Control method and device, electronic device, vehicle or robot

Abstract

The application discloses a control method and device, electronic equipment, vehicle or robot, relates to the technical field of artificial intelligence, and mainly comprises the following technical scheme: in response to an opening instruction of a device storage part, target direction space information is acquired; in the case that the target direction space information is in a first scene, the mobile device is controlled to move a target distance along a first direction; in the case that the mobile device stops moving, the device storage part is controlled to be opened. The mobile device (for example, a vehicle) can be automatically moved to open the device storage part when the target direction space is insufficient, and the convenience and automation of user operation are improved.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, and more particularly to a control method and apparatus, electronic equipment, vehicle or robot. Background Technology

[0002] With the rapid development of intelligent driver assistance technology, vehicle automation functions are playing an increasingly important role in improving user convenience. However, existing methods for opening the trunk, whether manual or simple electric, may require users to manually move the vehicle when there is insufficient space behind, which is cumbersome and negatively impacts the user experience. Summary of the Invention

[0003] This disclosure provides a control method and apparatus, electronic device, vehicle, or robot. Its main objective is to improve the ease and security of opening storage compartments, and to reduce the number of manual steps required for users to move the vehicle.

[0004] According to a first aspect of this disclosure, a control method is provided, comprising: In response to an instruction to open the storage compartment of the equipment, spatial information of the target direction is obtained; When the target direction spatial information is in the first scene, control the mobile device to move the target distance along the first direction; When the mobile device stops moving, the storage compartment of the device is opened.

[0005] In some embodiments, when the target direction spatial information is within a first scene, the step of controlling the mobile device to move the target distance along the first direction is... When the storage compartment of the device is the trunk of the mobile device, and the target direction spatial information is within the first scenario, control the mobile device to move forward by the target distance; or, When the storage compartment is the front trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move backward by the target distance.

[0006] In some embodiments, the first scenario includes situations where the target orientation spatial information of the mobile device does not satisfy the safe space for opening and closing the device's storage compartment, and a target obstacle exists within the safe space, the target obstacle including static obstacles and / or dynamic obstacles.

[0007] In some embodiments, controlling the mobile device to move a target distance along a first direction includes: If it is determined that the mobile device can move along the first direction, the mobile device is controlled to move the target distance along the first direction.

[0008] In some embodiments, determining that the mobile device is movable along the first direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the first direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0009] In some embodiments, the method further includes: When the target direction space information is in the first scenario, a first prompt message is output. The first prompt message is used to prompt the user that the mobile device will move along the first direction to expand the target direction space.

[0010] In some embodiments, the method further includes: When it is determined that the storage compartment of the device has switched from an open state to a closed state, the mobile device is controlled to move to the initial position along a second direction; wherein the first direction is opposite to the second direction.

[0011] In some embodiments, controlling the mobile device to move along the second direction to the initial position includes: If the storage compartment is the rear compartment of the mobile device, control the mobile device to move backward to the initial position; or, When the storage compartment of the device is the front compartment of the mobile device, the mobile device is controlled to move forward to the initial position.

[0012] In some embodiments, controlling the mobile device to move along the second direction to the initial position includes: If it is determined that the mobile device has moved along the first direction during the opening and closing of the storage section, the mobile device is controlled to move along the second direction to the initial position.

[0013] In some embodiments, the method further includes: During the movement of the mobile device along the second direction, a second prompt message is output, which prompts the user that the mobile device will automatically move along the second direction to the initial position.

[0014] In some embodiments, controlling the mobile device to move along the second direction to the initial position includes: If it is determined that the mobile device can move along the second direction based on the target state of the mobile device and the surrounding area, the mobile device is controlled to move along the second direction to the initial position.

[0015] In some embodiments, the method further includes: If it is determined that the mobile device cannot move along the second direction based on the target state of the mobile device and / or the surrounding area, the abnormal event that prevents movement along the second direction is located, and a third prompt message is output. The third prompt message is used to prompt the user that the mobile device cannot move to the initial position.

[0016] In some embodiments, determining that the mobile device is moving along the second direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the second direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0017] In some embodiments, the method further includes: If the target function of the automatic vehicle relocation device's storage compartment has been activated, control the mobile device to move the target distance along the first direction; or... If it is determined that the target function is not enabled, guide information and / or recommendation information for enabling the target function will be displayed in the target area of ​​the visualization interface.

[0018] In some embodiments, the method further includes: During the movement of the mobile device along a first direction or along a second direction, in response to receiving a pause movement command, the mobile device is controlled to stop moving; or, In response to the received new opening command for the device storage section, the system controls the termination of the current automatic vehicle relocation and opening process for the device storage section, controls the mobile device to pause its movement, and executes the opening of the device storage section based on the new opening command.

[0019] In some embodiments, the method further includes: If, within the target duration of triggering the command to open the device's storage compartment, the device's storage compartment is not moved the target distance, the device's storage compartment is opened.

[0020] According to a second aspect of this disclosure, a control device is provided, comprising: The acquisition unit is used to acquire target direction spatial information in response to an opening command for the storage section of the device; The first control unit is configured to control the mobile device to move a target distance along the first direction when the target direction spatial information is in the first scene. The second control unit is used to control the opening of the device's storage compartment when the mobile device stops moving.

[0021] In some embodiments, the first control unit is further configured to: When the storage compartment of the device is the trunk of the mobile device, and the target direction spatial information is within the first scenario, control the mobile device to move forward by the target distance; or, When the storage compartment is the front trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move backward by the target distance.

[0022] In some embodiments, the first scenario includes situations where the target orientation spatial information of the mobile device does not satisfy the safe space for opening and closing the device's storage compartment, and a target obstacle exists within the safe space, the target obstacle including static obstacles and / or dynamic obstacles.

[0023] In some embodiments, the first control unit is further configured to: If it is determined that the mobile device can move along the first direction, the mobile device is controlled to move the target distance along the first direction.

[0024] In some embodiments, determining that the mobile device is movable along the first direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the first direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0025] In some embodiments, the apparatus further includes: The output unit is configured to output a first prompt message when the target direction space information is in the first scenario. The first prompt message is used to prompt the user that the mobile device will move along the first direction to expand the target direction space.

[0026] In some embodiments, the apparatus further includes: A third control unit is configured to control the mobile device to move to an initial position along a second direction when it is determined that the storage compartment of the device has switched from an open state to a closed state; wherein the first direction is opposite to the second direction.

[0027] In some embodiments, the third control unit is further configured to: If the storage compartment is the rear compartment of the mobile device, control the mobile device to move backward to the initial position; or, When the storage compartment of the device is the front compartment of the mobile device, the mobile device is controlled to move forward to the initial position.

