Control method and control apparatus for vehicle, and vehicle and storage medium

Abstract

A control method and control apparatus for a vehicle (100), and the vehicle (100) and a storage medium. The control method for a vehicle (100) comprises: acquiring decoding information of an audio signal, and on the basis of the decoding information of the audio signal, acquiring movements of the vehicle (100), wherein the movements of the vehicle (100) comprise at least one of wing deployment, lighting up, shaking, jumping, lateral movement and rotation (step 101); and controlling an execution system of the vehicle (100) to execute the movements of the vehicle (step 103).

Description

Vehicle control method, control device, vehicle, and storage medium

[0001] Priority information

[0002] This application claims priority and benefits of patent application No. 2024102056240 filed with the State Intellectual Property Office of China on February 23, 2024, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a control device, a vehicle, and a storage medium. Background Art

[0004] In related technologies, intelligent vehicles can interact with users, for example, users can interact with the vehicle through gestures and voice. However, these interactions can no longer meet the needs of users.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a vehicle control method, a control device, a vehicle, and a storage medium to solve at least one of the above-mentioned technical problems.

[0007] The present application provides a vehicle control method including:

[0008] Obtaining decoded information of the audio signal, and obtaining a vehicle motion according to the decoded information of the audio signal, wherein the vehicle motion comprises at least one of flapping wings, flashing lights, shaking, jumping, lateral movement, and rotation;

[0009] An execution system of the vehicle is controlled to execute the vehicle action.

[0010] The above-mentioned vehicle control method obtains the decoding information of the audio signal, and obtains the vehicle action based on the decoding information of the audio signal, and controls the vehicle's execution system to execute the vehicle action, thereby enabling the vehicle to interact with the user based on the audio signal, meet more user needs, and improve user experience.

[0011] In one embodiment, the wing spreading includes at least one of door opening, door waving, door closing, window lifting and rearview mirror movement.

[0012] In one embodiment, the bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

[0013] In one embodiment, the shaking includes at least one of vehicle body single wheel lifting, vehicle body pitching, vehicle body rolling, and vehicle body up and down lifting.

[0014] In one embodiment, the rotation includes at least one of rotation in place and rotation of a fixed wheel.

[0015] In one embodiment, the audio signal is determined according to the selected music file.

[0016] In one embodiment, the music file is determined by a vehicle input component according to a selection instruction, and / or the music file is determined by a terminal device in communication with the vehicle according to a selection instruction.

[0017] In one embodiment, the decoded information of the audio signal includes the beat of the audio signal.

[0018] In one embodiment, the vehicle motion is determined based on a combination of multiple beats of the audio signal.

[0019] In one embodiment, the vehicle motion is determined based on a preset relationship between beat and motion and the beat of the audio signal.

[0020] In one embodiment, the vehicle action is determined by a cloud server according to the beat of the audio signal.

[0021] In one embodiment, the vehicle action is set with a duration, and the combination of the multiple beats is determined according to the duration of the vehicle action.

[0022] In one embodiment, the control method further includes:

[0023] Before the vehicle action is performed, controlling the vehicle to lock, and / or;

[0024] Before the vehicle action is executed, a prompt message for confirming the surrounding safety is issued;

[0025] In response to a confirmation instruction of the prompt information, an execution system of the vehicle is controlled to execute the vehicle action.

[0026] In one embodiment, the control method further includes:

[0027] During the execution of the vehicle action, when an abnormal situation occurs in the vehicle, the vehicle is controlled to stop executing the vehicle action.

[0028] In one embodiment, the abnormal condition is determined by the intelligent driving system of the vehicle based on collected environmental parameters.

[0029] In one embodiment, the actuator system includes a door system, a lighting system, an active suspension system, and a wheel steering system.

[0030] A control device for a vehicle according to an embodiment of the present application includes a controller configured to be electrically connected to an execution system of the vehicle, and the controller is used to implement the steps of the control method according to any of the above embodiments.

[0031] A vehicle according to an embodiment of the present application includes the vehicle control device according to the above embodiment.

[0032] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program implements the control method of any of the above embodiments.

