporal features. Here, amplitude features refer to mapping environmental information to the suspension travel of the chassis suspension system. Suspension travel represents the magnitude of chassis movement. For audio objects such as music and voice commands, short-time energy magnitude can be used to map movement amplitude; for human objects, human posture recognition results can be used to map the amplitude of human posture changes to amplitude features, i.e., the intensity of human dancing is mapped to chassis suspension amplitude features. For temporally continuous and rhythmic information such as music outside the vehicle and human dancing, to achieve better synchronized interaction of chassis movements, their temporal features are analyzed to facilitate temporal choreography of chassis movements. This involves a music beat detection algorithm that can detect music beat points in real time, using beat points and beat intervals as temporal features. The moments of human posture changes are also used as beat points, and the beat intervals are statistically determined as temporal features.

[0077] Step 405 sets the analyzed motion features as chassis motion labels to facilitate subsequent mapping to chassis motion. In some embodiments, orientation features are used as the first label, motion features as the second label, amplitude features as the third label, and temporal features as the fourth label.

[0078] pass Figure 4 The above process can fully analyze the action characteristics of the target interactive object in the environment and map these action characteristics to action labels. As mentioned earlier, events may occur simultaneously, meaning multiple primary labels, including posture features, amplitude features, and temporal features, may exist concurrently. To enhance the interaction with people outside the vehicle, priorities can be set when selecting labels. For example, short voice commands can be responded to first, followed by human action features as labels, and finally music action features as labels. Various action features can also be used alternately as labels to achieve flexible combinations.

[0079] Step 304 involves selecting a mapping strategy based on the current environment, choosing action labels, and mapping them to chassis action commands. Step 305 involves controlling the chassis execution system to perform the action. After a safety check, the commands are adjusted and executed. In some embodiments, the method flow for controlling the chassis to perform the target action is as follows: Figure 5 As shown.

[0080] Step 501 determines whether the vehicle's orientation matches the target orientation by detecting whether the first label's orientation feature is forward. If the orientation feature is forward, it means the target object is directly facing the vehicle; otherwise, step 502 performs a rotation safety check, where the external perception system checks whether the environment meets the requirements for safe vehicle rotation. These two checks categorize the real-time external scene into three types:

[0081] In the first scenario, the front of the vehicle is not pointing towards the target location and can rotate. Step 503 maps the orientation feature to the action of the chassis's four-wheel independent steering system, controlling the vehicle to rotate at a specific angle to align the front of the vehicle with the orientation feature. Figure 6 An example of a mapping strategy from directional features to rotational actions is given. The character / sound source is initially positioned to the left front of the vehicle, meaning the directional feature is left front. In this scenario, this is mapped to the vehicle rotating counter-clockwise by a specific angle, so that after the action, the front of the vehicle faces the target object. The purpose of this step is to enhance the interaction with the target object outside the vehicle, where conditions permit.

[0082] In the second scenario, the vehicle's location matches the orientation indicated by the location feature. Step 403 previously described the chassis motion mapping scheme, mapping human posture features / audio features / voice commands to chassis motions / motion libraries, i.e., the second-label motion features. Step 504 directly uses the chassis motion or chassis motion library corresponding to the second label. If it is a chassis motion library, the motions it contains are arranged into a continuous motion sequence.

[0083] In the third scenario, the vehicle's direction and orientation are inconsistent, and the environment does not support rotation. Step 504 uses both the first label orientation feature and the second label posture feature simultaneously. Within the chassis actions corresponding to the posture features or continuous action sequences in the chassis action library, directional actions matching the orientation features are interspersed and arranged, ultimately forming a chassis action sequence. The aforementioned "interspersed arrangement" is merely a description, intended to combine the directional actions corresponding to the posture and orientation features to achieve timely interaction with the target object while performing the movement. As mentioned earlier, directional actions refer to chassis actions with directional effects. For example, if the orientation feature is the right side of the vehicle, the corresponding directional action could be lowering the right front and rear suspension and / or raising the left front and rear suspension, causing the vehicle to tilt to the right.

[0084] It is understandable that the above three chassis action selection strategies are for chassis with a four-wheel independent steering system, which can perform rotational actions. For chassis that cannot perform rotational actions, the rotational safety check can be ignored, and the action selection methods of the second or third scenario can be used directly.

[0085] After obtaining the chassis action / action sequence, step 506 uses the third label amplitude feature to adjust the amplitude for non-rotational actions, that is, to set the travel of the suspension lifting action and control the action amplitude performance to match the external environment of the vehicle.