[0028] In some embodiments, the third control unit is further configured to: If it is determined that the mobile device has moved along the first direction during the opening and closing of the storage section, the mobile device is controlled to move along the second direction to the initial position.

[0029] In some embodiments, the output unit is further configured to output a second prompt message during the process of the mobile device moving along the second direction, the second prompt message being used to prompt the user that the mobile device automatically moves along the second direction to the initial position.

[0030] In some embodiments, the third control unit is further configured to: If it is determined that the mobile device can move along the second direction based on the target state of the mobile device and the surrounding area, the mobile device is controlled to move along the second direction to the initial position.

[0031] In some embodiments, the apparatus further includes: A positioning unit is used to locate an abnormal event that prevents movement in the second direction when it is determined, based on the target state of the mobile device and / or the surrounding area, that movement in the second direction is not possible. The output unit is also used to output a third prompt message, which is used to prompt the user that the mobile device cannot move to the initial position.

[0032] In some embodiments, determining that the mobile device is moving along the second direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the second direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0033] In some embodiments, the apparatus further includes: The first control unit is further configured to, upon determining that the target function of the automatic vehicle relocation device's storage compartment has been activated, control the mobile device to move the target distance along the first direction; or, The display unit is used to display guidance information and / or recommendation information for enabling the target function in the target area of ​​the visualization interface when it is determined that the target function is not enabled.

[0034] In some embodiments, the apparatus further includes: A fourth control unit is configured to, in response to receiving a pause movement command, control the mobile device to stop moving during the process of the mobile device moving along a first direction or along a second direction; or, The fourth control unit is further configured to respond to a new opening command received from the device storage unit, control the termination of the current automatic vehicle relocation and opening process of the device storage unit, control the mobile device to pause its movement, and execute the opening of the device storage unit based on the new opening command.

[0035] In some embodiments, the apparatus further includes: The second control unit is further configured to control the device storage unit to open if, within a target duration of triggering the command to open the device storage unit, the device does not move the target distance.

[0036] According to a third aspect of this disclosure, a mobile device is provided, the mobile device including the control means as described in the second aspect.

[0037] According to a fourth aspect of this disclosure, a vehicle or robot is provided, the vehicle or robot including a control device as described in the second aspect; or, the vehicle or robot including a mobile device as described in the third aspect.

[0038] According to a fifth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect above.

[0039] According to a sixth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0040] The control method, apparatus, electronic device, and mobile device or robot provided in this disclosure, in response to an opening command for the device's storage compartment, acquires target direction spatial information; when the target direction spatial information is within a first scenario, controls the mobile device to move a target distance along the first direction; when the mobile device stops moving, controls the device's storage compartment to open. This enables the mobile device (e.g., a vehicle) to automatically move to open the device's storage compartment when there is insufficient space in the target direction, improving the convenience and automation of user operation.

[0041] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0042] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein: Figure 1 A flowchart illustrating a control method provided in an embodiment of this disclosure; Figure 2 A schematic diagram illustrating a first example provided for an embodiment of this disclosure; Figure 3 A schematic diagram illustrating a second example provided for an embodiment of this disclosure; Figure 4 A schematic diagram illustrating a third example provided for an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of the present disclosure; Figure 6 A schematic diagram of another control device provided in an embodiment of this disclosure; Figure 7 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0043] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0044] The control methods, apparatus, electronic devices, and mobile devices or robots of this disclosure are described below with reference to the accompanying drawings.

[0045] Figure 1 This is a flowchart illustrating a control method provided in an embodiment of this disclosure. Figure 1 As shown, this method is applied to a mobile device, which can be a robot, a vehicle, or other mobile devices with control functions, etc. The specific scenario described in this disclosure is not limited. The method includes the following steps: Step 101: In response to the command to open the storage section of the device, obtain spatial information of the target direction.

[0046] In some embodiments, the source of the opening command for the device storage compartment is diverse. Specifically, it can be triggered by at least one of the following methods: external voice command of the mobile device, internal voice command of the mobile device, gesture command, physical button command, wearable device, mobile terminal application, external physical button, internal physical button, remote key, or Bluetooth key.

[0047] When a user issues an instruction to open the storage compartment via any of the aforementioned devices, the instruction is received as a trigger signal by the mobile device controller. For example, if the user presses the physical trunk opening button on the mobile device, the electrical signal generated by the button is transmitted to the driver assistance controller via the vehicle control module; or, the user sends an instruction to open the trunk to the vehicle via a wireless communication network (such as 4G / 5G or Bluetooth) through voice or touch operation on a mobile terminal application (such as a mobile APP) or smart glasses.

[0048] For example, a user sends a remote control command to a mobile device via smart glasses to "open the storage compartment (e.g., open the trunk)". When the mobile device recognizes that the target direction and spatial information are in the first scenario, it outputs a voice prompt through the smart glasses: "Insufficient space to open the tailgate, confirm opening?" After the user replies with a confirmation command of "open", step 102 is executed. The above example illustrates a method where the opening command is triggered by smart glasses; however, this method is not intended to limit the opening command of the storage compartment to only being triggered by smart glasses. Specifically, this embodiment does not limit the triggering method for the opening command of the storage compartment.

[0049] In this embodiment of the disclosure, the device storage section is a storage space located outside the mobile device, such as the trunk or front trunk of a vehicle; the storage compartment of a robot, etc. Specific embodiments of the disclosure do not specifically limit the device storage section. The target direction is the direction in which the space required when the cover of the device storage section is opened is located, and the target direction space information is the space information corresponding to the direction in which the space required when the cover of the device storage section is opened is located.

[0050] In some embodiments, the target orientation spatial information includes at least the relative distance between the rear of the mobile device and the obstacle behind it, the relative distance between the front of the mobile device and the obstacle in front, the type and distribution of the obstacle, and other parameters. These parameters can be obtained by a sensing system (such as ultrasonic radar, camera, lidar, or any other means).

[0051] The purpose of this step is to perceive and evaluate the target orientation spatial information of the mobile device in real time, so as to determine whether the cover of the device's storage compartment can be opened safely and without obstruction in the current state.

[0052] By acquiring and analyzing the target orientation spatial information of mobile devices in real time, the system enables advance judgment of the safety of opening the device's storage compartment, avoiding the risk of collision between the storage compartment and obstacles due to insufficient space, and improving the safety and intelligence level of mobile device use.

[0053] Step 102: When the target direction spatial information is in the first scene, control the mobile device to move the target distance along the first direction.