[0033] The control device, vehicle and computer-readable storage medium of the above-mentioned vehicle obtain the decoding information of the audio signal, and obtain the vehicle action based on the decoding information of the audio signal, and control the vehicle's execution system to execute the vehicle action, thereby enabling the vehicle to realize the interaction between the vehicle and the user based on the audio signal, meet more user needs, and improve the user experience.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] FIG1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0037] FIG2 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0038] FIG3 is another schematic structural diagram of a vehicle according to an embodiment of the present application;

[0039] FIG4 is a schematic structural diagram of a shock absorber according to an embodiment of the present application;

[0040] FIG5 is a flow chart of a vehicle stationary steering control method according to an embodiment of the present application;

[0041] FIG6 is a schematic diagram of the algorithm flow of fuzzy PID according to an embodiment of the present application;

[0042] FIG7 is a schematic diagram of the yaw moment and wheel track of a vehicle according to an embodiment of the present application;

[0043] FIG8 is a schematic diagram of a kingpin center offset of a vehicle according to an embodiment of the present application;

[0044] 9 and 10 are schematic diagrams showing the process of rotation and lateral movement of the fixed wheels of a vehicle according to an embodiment of the present application;

[0045] 11 and 12 are schematic diagrams of force application for rotation and lateral movement of fixed wheels of a vehicle according to an embodiment of the present application;

[0046] FIG13 is a schematic diagram of another process of rotation and lateral movement of the fixed wheel of a vehicle according to an embodiment of the present application;

[0047] FIG14 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.

[0048] Description of main component reference numerals:

[0049] Vehicle 100, execution system 12, suspension controller 13, vehicle body 14, wheel 16, suspension structure 18, elastic element 20, shock absorber 24, fluid pump 26, motor 28, outer cylinder assembly 30, piston rod 32, piston assembly 34, upper chamber 36, lower chamber 38, first port 40, second port 42, control device 200, controller 202, processor 204, memory 206. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0052] The disclosure herein provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described herein. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0053] Referring to FIG. 1 and FIG. 2 , a control method for a vehicle 100 provided in an embodiment of the present application includes:

[0054] 101, obtaining decoded information of an audio signal, and obtaining a vehicle motion based on the decoded information of the audio signal, where the vehicle motion includes at least one of flapping wings, flashing lights, shaking, jumping, lateral movement, and rotation;

[0055] 103 , the execution system 12 of the vehicle 100 is controlled to execute vehicle actions.

[0056] The control method of the above-mentioned vehicle 100 obtains the decoding information of the audio signal, obtains the vehicle action based on the decoding information of the audio signal, and controls the execution system 12 of the vehicle 100 to execute the vehicle action, thereby enabling the vehicle 100 to interact with the user based on the audio signal, meet more user needs, and improve user experience.

[0057] Specifically, the vehicle 100 includes but is not limited to a pure electric vehicle, a hybrid vehicle, an extended-range electric vehicle, a fuel vehicle, and the like.

[0058] The audio signal may come from the music player software of the in-vehicle entertainment system, from audio played by other devices in the environment of the vehicle 100, or from a terminal device in communication with the vehicle 100. The terminal device includes but is not limited to a mobile phone, a tablet computer, a wearable smart device (smart watch, smart helmet, smart glasses, etc.), a personal computer, etc. The vehicle 100 may be connected to the terminal device via wireless communication. In one embodiment, an audio signal acquisition request may be sent to the music player software of the in-vehicle entertainment system or the terminal device, and the music player software or the terminal device may determine the audio signal based on the audio signal acquisition request.

[0059] Alternatively, the audio signal may be decoded by a processing component of the vehicle 100 , including but not limited to an electronic control unit (ECU), an in-vehicle entertainment system, and the like.

[0060] Optionally, the audio signal can be decoded by a cloud server. The cloud server can be wirelessly connected to the vehicle 100. After decoding the audio signal, the cloud server transmits the decoded audio signal information to the vehicle 100, thereby enabling the vehicle 100 to obtain the decoded audio signal information. The wireless communication connection between the cloud server and the vehicle 100 includes, but is not limited to, wireless networks (such as Wi-Fi), mobile communication networks, etc.

[0061] Optionally, the audio signal can be decoded by the terminal device. The terminal device can be wirelessly connected to the vehicle 100. After the terminal device decodes the audio signal, it transmits the decoding information of the audio signal to the vehicle 100, thereby enabling the vehicle 100 to obtain the decoding information of the audio signal. The wireless communication connection method between the terminal device and the vehicle 100 includes but is not limited to a wireless network (such as WIFI), a mobile communication network, etc. Optionally, the terminal device can be directly wirelessly connected to the vehicle 100. Optionally, the terminal device can be wirelessly connected to the vehicle 100 through a cloud server or other server.

[0062] The vehicle 100 may include a control device 200 for the vehicle 100 and an actuator system 12. The control device 200 for the vehicle 100 is electrically connected to the actuator system 12. The actuator system 12 includes a door system, a lighting system, an active suspension system, and a wheel steering system. The control device 200 for the vehicle 100 may obtain vehicle motion based on decoded information from an audio signal. The vehicle motion may include at least one of flapping wings, flashing lights, shaking, jumping, lateral movement, and rotation.