[0086] Step 507 involves arranging the action sequence temporally based on the temporal characteristics of the fourth tag. Specifically, it determines the start time and duration of each action in the sequence according to the beat intervals and beat points. The purpose of this step is to ensure that the chassis movements are synchronized with the rhythm of the target object, achieving a synchronized interactive effect.

[0087] This disclosure also provides an electronic device 200, such as Figure 9 As shown, it includes a processor and a memory for storing processor-executable instructions, wherein the processor is configured to execute instructions to implement the method described above.

[0088] This disclosure also provides a vehicle 100, such as Figure 10 As shown, it includes the aforementioned electronic device 200.

[0089] In summary, the chassis control method, electronic device, and vehicle provided in this disclosure introduce an external perception system to collect audio and image data from the external environment in real time, extract four-dimensional features of orientation, posture, amplitude, and timing, and convert them into action tags. Combined with a multi-tag fusion mapping strategy and a scenario-based action library, the chassis is driven to perform coordinated actions. This breaks the limitation of traditional chassis entertainment functions relying solely on in-vehicle input, realizes real-time interaction between the vehicle and the external environment, and significantly enhances the immersive experience of external technology demonstrations.

[0090] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.

Claims

1. A chassis control method, characterized in that, include: In target mode, the vehicle's chassis is controlled to perform target actions based on dynamic data of the target object outside the vehicle. The target action includes at least two of the following: directional action, posture action, amplitude action, and timing action.

2. The control method according to claim 1, characterized in that, The control of the vehicle chassis to perform the target action includes: Based on the action characteristics of the dynamic data, determine the action label of the dynamic data; Based on the mapping relationship between the action tags and preset chassis actions, the target action of the chassis is determined, so as to control the chassis to perform the target action.

3. The control method according to claim 2, characterized in that, Determining the action label of the dynamic data based on the action characteristics of the dynamic data includes: Based on the orientation features of the dynamic data, a first label for the dynamic data is determined, wherein the orientation features are used to characterize the spatial relationship between the external target object and the vehicle. And / or, based on the attitude features of the dynamic data, a second label for the dynamic data is determined, wherein the attitude features are used to characterize the attitude changes of the target object outside the vehicle; And / or, based on the amplitude characteristics of the dynamic data, a third label of the dynamic data is determined, wherein the amplitude characteristics are used to characterize the magnitude of the movement amplitude of the target object outside the vehicle; And / or, based on the temporal characteristics of the dynamic data, a fourth label of the dynamic data is determined, wherein the temporal characteristics are used to characterize the temporal sequence and / or frequency of change of the action of the target object outside the vehicle.

4. The control method according to claim 3, characterized in that, The determination of the target chassis action based on the mapping relationship between the action tag and the preset chassis action includes: When the action label includes a first label, the target action of the chassis is determined to include an orientation action, which includes a target angle of suspension rotation, and the target angle is determined based on the vehicle's current orientation and the target orientation represented by the first label; And / or, if the action label includes a second label, the target action of the chassis is determined to include attitude actions, which include one or more of suspension lifting, roll, pitch, and hop; And / or, if the action label includes a third label, the target action of the chassis is determined to include amplitude action, which includes suspension travel; And / or, if the action label includes a fourth label, the target action of the chassis is determined to include a timing action, the target action including the suspension beat.

5. The control method according to claim 4, characterized in that, The control chassis performs the target action, including: When the vehicle's orientation is consistent with the target orientation represented by the first label, the chassis is controlled to perform one or more of the following: the posture action corresponding to the second label, the amplitude action corresponding to the third label, and the timing action corresponding to the fourth label; And / or, if the vehicle's orientation is inconsistent with the target orientation represented by the first label, control the chassis to perform the orientation maneuver.

6. The control method according to claim 5, characterized in that, If the vehicle's orientation is inconsistent with the target orientation represented by the first label, the method further includes: If the vehicle passes the rotational safety detection, the chassis control first performs the orientation action; And / or, if the vehicle fails the rotational safety detection, control the chassis to perform the orientation and attitude actions at intervals.

7. The control method according to claim 2, characterized in that, The control chassis to perform the target action also includes: The chassis is controlled to perform the target action according to a preset control strategy, wherein the control strategy is used to define the priority of the action label.

8. The control method according to claims 1-8, characterized in that, Also includes: The vehicle is controlled to activate the target mode according to user instructions; And / or, upon detecting dynamic data of the target object outside the vehicle, control the vehicle to activate the target mode; And / or, the dynamic data of the external target object includes audio data and / or image data, and the method further includes extracting motion features from the audio data and / or image data.

9. An electronic device, characterized in that, The method includes a processor and a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the method of any one of claims 1-8.

10. A vehicle, characterized in that, include: The electronic device as described in claim 9.

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