[0054] In some embodiments, the first scenario includes a situation where the target orientation spatial information of the mobile device does not satisfy the safe space for opening and closing the device's storage compartment, and a target obstacle exists within the safe space, the target obstacle including static obstacles and / or dynamic obstacles.

[0055] The safe space for opening and closing the equipment storage section is based on the minimum safe space required for the normal opening of the equipment storage section. This safe space is preset, for example, a minimum safe distance threshold is preset. The size of the safe space for opening and closing the equipment storage section varies depending on the type of vehicle or robot. For example, when the equipment storage section is the trunk of a vehicle, the safe space for opening and closing the trunk is 150 cm to 200 cm, 50 cm to 180 cm, 50 cm to 200 cm, etc. When the equipment storage section is the front trunk of a vehicle, the safe space for opening and closing the front trunk is 50 cm to 100 cm, 50 cm to 150 cm, etc. The specific embodiments of this disclosure do not limit the safe space for opening and closing the equipment storage section.

[0056] When the distance between the target obstacle and the mobile device is greater than or equal to the safe space, the space is considered sufficient; otherwise, it is considered insufficient.

[0057] In other feasible solutions, during the process of determining whether the target direction spatial information is in the first scene, the static attributes (such as fixed obstacles, such as stone blocks, walls, pillars, guardrails, fences, etc.) and dynamic attributes (such as dynamic obstacles, such as pedestrians, moving vehicles, etc.) of the target obstacle can be further combined to distinguish them, and static obstacles can be included in the consideration of safe space to avoid misjudgment caused by temporary moving objects.

[0058] When the target direction spatial information is in the first scenario, accurately identify whether there is a risk of space restriction when the device storage section is opened.

[0059] When the target direction spatial information is within the first scenario, the mobile device can be automatically controlled to move the target distance along the first direction without manual operation by the user, thus improving the convenience and intelligent experience of the user.

[0060] The target distance is the distance that ensures the target direction spatial information satisfies the safety space requirement for opening and closing the device's storage compartment. In some embodiments, the target distance can be based on the real-time distance between the mobile device and the target obstacle. For example, when the sensing system detects that the real-time distance between the mobile device and the target obstacle is 0.8 meters, the minimum target distance is 0.8 meters. To further determine the safety of the mobile device opening and closing the device's storage compartment, the target distance can be configured as 1 meter (0.2 meters redundancy), 0.9 meters (0.1 meters redundancy), 1.2 meters (0.4 meters redundancy), 1.8 meters (1 meter redundancy), etc. The specific target distance is determined based on the real-time distance and redundancy distance between the mobile device and the target obstacle.

[0061] In other embodiments, the target distance is a fixed value determined by combining experience and testing. For example, the target distance can be set to 1 meter, 1.2 meters, 1.5 meters, 2 meters, etc. The present disclosure does not limit the method of determining the target distance or the specific value.

[0062] In some embodiments, the first direction is the direction away from the space required when the device storage compartment cover is opened. For example, when the device storage compartment is the trunk of a vehicle, when the trunk lid is opened, it extends into the space behind the vehicle, and the first direction is the front of the vehicle or the forward direction; when the device storage compartment is the front trunk of a vehicle, when the front trunk lid is opened, it extends into the space in front of the vehicle, and the first direction is the rear of the vehicle or the reverse direction. The first direction is not a fixed single direction depending on the location of the device storage compartment within the mobile device.

[0063] Step 103: When the mobile device stops moving, control the device storage section to open.

[0064] If the mobile device moves a target distance along the first direction and stops moving due to insufficient spatial information in the target direction, the opening control of the device's storage section is triggered.

[0065] In some embodiments, the additional space created by the mobile device moving a target distance along a first direction is converted into an execution condition for opening the device's storage compartment. Specifically, when the mobile device completes the target distance movement and comes to a stable stop, an opening command for the storage compartment is automatically generated and sent to drive the storage compartment to perform unlocking and opening actions. This opening control does not rely on additional user confirmation or manual operation, but rather serves as a coherent and automated step after the target distance movement along the first direction is completed, thereby ensuring the integrity and efficiency of the entire process.

[0066] In one implementation, after the mobile device moves forward and stops, the mobile device's control system can directly send an opening signal to the storage compartment control module, controlling the storage compartment motor to automatically open the storage compartment cover so that the user can take out or put in items.

[0067] By automatically controlling the opening of the equipment storage compartment after the device stops moving, the entire process from judging insufficient space, creating space through movement, to opening the equipment storage compartment is automated. This avoids the cumbersome steps of manually operating the equipment storage compartment after the user moves the device, and improves the convenience and intelligence of using the equipment storage compartment in narrow scenarios.

[0068] The control method provided in this disclosure, in response to an opening command for the storage compartment of a device, acquires spatial information in a target direction; when the spatial information in the target direction is within a first scenario, controls the mobile device to move a target distance along the first direction; when the mobile device stops moving, controls the storage compartment of the device to open. This enables the mobile device (e.g., a vehicle) to automatically move to open the storage compartment when there is insufficient space in the target direction, improving the convenience and automation of user operation.

[0069] In some embodiments, the direction of movement varies depending on the location of the device storage compartment within the mobile device. When the device storage compartment is the trunk of the mobile device, and the target direction spatial information is within the first scenario, the mobile device is controlled to move forward by the target distance; or... When the storage compartment is the front trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move backward by the target distance.

[0070] Please see Figure 2 Upon receiving a request to open the storage compartment (taking the trunk as an example), the perception system identifies the distance between the device and the obstacle within the obstacle identification area. The driver assistance system then executes subsequent autonomous vehicle repositioning control. When the perception system has been activated and the driver assistance system has been fully activated, and the perception system is functioning normally, the control system enters the spatial judgment process. The perception system detects the actual distance between the device and static obstacles with an accuracy of 2 cm and 5 cm. Static obstacles do not include pedestrians and moving vehicles; they refer to fixed objects such as walls, pillars, or parked vehicles. If the perception system detects a static obstacle within the safe space, it determines that the rear space information is insufficient. In this embodiment, the obstacle identification area (which can also be understood as the safe space) is calculated from the center of the vehicle's rear axle, based on 90% of the maximum opening of the trunk. Specifically, this embodiment does not limit the specific opening or corresponding size.

[0071] In some implementations, when the perception system detects a static obstacle within the safe space, it compares the actual distance between the mobile device and the static obstacle with a preset minimum space threshold required to open the trunk. If the actual distance is less than this minimum space threshold, the difference between the minimum space threshold and the actual distance (e.g., a difference of 0.9 meters) is calculated as the insufficient distance to open the trunk. Subsequently, a redundancy distance (or compensation distance) of 0.1 meters is added to this insufficient distance to obtain the required target distance, and the vehicle is controlled to move to the target distance. Through the above processing, a complete logical closed loop is achieved from the trunk opening request to the rear space judgment and forward movement distance calculation, ensuring the accuracy and safety of subsequent vehicle relocation operations.