[0063] In one embodiment, the door system may include a door controller and an electric door assembly, the electric door assembly including a door driver and a door, the door controller may be electrically connected to the door driver and the control device 200 of the vehicle 100, and the door driver may be connected to the door. When the control device 200 of the vehicle 100 obtains that the vehicle action includes a wing-spreading action, it may send a wing-spreading action control signal to the door controller, and the door controller sends a drive signal to the door driver according to the wing-spreading action control signal, and the door driver drives the door to perform the wing-spreading action according to the drive signal. Optionally, the wing-spreading action control signal may control one or more doors to perform the wing-spreading action. In one embodiment, the vehicle 100 may include a tail wing, and the wing-spreading action control signal may control the action of the tail wing, for example, controlling the tail wing to open, close, or wave at the tail wing.

[0064] In one embodiment, the vehicle lighting system may include a vehicle lighting controller and a vehicle lighting. The vehicle lighting controller may be electrically connected to the vehicle lighting and the control device 200 of the vehicle 100. When the control device 200 of the vehicle 100 detects that the vehicle action includes a light-on action, it may send a light-on action control signal to the vehicle lighting controller. The vehicle lighting controller may then send a driving signal to the vehicle lighting based on the light-on action control signal, causing the vehicle lighting to execute the light-on action.

[0065] In one embodiment, referring to Figures 2 and 3 , a vehicle 100 includes a body 14 and a plurality of wheels 16. The wheels 16 are connected to swing arms and steering knuckles. An active suspension system 12 may include a suspension controller 13 and at least one suspension structure 18. The suspension controller 13 is electrically connected to a control device 200 of the vehicle 100. The suspension structure 18 may be connected to the wheels 16 by being fixed to the swing arms or steering knuckles. Each wheel 16 may be connected to the body 14 via a suspension structure 18. The active suspension system 12 may independently control each suspension structure 18 to perform vehicle maneuvers.

[0066] Please refer to Figures 3 to 4. Each suspension structure 18 includes an elastic element 20, a shock absorber 24, a fluid pump 26 and a motor 28. The suspension controller 13 is electrically connected to the motor. The shock absorber 24 includes an outer cylinder assembly 30, a piston rod 32 and a piston assembly 34. The outer cylinder assembly 30 is provided with an upper chamber 36 and a lower chamber 38. The upper chamber 36 and the lower chamber 38 are filled with fluid. The piston rod 32 connects the piston assembly 34 and the vehicle body 14. The piston assembly 34 separates the upper chamber 36 and the lower chamber 38. The fluid pump 26 can be a bidirectional fluid pump 26. The fluid pump 26 has a first port 40 and a second port 42, which are connected to the upper chamber 36 and the lower chamber 38, respectively. The motor 28 can drive the fluid pump 26 to operate. For example, when the motor 28 rotates in a first direction, the fluid pump 26 is driven to transfer fluid from the lower chamber 38 to the upper chamber 36. When the motor 28 rotates in a second direction, the fluid pump 26 is driven to transfer fluid from the upper chamber 36 to the lower chamber 38. The first direction and the second direction are opposite. The motor 28 can be a three-phase AC motor 28.

[0067] The upper end of the piston rod 32 and the upper end of the elastic element 20 can be connected to the vehicle body 14, and the lower end of the piston rod 32 and the lower end of the elastic element 20 can be connected to the swing arm or steering knuckle, and then connected to the wheel 16, so that the shock absorber 24 and the elastic element 20 are connected between the vehicle body 14 and the wheel 16.

[0068] When the fluid in lower chamber 38 is transferred to upper chamber 36, the fluid pressure in upper chamber 36 presses down on piston assembly 34, which in turn drives piston rod 32 downward, causing vehicle body 14 to press down on elastic element 20, lowering vehicle body 14 and completing the downward movement. Elastic element 20 is compressed, storing elastic potential energy, allowing vehicle body 14 to maintain its current height.

[0069] When the fluid in the upper chamber 36 is transported to the lower chamber 38, the fluid pressure in the lower chamber 38 pushes on the piston assembly 34, and the piston assembly 34 drives the piston rod 32 to move upward. The piston rod 32 accelerates the vehicle body 14 upward, and the elastic potential energy stored in the elastic element 20 is released. The elastic element 20 accelerates the vehicle body 14 upward. Under the dual acceleration action of the shock absorber 24 and the elastic element 20, the vehicle body 14 is driven upward, increasing the height of the vehicle body 14, realizing the lifting action of the vehicle body 14, and when the wheel 16 is not off the ground, the vehicle body 14 can be maintained at the current height.

[0070] The suspension controller 13 can adjust the rotation direction and speed of the motor 28 to operate the shock absorber 24, thereby causing the active suspension system 12 to perform a rocking or bouncing motion. The downward and upward movements of the vehicle body 14 can cause the vehicle 100 to rock or bouncing. For example, lifting the vehicle body 14 without lifting the wheels 16 off the ground can be referred to as lifting, while lifting the vehicle body 14 with the wheels 16 off the ground can be referred to as jumping. When the vehicle body 14 is pressed down and / or raised, the vehicle 100 can rock. When the vehicle body 14 causes the four wheels to jump, the vehicle 100 can jump.