[0072] In another approach, when the perception system detects a static obstacle within the safe space, it controls the mobile device to move 1 meter along the first direction based on a set target distance (e.g., 1 meter). This improves the reliability of the vehicle's autonomous relocation function and enhances the user experience.

[0073] When the storage compartment is the front trunk of the mobile device and the forward space information of the mobile device is in the first scenario, the method of determining the target distance and controlling the mobile device to move backward by the target distance is the same. The difference lies in the direction of movement. Therefore, this embodiment will not be described in detail here. Please refer to the specific implementation process of the storage compartment being the rear trunk of the mobile device.

[0074] In some embodiments, when controlling the mobile device to move a target distance along a first direction, the following methods may be used, but are not limited to: if it is determined that the mobile device can move along the first direction, control the mobile device to move the target distance along the first direction. When the target direction spatial information of the mobile device is in the first scenario, i.e., the space in front of or behind the mobile device, or the distance to a static obstacle, is insufficient to safely open the trunk, and the required forward and backward movement distances have been determined, the vehicle controller receives a signal from the sensing system indicating insufficient space in front or behind, along with the required forward and backward movement distances, and determines accordingly whether the vehicle relocation function meets the activation conditions for movement along the first direction.

[0075] In some embodiments, determining that the mobile device is movable along the first direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the first direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0076] The controller acquires signals from various vehicle door status sensors, hood status sensor, rearview mirror folding status sensor, charging gun connection sensor, gear position sensor, slope sensor, Bluetooth key connection status, and driver assistance system mode, and compares these signals against the conditions that allow the mobile device to move along the first direction. If any condition is not met, the controller determines that the device's repositioning function is inactive and directly outputs a command to open the device's storage compartment. If all conditions are met, the controller further determines whether there is sufficient forward or backward space for the mobile device.

[0077] In some embodiments, when any of the above conditions are not met, a corresponding rejection voice prompt is generated and a prompt message is broadcast; taking opening the trunk as an example, for instance, if the abnormal event that prevents the mobile device from moving along the first direction is that one or more doors are not closed, then the message "Doors are not closed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the abnormal event that prevents the mobile device from moving along the first direction is that the hood is not closed, then the message "Hood is not closed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the abnormal event that prevents the mobile device from moving along the first direction is that the rearview mirror is not deployed, then the message "Rearview mirror is not deployed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the mobile device cannot move along the first direction, then the message "Rearview mirror is not deployed ... mobile device cannot move along the first direction, then the message "Rearview mirror is not deployed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the mobile device cannot move along the first direction, then the message "Rearview mirror is not deployed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the mobile device cannot move along the first direction, then the message "Rearview mirror is not deployed, the vehicle cannot move forward, the trunk is opening, please be aware of the space behind" is broadcast; if the mobile device cannot move along the first direction, then If the abnormal event preventing movement in the first direction is the insertion of the charging gun, the announcement will be: "Charging gun inserted, vehicle cannot move forward, trunk is opening, please be aware of the space behind." If the abnormal event preventing movement in the first direction is the vehicle being in use, the announcement will be: "Vehicle in use, vehicle cannot move forward, trunk is opening, please be aware of the space behind." If the abnormal event preventing movement in the first direction is due to an excessive slope, the announcement will be: "Excessive slope, vehicle cannot move forward, trunk is opening, please be aware of the empty space behind." If the abnormal event preventing movement in the first direction is due to obstacles around the vehicle, the announcement will be: "Obstacles around the vehicle, vehicle cannot move forward, trunk is opening, please be aware of the empty space behind," and so on. Specifically, the announcement content needs to be determined based on the actual scenario; this embodiment does not limit the announcement content.

[0078] The system further detects the actual distances between the mobile device's front and rear areas and static obstacles, and compares these actual distances with the required forward and backward movement distances. In practical applications, only static obstacles are considered, excluding dynamic targets such as pedestrians and moving vehicles. When the actual distance is greater than or equal to the required forward or backward movement distance, it is determined that there is sufficient space to move forward or backward, and the controller activates the vehicle repositioning function.

[0079] In some embodiments, determining that the mobile device can move along the first direction includes the following judgment process. In response to a request to open the device storage compartment, the mobile device (taking a vehicle as an example) obtains the current vehicle status information from the vehicle status monitoring system. For example, it reads the vehicle power-on status signal sent by the vehicle controller (VCU) to determine whether the vehicle is powered on; simultaneously, it obtains the status information of the driver assistance function from the driver assistance domain controller to determine whether it has been activated and is available. Furthermore, the vehicle controller also obtains the rearview mirror deployment status signal from the body control module (BCM) to confirm whether the rearview mirror is fully deployed. The vehicle controller further obtains the closing status signals of all doors (including the driver's door, passenger door, left rear door, and right rear door) and the hood closing status signal through door lock sensors and hood sensors, and determines whether all doors and the hood are closed. Simultaneously, the vehicle controller obtains the charging gun insertion status signal from the charging port sensor to determine whether the charging gun is not inserted. The vehicle controller also obtains the current gear signal from the transmission controller (TCU) to confirm whether the vehicle is in P gear (stationary state). The vehicle controller obtains passenger information from in-vehicle sensors (such as seat pressure sensors or cameras) to determine whether there are passengers inside the vehicle. It also obtains road slope information from the inertial measurement unit (IMU) to determine if the vehicle is on a flat surface. Furthermore, it acquires environmental information from sensing systems (such as ultrasonic radar and cameras) to determine if there is sufficient space to maneuver the vehicle, whether the visibility is good, and whether there are any obstacles.

[0080] When all the above conditions are met, namely, the vehicle is powered on, the driver assistance system is available, the rearview mirrors are deployed, all doors are closed, the hood is closed, the charging gun is not plugged in, the vehicle is in P gear, there are no passengers in the vehicle, the vehicle is on a flat road surface (a flat and / or passable target road surface), there is sufficient space to move the vehicle (the forward movement distance of the mobile device is greater than the target distance) and the environmental visibility is good, the vehicle controller outputs an enable signal that allows the control movement to be executed, thereby entering the opening auxiliary control process of the equipment storage section.

[0081] In other embodiments, if any of the conditions are not met, the vehicle controller outputs a prohibition signal (skipping the control of the mobile device to move the target distance along the first direction) and directly performs the opening operation of the device storage section without performing autonomous vehicle relocation.