[0071] Optionally, a suspension structure 18 is connected between each wheel 16 and the vehicle body 14 , so that the vehicle body 14 can perform downward and upward movements at each wheel 16 .

[0072] When the motor 28 drives the shock absorber 24 at a higher rotational speed (rotational speed), the shock absorber 24 can be retracted faster and shortened, or extended longer and faster. Retracting the shock absorber 24 faster and shortening it compresses the elastic element 20 shorter and shorter, allowing the elastic element 20 to store more elastic potential energy in a shorter period of time, enabling the vehicle body 14 to respond more quickly to descents. Extending the shock absorber 24 longer and faster allows the elastic element 20 to release its elastic potential energy more quickly, enabling the vehicle body 14 to respond more quickly to lifts.

[0073] The rotation direction and speed of motor 28 can be adjusted based on the amplitude of the shaking or bouncing, thereby controlling the height and speed of the vehicle body 14 when it is raised, as well as the height and speed of its descent, so that shock absorber 24 operates to achieve the shaking or bouncing of active suspension system 12. The shaking or bouncing amplitude and the rotation direction and speed of motor 28 can be pre-calibrated and stored through methods including, but not limited to, simulation and testing, or can be pre-calibrated based on decoded audio signal information.

[0074] It is understood that in other embodiments, the suspension structure 18 is not limited to the above structure, and may be other suspension structures 18 that can adjust the height of the vehicle body 14 (increase and decrease the height of the vehicle body 14).

[0075] When the control device 200 of the vehicle 100 detects that the vehicle motion includes a roll or a bounce, it may send a roll or a bounce control signal to the suspension controller 13. The suspension controller 13 then sends a drive signal to the motor 28 based on the roll or a bounce control signal, causing the motor 28 to drive the shock absorber 24 to perform the roll or a bounce. Alternatively, the roll or a bounce control signal may control one or more suspension structures 18 to perform the roll or a bounce.

[0076] In one embodiment, the vehicle 100 is a four-wheel independent drive (4WID) vehicle 100, also known as a 4WID (Four Wheel Independent Drive) vehicle 100, which utilizes a distributed drive system. Unlike traditional front-wheel or rear-wheel drive systems, each of the four wheels 16 of a 4WID vehicle is equipped with an independent drive motor, which can independently control the driving force and steering angle of each wheel 16, thereby achieving more flexible and efficient movement and control of the vehicle 100.

[0077] Specifically, the wheel steering system includes a steering controller, a front axle motor, and a rear axle motor. The steering controller is electrically connected to the front axle motors. The front axle motors include a left front wheel drive motor and a right front wheel drive motor. The rear axle motors include a left rear wheel drive motor and a right rear wheel drive motor.

[0078] The steering controller can control the driving torque of the left front wheel drive motor, the driving torque of the right front wheel drive motor, the driving torque of the left rear wheel drive motor and the driving torque of the right rear wheel drive motor to achieve in-situ rotation, fixed wheel rotation and lateral movement.

[0079] Regarding rotation in place, an embodiment of the present application provides a method for turning a vehicle 100 in place, as shown in FIG5 . The method includes the following steps S1100 and S1200 :

[0080] S1100 : When the vehicle 100 is in an in-place steering mode, determine a target yaw moment of the vehicle 100 according to state information of the vehicle 100 .

[0081] The state information of the vehicle 100 includes a difference and a rate of change of the difference, where the difference is the difference between the target yaw rate and the current yaw rate;

[0082] The rate of change of the difference is the amount by which the difference changes over time.

[0083] Specifically, when the vehicle maneuver includes a pivoting maneuver, the control device 200 of the vehicle 100 may control the vehicle 100 to be in a pivoting mode. In this pivoting mode, the vehicle 100 may perform a pivoting maneuver. A target yaw rate may be set to the desired yaw rate of the vehicle 100 when performing a pivoting maneuver. The target yaw rate may be the same or different for different vehicles 100, or may be set based on the vehicle model. This application does not impose any specific limitations on this.

[0084] In the embodiment of the present application, a yaw rate sensor may be provided on the vehicle body 14, and the current yaw rate of the vehicle 100 may be obtained based on the yaw rate sensor. Of course, the current yaw rate may also be calculated based on other parameters of the vehicle 100. This application does not impose any specific limitations on this.

[0085] In the embodiment of the present application, the above difference can be obtained by the following formula 1.

[0086] e ωr (t) = ω rd -ω r (Formula 1);

[0087] Among them, e ωr (t) represents the difference between the target yaw rate and the current yaw rate. rd It represents the target yaw rate. r Indicates the current yaw rate.

[0088] In the embodiment of the present application, the above-mentioned difference change rate Δe can be obtained according to the following formula 2: ωr (t):

[0089] In the embodiments of the present application, when vehicle 100 pivots, the same yaw moment results in different rates of change of yaw angular velocity on roads with different adhesion coefficients. Therefore, the present application uses the difference rate of change as one of the parameters for determining the required target yaw moment, thereby matching the target yaw moment of the present application with the adhesion coefficient of the road surface on which vehicle 100 is currently located.

[0090] Based on the above, when the vehicle 100 state information includes the difference and the rate of change of the difference, a target yaw moment matching the adhesion coefficient of the ground where the vehicle 100 is currently located can be determined according to the vehicle 100 state information.

[0091] In one embodiment of the present application, the above S1100 may be implemented by the following S1110 and S1111:

[0092] S1110. Determine the control parameters at the current moment according to the difference and the rate of change of the difference.

[0093] In one embodiment of the present application, the control parameters include: a proportional coefficient, a differential coefficient, and an integral coefficient. On this basis, the control parameters at the current moment include: a proportional coefficient at the current moment, a differential coefficient at the current moment, and an integral coefficient at the current moment.

[0094] In one embodiment of the present application, the difference, the rate of change of the difference, and the amount of change of the control parameter have a corresponding relationship. On this basis, the above S1110 can be implemented by the following S1110-1 and S1110-2:

[0095] S1110-1. Determine the change amount of the control parameter at the current moment according to the corresponding relationship.

[0096] In an embodiment of the present application, when the control parameters at the current moment include the proportional coefficient at the current moment, the differential coefficient at the current moment, and the integral coefficient at the current moment, the change in the control parameters at the current moment in the above S1110-1 is specifically: the change in the proportional coefficient at the current moment, the change in the differential coefficient at the current moment, and the change in the integral coefficient at the current moment.

[0097] In the embodiment of the present application, the corresponding relationship in S1110-1 can be obtained by the vehicle 100 developer based on simulation experiments. In one embodiment, the corresponding relationship in S1110-1 obtained by the vehicle 100 developer based on simulation experiments is shown in Table 1 below:

[0098] Table 1

[0099] Among them, △Kp in Table 1 is the change of the proportional coefficient in the control parameter, △Ki is the change of the integral coefficient in the control parameter, and △Kd is the change of the differential coefficient in the control parameter;

[0100] As shown in Figure 6, △Kp, △Ki, and △Kd in Table 1 can be obtained by converting △e ωr (t) and e ωr (t) is input into the fuzzy controller.

[0101] NB, NS, ZE, PS, and PB are the fuzzy subsets corresponding to the fuzzy controller, representing negative large, negative small, zero, positive small, and positive large, respectively.

[0102] Based on the corresponding relationship shown in Table 1, the specific values ​​of ΔKP, ΔKi, and ΔKd are determined according to the fuzzy rules and membership functions. ωr (t), Δe ωr (t) uses the same membership function, and similarly ΔKP, ΔKi, and ΔKd also use the same membership function.

[0103] S1110-2. Determine the control parameter at the current moment based on the control parameter at the previous moment and the change in the control parameter at the current moment.

[0104] In the embodiment of the present application, when the control parameters include: a proportional coefficient, an integral coefficient, and a differential coefficient, the specific implementation of the above S1110-2 is: taking the sum of the proportional coefficient at the previous moment and the change in the proportional coefficient at the current moment as the proportional coefficient at the current moment;

[0105] The sum of the integral coefficient at the previous moment and the change in the integral coefficient at the current moment is taken as the integral coefficient at the current moment;

[0106] The sum of the differential coefficient at the previous moment and the change in the differential coefficient at the current moment is taken as the differential coefficient at the current moment.

[0107] It is understood that at the initial moment of the vehicle 100 pivoting, the control parameters from the previous moment do not exist. Therefore, in this embodiment, the control parameters at the initial moment of the vehicle 100 pivoting are set to preset values. That is, the control parameters at the initial moment of the vehicle 100 entering pivoting mode are preset values. The preset values ​​are the control parameters when the vehicle 100 is on the ground with the maximum adhesion coefficient or the control parameters when the vehicle 100 is on the ground with the minimum adhesion coefficient, and can be determined based on experience. When the preset values ​​are the control parameters when the vehicle 100 is on the ground with the maximum adhesion coefficient, the control parameters at the current moment are reduced compared to the preset values. When the preset values ​​are the control parameters when the vehicle 100 is on the ground with the minimum adhesion coefficient, the control parameters at the current moment are increased compared to the preset values.