[0082] This specific implementation ensures that the vehicle performs autonomous relocation operations in a safe and stable state by setting comprehensive precondition judgments, effectively avoiding safety risks caused by abnormal vehicle status or environmental factors, and improving the reliability and safety of the auxiliary control method for opening the equipment storage section.

[0083] In some embodiments, upon activating the vehicle relocation function (i.e., controlling the mobile device to move a target distance), the in-vehicle voice system generates and broadcasts a first prompt message. This first prompt message informs the user that the mobile device will move along the first direction to expand the space in the target direction. For example, the first prompt message might be, "The trunk or front trunk doesn't have enough space to open; I'll move it forward a little." Subsequently, the controller sends a forward or backward command to the mobile device, controlling it to move forward a required distance along the first direction at a target speed, or backward a required distance along the second direction.

[0084] In this embodiment of the disclosure, by introducing multi-level condition judgment (specific vehicle relocation start condition, judgment of sufficient space in front or behind), the intelligence level and security of mobile devices autonomously relocating and opening the device storage section in space-constrained scenarios are improved, and the user experience is optimized.

[0085] In some embodiments, the method further includes: when it is determined that the device storage compartment has switched from an open state to a closed state, controlling the mobile device to move to an initial position along a second direction; wherein the first direction is opposite to the second direction. By automatically recognizing that the user has finished retrieving items from the device storage compartment during its on / off cycle and controlling the device storage compartment to close, a reset control of the mobile device is executed, that is, automatically returning to the initial position before the mobile device moved. This step enables the mobile device to autonomously return after completing the retrieval and placement of items from the device storage compartment, avoiding the tedious operation of the user having to manually move the mobile device back to its original position.

[0086] For example, when the storage compartment is the trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move the target distance along a first direction (forward). After the user retrieves items from the trunk, in response to a trunk closing completion signal, the mobile device is controlled to move along a second direction (i.e., backward) to the initial position.

[0087] When the storage compartment of the device is the front trunk of the mobile device, and the target direction spatial information is in the first scenario, the mobile device is controlled to move the target distance along the first direction (backward). After the user completes the task of retrieving items from the trunk, in response to the closing completion signal of the trunk, the mobile device is controlled to move along the second direction (i.e. forward) to the initial position.

[0088] As can be seen from the above examples, the direction of mobile device reset is not fixed, but is determined by the direction of movement before reset. If the device moves in the first direction before picking up the object, it needs to move in the second direction to complete the reset. If the device moves in the second direction before picking up the object, it needs to move in the first direction to complete the reset.

[0089] In some embodiments, when controlling the mobile device to move along the second direction to the initial position, the following methods may be used, but are not limited to: If it is determined that the mobile device has moved along the first direction during the opening and closing of the storage section, the mobile device is controlled to move along the second direction to the initial position.

[0090] In response to the signal indicating that the storage compartment has closed, it is determined whether a movement along the first direction occurred during the opening and closing of the storage compartment. If so, the mobile device is controlled to move along the second direction to the initial position. For example, taking the storage compartment as a trunk, after detecting that the trunk has closed, the operation record of the trunk opening and closing is obtained to determine whether a movement along the first direction (such as a forward movement) was performed during the trunk opening and closing process. If a forward movement is determined to have occurred, it indicates that the current position of the mobile device is not its initial position (initial parking position), and a reset operation is required to restore the mobile device to its original position before the forward movement operation (also known as the initial position). This reset operation is achieved by controlling the mobile device to move along the second direction, with the movement distance corresponding to the distance moved in the previous forward movement operation, thereby ensuring that the mobile device can accurately return to its initial parking position.

[0091] When the mobile device moves along the first direction during the opening and closing of the storage compartment, the historical record of the storage compartment's opening and closing is acquired. This historical record stores identification information indicating whether a movement operation triggered by insufficient space in the storage compartment was performed during the current cycle. The control system reads this identification information to determine whether a movement operation occurred during the current trunk opening and closing cycle. If the determination result is yes, i.e., a movement operation has been determined, the system further determines whether the driver assistance system has been fully activated. When the intelligent driving system has been fully activated and the perception system is working normally, the system proceeds to determine the activation conditions for the vehicle relocation function along the second direction.

[0092] In some embodiments, during the process of controlling the mobile device to move along the second direction to the initial position, a comprehensive judgment is made by combining the target state of the mobile device and the surrounding area to determine whether the mobile device is allowed to move along the second direction. If it is determined that the mobile device is moving along the second direction, the mobile device is controlled to move along the second direction to the initial position to ensure the safety and feasibility of the reset operation.

[0093] Taking backward movement as an example, if it is determined that backward movement is not possible based on the target state of the mobile device and / or the surrounding area, the abnormal event of not being able to move backward is located, and a third prompt message is output. The third prompt message is used to prompt the user that the mobile device cannot move to the initial position.

[0094] In some embodiments, determining that the mobile device has moved along the second direction (reset condition) includes at least one of the following: The driver assistance function is available; All doors are closed; The interior space of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the second direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0095] In this embodiment, when all reset conditions are met, the mobile device is controlled to move to its original position along the second direction; if any condition is not met, a corresponding third prompt message is output and the reset process is interrupted. Through this method, the vehicle can automatically and safely return to its initial parking position after the user has retrieved or placed items from the trunk, without requiring manual operation by the user, thus improving the user experience.

[0096] In some embodiments, the rear-start conditions include multiple safety and status checks, including: determining whether the vehicle is unoccupied, whether all doors are closed, whether the hood is closed, whether the rearview mirrors are unfolded, whether the charging gun is not plugged in, whether the vehicle is in P gear, whether the vehicle is on a flat road surface, whether the Bluetooth key is connected, and whether the vehicle is in AD remote mode.