[0108] S1111. Determine a target yaw moment based on the difference and the control parameters at the current moment.

[0109] In one embodiment of the present application, the above S1111 may be implemented by the following S1111-1:

[0110] S1111-1. Determine the target yaw moment using a PID controller based on the difference and the current control parameters.

[0111] In this embodiment, as shown in FIG6 , the difference, the rate of change of the difference, and the current control parameter can be input into the PID controller to determine the target yaw moment. The calculation process of the PID controller can be shown in the following formula 3:

[0112] Among them, Kp is the proportional coefficient at the current moment, Ki is the integral coefficient at the current moment, and Kd is the differential coefficient at the current moment.

[0113] S1200 : Control the vehicle 100 to achieve on-the-spot steering according to the target yaw moment.

[0114] In this embodiment, because the target yaw moment matches the adhesion coefficient of the surface on which vehicle 100 is currently located, pivoting can be accomplished by controlling vehicle 100 according to the target yaw moment. This ensures that vehicle 100 can pivot on surfaces with varying adhesion coefficients. In other words, this embodiment provides a pivoting method that adapts to the adhesion coefficient of the surface on which vehicle 100 is currently located.

[0115] In the embodiment of the present application, when the vehicle 100 is turning in place, the rate of change of the yaw angular velocity under different adhesion coefficients for the same yaw moment is different. Therefore, the present application uses the difference change rate as one of the parameters to determine the required target yaw moment, which can match the target yaw moment of the present application with the adhesion coefficient of the ground on which the vehicle 100 is currently located, thereby achieving adaptive turning in place. In other words, the method for controlling turning in place of the vehicle 100 provided in the embodiment of the present application can enable the vehicle 100 to complete turning in place under different adhesion coefficients. This ensures that the vehicle 100 can complete turning in place on surfaces with different adhesion coefficients. In addition, the control method takes into account the influence of the difference change rate and adjusts the target yaw moment in real time, thereby improving the response speed of the yaw angular velocity and reducing fluctuations, thereby improving the technical defect of large fluctuations in yaw angular velocity changes caused by rough control methods.

[0116] In one embodiment of the present application, the above S1200 may be implemented through the following S1210-S1212:

[0117] S1210: Determine front axle distribution parameters and rear axle distribution parameters according to the front axle load and the rear axle load.

[0118] In the embodiment of the present application, the front axle load includes the vertical load of the left front wheel and the vertical load of the right front wheel. The rear axle load includes the vertical load of the left rear wheel and the vertical load of the right rear wheel.

[0119] The front axle distribution parameter can be the ratio of the front axle load to the total load, and the rear axle distribution parameter can be the ratio of the rear axle load to the total load. The total load is the sum of the front axle load and the rear axle load.

[0120] In combination with the above content, the above S1210 can be implemented by the following formula 4 and formula 5:

[0121] Among them, F Zfl is the vertical axle load of the left front wheel;

[0122] F Zfr is the vertical axle load of the right front wheel;

[0123] F Zrl is the vertical load on the left rear wheel;

[0124] F Zrr is the vertical load on the right rear wheel;

[0125] n1 is the proportion of the front axle load in the total load, that is, the front axle distribution parameter;

[0126] n2 is the proportion of the rear axle load in the total load, that is, the rear axle distribution parameter.

[0127] S1211. Determine the driving torque of the front axle motor according to the front axle distribution parameter and the target yaw moment to control the front axle motor.

[0128] In this embodiment, the front axle motor includes a left front wheel drive motor and a right front wheel drive motor. This means that the driving torque of the front axle motor includes the driving torque of the left front wheel drive motor and the driving torque of the right front wheel drive motor. Based on this, the above S1211 can be implemented using the following formula 6:

[0129] Among them, T fr is the right front wheel drive torque, T fl is the left front wheel drive torque, B is the wheel track, and R is the wheel rolling radius. It should be noted that wheel track B and wheel rolling radius R are fixed parameters of vehicle 100. The positive or negative sign of the drive motor's drive torque indicates the direction of the drive force. When the drive motor's drive torque is positive, the drive force is forward, and when the drive motor's drive torque is negative, the drive force is backward.

[0130] The wheel track B is shown in FIG7 .

[0131] After obtaining the left front wheel drive torque and the right front wheel drive torque, the left front wheel drive motor is controlled to drive according to the left front wheel drive torque, and the right front wheel drive motor is controlled to drive according to the right front wheel drive torque.

[0132] S1212: Determine the driving torque of the rear axle motor according to the rear axle distribution parameter and the target yaw moment to control the rear axle motor.