[0097] If any of the above conditions are not met, a corresponding rejection voice prompt will be generated and a third prompt message will be played. For example, if the abnormal event that prevents movement in the second direction is that the driver's side door is not closed, the message will be: "The driver's side door is not closed, and you cannot return to your original position. Please operate it manually." If the abnormal event that prevents movement in the second direction is that the passenger side door is not closed, the message will be: "The passenger side door is not closed, and you cannot return to your original position. Please operate it manually." If the abnormal event that prevents movement in the second direction is that the left rear door is not closed, the message will be: "The left rear door is not closed, and you cannot return to your original position. Please operate it manually." If the abnormal event that prevents movement in the second direction is that the right rear door is not closed, the message will be: "The right rear door is not closed, and you cannot return to your original position. Please operate it manually." If the abnormal event that prevents movement in the second direction is that the hood is not closed, the message will be: "The hood is not closed, and you cannot return to your original position. Please operate it manually." If the abnormal event preventing movement in the second direction is that the tailgate is not closed, the announcement will be: "Tailgate not closed, cannot return to its original position, please operate manually." If the abnormal event preventing movement in the second direction is that the rearview mirror is not unfolded, the announcement will be: "Rearview mirror not unfolded, cannot return to its original position, please operate manually." If the abnormal event preventing movement in the second direction is that the charging gun is inserted, the announcement will be: "Charging gun inserted, cannot return to its original position, please operate manually." If the abnormal event preventing movement in the second direction is that the vehicle is moving or not in P gear, the announcement will be: "Vehicle is in use, cannot return to its original position, please operate manually." If the abnormal event preventing movement in the second direction is that the slope is too steep, the announcement will be: "Surprise too steep, cannot return to its original position, please operate manually." If the abnormal event preventing movement in the second direction is that the Bluetooth key is not connected, the announcement will be: "Bluetooth key not connected, cannot return to its original position, please operate manually." If the abnormal event that prevents movement in the second direction is due to obstruction of the relocation path, the system will announce: "There are obstacles around the vehicle, preventing it from returning to its original position. Please manually operate the system."

[0098] When all backward movement conditions are met, the system further determines whether there is sufficient rearward space for the mobile device. In some embodiments, this rearward space is determined based on static obstacles. The sensing system detects the actual distance between the rear of the mobile device and the static obstacle and compares this actual distance with a target distance. When the actual distance is greater than or equal to the target distance, it is determined that there is sufficient rearward space. If there is insufficient rearward space, a third prompt message is generated and broadcast, such as "Insufficient rearward space, unable to move back to the original position." When there is sufficient rearward space, the control system activates the vehicle relocation function. At the same time as activation, a second prompt message is generated and broadcast. The second prompt message is used to prompt the user that the mobile device automatically moves along the second direction to the initial position. For example, the second prompt message is "Returning to the original position." Subsequently, the vehicle is controlled to move a target distance along the second direction to return to the original position before the forward movement operation.

[0099] By automatically recognizing movement during the opening and closing cycles of the device's storage compartment and executing corresponding reset controls, the device autonomously returns to its original position after retrieving or placing items from the storage compartment. This eliminates the tedious manual repositioning required by the user, enhancing the convenience and intelligence of the device. Furthermore, by considering the device's target status and the surrounding area to determine reset conditions, the safety of the reset operation is ensured, preventing safety risks caused by abnormal device status or environmental obstacles.

[0100] In some embodiments, this disclosure also relates to determining the target function switch setting for automatically moving the storage compartment of the vehicle repositioning device (also known as autonomous vehicle repositioning for retrieving items from the trunk). This switch is located in the display configuration interface of the intelligent driver assistance system and is off by default. Figure 3 As shown, when this switch is turned on, the Vision-Language-Action (VLA) parking function needs to be activated simultaneously. The subtitle and further description of the switch outline the function: for example, when there is insufficient space in the trunk for retrieving or placing items and the environment is safe, the vehicle will actively move forward, and automatically open the trunk after coming to a stop; after the trunk is closed, the vehicle will automatically return to its original position. Specifically, this disclosure does not limit the specific content of the functional overview.

[0101] In some embodiments, if it is determined that the target function of automatically moving the storage compartment of the device has been activated, the mobile device is controlled to move the target distance along the first direction.

[0102] In other embodiments, if it is determined that the target function is not activated, guidance information and / or recommendation information for activating the target function are displayed in the target area of ​​the visualization interface. For example... Figure 4As shown, guidance information and / or recommendation information for enabling the target function are displayed in the target area of ​​the mobile device's visual interface. The guidance information or recommendation information can be displayed in the form of pictures and text, or in the form of voice.

[0103] When a user wants to activate the automatic vehicle relocation function to open the storage compartment, they can do so via voice, button presses, or other methods. Figure 3 The configuration page shown completes the activation of the target function and executes the control process of automatically moving the vehicle to open the storage section of the equipment according to the control method described in the above embodiment.

[0104] In some implementations, to ensure the safety of mobile devices while in motion, the guidance information and / or recommendation information for enabling the target function must be displayed when the mobile device is stationary (i.e., switched to P gear). While the mobile device is in motion, the display of the guidance information and / or recommendation information for the target function is prohibited to ensure the safety of the mobile device while in motion.

[0105] To better suit the user's driving experience, through Figure 4 When displaying guidance and / or recommendation information, the visualization interface is configured with a display duration. For example, if the user does not trigger an interactive operation to open the target function, the guidance and / or recommendation information is automatically hidden after being displayed for the target duration (e.g., 15 seconds, 10 seconds, etc.). In other embodiments, when the user triggers an interactive operation to open the target function, the guidance and / or recommendation information is automatically hidden after being displayed for the target duration (e.g., 15 seconds, 10 seconds, etc.). Figure 4 When the user is in any of the positions shown, the guidance information and / or recommendation information will be automatically hidden to meet the user's need to temporarily not activate the target function.

[0106] In other embodiments, when the user triggers... Figure 4 After clicking the "Don't remind me again" button, guide messages and / or recommendation messages will no longer pop up.

[0107] In some embodiments, the method further includes: During the movement of the mobile device along a first direction or a second direction, in response to receiving a pause movement command, the mobile device is controlled to stop moving. The pause movement command described in this embodiment is used to suppress the movement of the mobile device, including movement suppression along the first direction and movement suppression along the second direction. The triggering of movement suppression along the first direction and movement suppression along the second direction (including forward movement suppression and backward movement suppression) includes, but is not limited to, at least one or any one of the following: the driver's door is not closed, the passenger's door is not closed, the left rear door is not closed, the right rear door is not closed, the hood is not closed, the tailgate is not closed, the rearview mirror is not deployed, the charging gun is plugged in, the vehicle is in motion, not in park, the slope is too steep, not in AD remote mode, the target function is not activated, there is no task, the Bluetooth key is not connected, or there are obstacles around the mobile device that prevent it from moving temporarily.

[0108] In some embodiments, the method further includes: In response to the received new opening command for the equipment storage section, the system controls the termination of the current automatic vehicle relocation and opening process for the equipment storage section, controls the mobile device to pause its movement, and executes the opening of the equipment storage section based on the new opening command.

[0109] During the movement of the mobile device along a first direction or a second direction, if a secondary triggering of a request to open the device's storage compartment (such as the trunk) is detected, the vehicle relocation function is exited. This means the mobile device is stopped from moving, and the trunk is directly opened, accompanied by a voice announcement stating "Opening the trunk." The secondary triggering of the opening request can be initiated via a physical button on the mobile device, via voice, or via a wearable device. This embodiment does not limit the method of triggering the secondary triggering of the opening request.