[0133] In this embodiment, the rear axle motor includes a left rear wheel drive motor and a right rear wheel drive motor. This means that the drive torque of the rear axle motor includes the drive torque of the left rear wheel drive motor and the drive torque of the right rear wheel drive motor. Based on this, the above S1211 can be implemented using the following formula 7:

[0134] Among them, T rr is the right rear wheel driving torque, T rlis the left rear wheel driving torque, B is the wheel track, and R is the wheel rolling radius.

[0135] After obtaining the left rear wheel drive torque and the right rear wheel drive torque, the left rear wheel drive motor is controlled to drive according to the left rear wheel drive torque, and the right rear wheel drive motor is controlled to drive according to the right rear wheel drive torque.

[0136] In the embodiment of the present application, the driving torque of each driving motor in the vehicle 100 is determined by the front axle load and the rear axle load, which conforms to the motion characteristics of the vehicle 100 .

[0137] In one embodiment of the present application, the method for controlling the vehicle 100 in place steering according to the embodiment of the present application further includes the following steps S1300 and S1400:

[0138] S1300: Obtain an on-site turning instruction.

[0139] In this embodiment, the pivoting instruction is used to indicate the steering direction of the vehicle 100 when pivoting. Specifically, when the vehicle motion includes pivoting, the control device 200 of the vehicle 100 may send the pivoting instruction to the steering controller, and the steering controller may execute the pivoting action according to the pivoting instruction. The pivoting instruction may specifically instruct the vehicle 100 to turn clockwise or counterclockwise when pivoting.

[0140] In the implementation manner of the present application, the specific implementation of the above S1300 is similar to the specific implementation of the method for obtaining the in-place turning mode in the above S1100, and will not be repeated here.

[0141] S1400: Determine a target yaw moment direction according to the stationary steering direction indicated by the stationary steering instruction.

[0142] In this embodiment, as shown in FIG7 , when the in-place steering direction instruction instructs the vehicle 100 to turn counterclockwise when turning in place, the direction of the target yaw moment ΔM is determined to be counterclockwise and represented by a positive value; as shown in FIG7 , when the in-place steering direction instruction instructs the vehicle 100 to turn clockwise when turning in place, the direction of the yaw moment ΔM is determined to be clockwise and represented by a negative value.

[0143] On the basis of the above content, when ΔM is a positive value, the driving torque of the front axle motor in the above S1210 is achieved by the above formula 6, and the driving torque of the rear axle motor is achieved by the above formula 7.

[0144] When ΔM is a negative value, the driving torque of the front axle motor in the above-mentioned S1210 is realized by the following formula 8, and the driving torque of the rear axle motor is realized by the following formula 9.

[0145] Based on the above formulas 6 to 9, it can be achieved that the pivotal turning direction of the vehicle 100 when pivoting is consistent with the pivotal turning direction indicated by the pivotal turning instruction.

[0146] In one embodiment of the present application, the method for controlling the vehicle 100 to turn in place provided by the embodiment of the present application further includes the following steps S1500-S1700:

[0147] S1500: Lock the steering wheel according to the on-site steering instruction.

[0148] In the implementation of this application, the above S1500 is specifically implemented as follows: when an in-place steering instruction is obtained, the steering wheel is locked. In one embodiment, the steering wheel is locked as follows: the steering wheel is locked in a return position.

[0149] S1600: Determine the resultant torque of the steering motor based on the target yaw moment. The resultant torque of the steering motor is used to balance the torque of the left and right wheels rotating around the kingpin due to the different driving forces applied to the wheels, thereby preventing the vehicle from turning in place due to wheel rotation.

[0150] In this embodiment, the steering motor includes at least one of a front axle steering motor and a rear axle steering motor. On this basis, the vehicle 100 stationary steering control method provided in the embodiment of the present application further includes the following S1610:

[0151] S1610. Determine at least one of a front axle steering motor adjustment parameter and a rear axle steering motor adjustment parameter according to the front axle load and the rear axle load.

[0152] In this embodiment, the front axle steering motor adjustment parameters are consistent with the above-mentioned front axle distribution parameters. The rear axle steering motor adjustment parameters are consistent with the above-mentioned rear axle distribution parameters.

[0153] Based on the above S1610, the above S1600 is implemented through the following S1620 and S1621:

[0154] S1620: Determine the resultant torque of the front axle steering motor according to the target yaw moment and the front axle steering motor adjustment parameter.

[0155] S1621. Determine the resultant torque of the rear axle steering motor according to the target yaw moment and the rear axle steering motor adjustment parameters.

[0156] The resultant torque of the front axle steering motor in the above S1620 can be realized by the following formula 10:

[0157] Furthermore, the resultant torque of the rear axle steering motor in the above S1621 can be realized by the following formula 11:

[0158] Wherein, Tmf is the resultant torque of the front axle steering motor in the vehicle 100, d is the kingpin center offset, Tmr is the resultant torque of the rear axle steering motor in the vehicle 100, and d is as shown in FIG8 .