[0110] In other embodiments, if an abnormal exit situation such as door opening or voice exit command is detected, the vehicle relocation function is exited and the trunk opening is not controlled, and the message "Unable to move forward further, please open the trunk manually" is announced.

[0111] In some embodiments, this disclosure further includes: if, within a target duration of triggering an instruction to open the device storage compartment, the device storage compartment is not moved a target distance, the device storage compartment is controlled to open.

[0112] During the vehicle's forward or backward movement, the controller starts a timeout timer with a timing period equal to the target duration, such as 15 seconds, 18 seconds, etc. Taking an 18-second target duration as an example, if the mobile device completes its forward movement in the first direction and stops within 18 seconds, the timer is reset to zero. If the mobile device has not completed its forward movement after 18 seconds, a fourth voice prompt is played, such as "Moving the vehicle has exceeded the time limit; the trunk will be opened shortly," and the timer continues until 18 seconds have elapsed. When the timer reaches 18 seconds, the controller forcibly exits the vehicle-moving function and directly outputs the command to open the trunk, without waiting for the forward movement to complete. Handling timeouts during the forward movement process ensures the safety and reliability of the operation.

[0113] This disclosure embodiment, through the above implementation method, realizes a complete control process in which the vehicle can autonomously move forward to make room (or expand the rear space) when the opening space of the vehicle's trunk is insufficient, and automatically return to its original position after closing the trunk. At the same time, it provides rich interactive feedback and abnormal handling mechanisms, improving the user's convenience and safety.

[0114] Corresponding to the control method described above, the present invention also proposes a control device. Since the device embodiments of the present invention correspond to the method embodiments described above, details not disclosed in the device embodiments can be referred to in the method embodiments described above, and will not be repeated here.

[0115] Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of the present disclosure, such as... Figure 5 As shown, it includes: Acquisition unit 21 is used to acquire target direction spatial information in response to an opening command for the storage section of the device; The first control unit 22 is used to control the mobile device to move the target distance along the first direction when the target direction spatial information is in the first scene; The second control unit 23 is used to control the opening of the device storage section when the mobile device stops moving.

[0116] The control device provided in this disclosure, in response to an opening command for the device's storage compartment, acquires spatial information in a target direction; when the spatial information in the target direction is within a first scenario, it controls the mobile device to move a target distance along the first direction; when the mobile device stops moving, it controls the device's storage compartment to open. This enables the mobile device (e.g., a vehicle) to automatically move to open the device's storage compartment when there is insufficient space in the target direction, improving the convenience and automation of user operation.

[0117] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the first control unit 22 is further configured to: When the storage compartment of the device is the trunk of the mobile device, and the target direction spatial information is within the first scenario, control the mobile device to move forward by the target distance; or, When the storage compartment is the front trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move backward by the target distance.

[0118] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the first scenario includes situations where the target orientation spatial information of the mobile device does not meet the safety space requirements for opening and closing the device's storage compartment, and a target obstacle exists within the safety space, including static obstacles and / or dynamic obstacles.

[0119] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the first control unit 22 is further configured to: If it is determined that the mobile device can move along the first direction, the mobile device is controlled to move the target distance along the first direction.

[0120] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, determining that the mobile device can move along the first direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior space of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the first direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0121] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: Output unit 24 is used to output first prompt information when the target direction space information is in the first scenario. The first prompt information is used to prompt the user that the mobile device will move along the first direction to expand the target direction space.

[0122] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: The third control unit 25 is configured to control the mobile device to move to an initial position along a second direction when it is determined that the storage compartment of the device has switched from an open state to a closed state; wherein the first direction is opposite to the second direction.

[0123] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the third control unit 25 is further configured to: If the storage compartment is the rear compartment of the mobile device, control the mobile device to move backward to the initial position; or, When the storage compartment of the device is the front compartment of the mobile device, the mobile device is controlled to move forward to the initial position.

[0124] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the third control unit 25 is further configured to: If it is determined that the mobile device has moved along the first direction during the opening and closing of the storage section, the mobile device is controlled to move along the second direction to the initial position.

[0125] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the output unit 24 is further configured to output a second prompt message during the process of the mobile device moving along the second direction, the second prompt message being used to prompt the user that the mobile device automatically moves along the second direction to the initial position.

[0126] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the third control unit 25 is further configured to: If it is determined that the mobile device can move along the second direction based on the target state of the mobile device and the surrounding area, the mobile device is controlled to move along the second direction to the initial position.

[0127] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: The positioning unit 26 is used to locate an abnormal event that prevents movement in the second direction when it is determined that movement in the second direction is not possible based on the target state of the mobile device and / or the surrounding area. The output unit 24 is also used to output a third prompt message, which is used to prompt the user that the mobile device cannot move to the initial position.

[0128] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, determining that the mobile device has moved backward includes at least one of the following: The driver assistance function is available; All doors are closed; The interior space of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the second direction is greater than the target distance; The front cover of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

[0129] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: The first control unit 22 is further configured to, upon determining that the target function of the automatic vehicle relocation device's storage compartment has been activated, control the mobile device to move the target distance along the first direction; or, Display unit 27 is used to display guidance information and / or recommendation information for enabling the target function in the target area of ​​the visualization interface when it is determined that the target function is not enabled.

[0130] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: The fourth control unit 28 is configured to, in response to receiving a pause movement command, control the mobile device to stop moving during the process of the mobile device moving along a first direction or along a second direction; or, The fourth control unit 28 is further configured to respond to a new opening command received from the device storage unit, control the termination of the current automatic vehicle relocation and opening process of the device storage unit, control the mobile device to pause its movement, and execute the opening of the device storage unit based on the new opening command.

[0131] Furthermore, in one possible implementation of the embodiments of this disclosure, such as Figure 6 As shown, the device further includes: The second control unit 23 is further configured to control the device storage unit to open if, within a target duration of triggering the command to open the device storage unit, the device does not move the target distance.

[0132] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of the embodiments of this disclosure, and the principle is the same. Therefore, the embodiments of this disclosure are not limited thereto.

[0133] According to embodiments of this disclosure, this disclosure also provides a mobile device that includes the control device described in the above embodiments.

[0134] In some embodiments, the mobile device includes a vehicle, a mobile smart terminal, a robot, an aircraft, an embodied smart agent, etc. For example, in this embodiment of the disclosure, the mobile device may be a mobile smart terminal, a robot, or an embodied smart agent. The mobile smart terminal may be an intelligent transportation vehicle. For example, when the intelligent transportation vehicle is an intelligent vehicle, it includes responding to an opening command for the device storage compartment by acquiring target direction spatial information; when the target direction spatial information is within a first scenario, controlling the mobile device to move a target distance along a first direction; and when the mobile device stops moving, controlling the device storage compartment to open. This enables the vehicle to automatically move to open the device storage compartment when there is insufficient space in the target direction, improving the convenience and automation of user operation.

[0135] A robot is an automated device capable of carrying people and / or transporting goods, and able to perform physical tasks such as movement and / or grasping and / or manipulation. An embodied intelligent agent is a physical carrier capable of carrying people and / or transporting goods, and can achieve environmental perception and behavioral interaction, as well as possess an intelligent control system capable of scene recognition, autonomous decision-making, and dynamic task execution. Both robots and embodied intelligent agents can be equipped with the aforementioned control devices.

[0136] According to embodiments of this disclosure, this disclosure also provides a vehicle or robot, the vehicle or robot including the control device as described in the above embodiments; or, the vehicle or robot including the mobile device as described in the above embodiments.

[0137] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0138] Figure 7 A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0139] like Figure 7 As shown, the electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 302 or a computer program loaded from storage unit 308 into RAM (Random Access Memory) 303. The RAM 303 may also store various programs and data required for the operation of the electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An I / O (Input / Output) interface 305 is also connected to the bus 304.

[0140] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0141] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as control methods. For example, in some embodiments, the control methods may be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the aforementioned control method by any other suitable means (e.g., by means of firmware).

[0142] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0144] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0145] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0146] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0147] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0148] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0149] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0150] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method, characterized in that, include: In response to an instruction to open the storage compartment of the equipment, spatial information of the target direction is obtained; When the target direction spatial information is in the first scene, control the mobile device to move the target distance along the first direction; When the mobile device stops moving, the storage compartment of the device is opened.

2. The method according to claim 1, characterized in that, When the target direction spatial information is within a first scene, controlling the mobile device to move the target distance along the first direction includes: When the storage compartment of the device is the trunk of the mobile device, and the target direction spatial information is within the first scenario, control the mobile device to move forward by the target distance; or, When the storage compartment is the front trunk of the mobile device and the target direction spatial information is in the first scenario, the mobile device is controlled to move backward by the target distance.

3. The method according to claim 1 or 2, characterized in that, The first scenario includes situations where the target orientation spatial information of the mobile device does not meet the safe space for opening and closing of the device's storage compartment, and there is a target obstacle within the safe space, which includes static obstacles and / or dynamic obstacles.

4. The method according to any one of claims 1-3, characterized in that, The control of the mobile device to move the target distance along the first direction includes: If it is determined that the mobile device can move along the first direction, the mobile device is controlled to move the target distance along the first direction.

5. The method according to claim 4, characterized in that, Determining that the mobile device can move along the first direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the first direction is greater than the target distance; The hatch of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: When the target direction space information is in the first scenario, a first prompt message is output. The first prompt message is used to prompt the user that the mobile device will move along the first direction to expand the target direction space.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: When it is determined that the storage compartment of the device has switched from an open state to a closed state, the mobile device is controlled to move to the initial position along a second direction; wherein the first direction is opposite to the second direction.

8. The method according to claim 7, characterized in that, The control of the mobile device to move to the initial position along the second direction includes: If the storage compartment is the rear compartment of the mobile device, control the mobile device to move backward to the initial position; or, When the storage compartment of the device is the front compartment of the mobile device, the mobile device is controlled to move forward to the initial position.

9. The method according to claim 7 or 8, characterized in that, The control of the mobile device to move to the initial position along the second direction includes: If it is determined that the mobile device has moved along the first direction during the opening and closing of the storage section, the mobile device is controlled to move along the second direction to the initial position.

10. The method according to any one of claims 7-9, characterized in that, The method further includes: During the movement of the mobile device along the second direction, a second prompt message is output, which prompts the user that the mobile device will automatically move along the second direction to the initial position.

11. The method according to any one of claims 7-10, characterized in that, The control of the mobile device to move to the initial position along the second direction includes: If it is determined that the mobile device can move along the second direction based on the target state of the mobile device and the surrounding area, the mobile device is controlled to move along the second direction to the initial position.

12. The method according to claim 11, characterized in that, The method further includes: If it is determined that the mobile device cannot move along the second direction based on the target state of the mobile device and / or the surrounding area, the abnormal event that prevents movement along the second direction is located, and a third prompt message is output. The third prompt message is used to prompt the user that the mobile device cannot move to the initial position.

13. The method according to claim 11 or 12, characterized in that, Determining that the mobile device can move along the second direction includes at least one of the following: The driver assistance function is available; All doors are closed; The interior of the mobile device is empty of passengers; The mobile device is positioned on a flat and / or passable target road surface; The movable distance of the mobile device along the second direction is greater than the target distance; The hatch of the mobile device is closed; The rearview mirror of the mobile device is in the deployed state; The mobile device was not plugged into a charging gun; The Bluetooth key of the mobile device is in a connected state; The mobile device is stationary; There are no obstacles in the area surrounding the mobile device.

14. The method according to any one of claims 1-13, characterized in that, The method further includes: If the target function of the automatic vehicle relocation device's storage compartment has been activated, control the mobile device to move the target distance along the first direction; or... If it is determined that the target function is not enabled, guide information and / or recommendation information for enabling the target function will be displayed in the target area of ​​the visualization interface.

15. The method according to any one of claims 1-14, characterized in that, The method further includes: During the movement of the mobile device along a first direction or along a second direction, in response to receiving a pause movement command, the mobile device is controlled to stop moving; or, In response to the received new opening command for the device storage section, the system controls the termination of the current automatic vehicle relocation and opening process for the device storage section, controls the mobile device to pause its movement, and executes the opening of the device storage section based on the new opening command.

16. The method according to any one of claims 1-15, characterized in that, The method further includes: If, within the target duration of triggering the command to open the device's storage compartment, the device's storage compartment is not moved the target distance, the device's storage compartment is opened.

17. A control device, characterized in that, include: The first control unit is configured to respond to a received instruction to open the device storage compartment, and the target direction space is in the first scene, and control the mobile device to move a target distance along the first direction; The second control unit is used to control the opening of the device's storage compartment when the mobile device stops moving.

18. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the method of any one of claims 1-16.

19. A mobile device, characterized in that, The mobile device includes the control device as described in claim 17.

20. A vehicle or robot, characterized in that, The vehicle or robot includes the control device as described in claim 17; or, the vehicle or robot includes the mobile device as described in claim 19.

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