[0159] S1700: Control the steering motor according to the resultant torque.

[0160] During a pivot turn, the different directions of the left and right driving forces on the vehicle 100 cause the wheels to steer, resulting in the wheels rotating about the kingpin, which in turn causes the vehicle 100 to veer off course. This application utilizes a steering motor to compensate for the target yaw moment in real time, thereby reducing the impact of wheel steering on pivot turns.

[0161] The combined torque of the front or rear steering motor can cause the wheel torque to be in the opposite direction to the wheel steering caused by the different directions of the left and right wheel driving forces. When the vehicle 100 is turning counterclockwise, the wheels tend to rotate counterclockwise about the kingpin. At this time, the combined torque of the front or rear steering motor can cause the wheels to rotate clockwise, thereby reducing the wheel steering caused by the different directions of the driving torque.

[0162] When the vehicle 100 turns clockwise in place, the wheels tend to rotate counterclockwise around the kingpin. At this time, the combined torque of the front axle steering motor or the rear axle steering motor can cause the wheels to rotate counterclockwise, thereby reducing the wheel steering caused by the different directions of the driving torque.

[0163] In this embodiment of the present application, the net torque of the steering motor in vehicle 100 is determined based on the front and rear axle loads, consistent with the vehicle's kinetic characteristics. Furthermore, in stationary steering mode, the steering wheel of vehicle 100 is locked, and steering compensation is performed by controlling the steering motor based on the net torque. This prevents the lateral force of the wheels, caused by friction between the wheels and the ground, from driving the steering wheel during stationary steering. Furthermore, this prevents wheel deviation, which could prevent vehicle 100 from achieving stationary steering.

[0164] In one embodiment of the present application, in combination with the above, as shown in FIG6 , when the front axle motor is controlled according to the driving torque of the front axle motor, the rear axle motor is controlled according to the driving torque of the rear axle motor, the front axle steering motor is controlled according to the combined torque of the front axle steering motor, and the rear axle steering motor is controlled according to the combined torque of the rear axle steering motor, the current yaw rate of the vehicle 100 changes. At this point, the process returns to step S1100 above, and the vehicle 100 continues to turn in place.

[0165] Regarding fixed wheel rotation, fixed wheel rotation may refer to the vehicle 100 rotating around one of the wheels 16. Specifically, fixed wheel rotation may include at least one of the vehicle 100 rotating around the right front wheel, the vehicle 100 rotating around the left front wheel, the vehicle 100 rotating around the right rear wheel, and the vehicle 100 rotating around the left rear wheel.

[0166] 9 , when the vehicle 100 switches from state 1 to state 2, the vehicle 100 rotates counterclockwise around the right front wheel. When the vehicle 100 switches from state 2 to state 3, the vehicle 100 rotates clockwise around the right rear wheel.

[0167] As shown in Figure 11, to achieve the transformation from state 1 to state 2, it is necessary to apply driving force to the right rear wheel and the left rear wheel. The vector directions are equal in magnitude and opposite in direction. The driving force of the right rear wheel is F f1 , direction is the front direction of the vehicle; the left rear wheel is F f2 , the direction is towards the rear of the vehicle. If the right front wheel is locked, the left front wheel has no driving force and the brake is released, then:

[0168] |F f1 |=|F f2 |;

[0169] Among them: F f1 , F f2 These are the driving forces for the right and left rear wheels respectively.

[0170] Assuming the wheelbase of the vehicle 100 is L, calculate the torque Δω1 generated by the driving force on the rotation process:

[0171] Δω1=F f2 L. The torque Δω1 can cause the vehicle 100 to rotate counterclockwise around the right front wheel.

[0172] As shown in Figure 12, to achieve the transformation from state 2 to state 3, it is necessary to apply driving force to the left front wheel and the right front wheel. The vector directions are equal in magnitude and opposite in direction. The driving force of the left front wheel is F f3 , direction is the front direction of the vehicle; the right front wheel is F f4 , the direction is the rear of the vehicle. If the right rear wheel is locked, the left rear wheel has no driving force and the brake is released, then:

[0173] |F f3 |=|Ff4 |;

[0174] Among them: F f3 , F f4 are the driving forces of the left front wheel and the right front wheel respectively;

[0175] The torque Δω2 generated by the driving force on the rotation process:

[0176] Δω2=F f3 L. The moment Δω2 causes the vehicle 100 to rotate clockwise around the right rear wheel.

[0177] The explanation of the embodiments in which the vehicle 100 rotates around the left front wheel and the vehicle 100 rotates around the left rear wheel can refer to the explanation of the embodiments in which the vehicle 100 rotates around the right rear wheel and the vehicle 100 rotates around the right front wheel, and will not be elaborated here.

[0178] Regarding the lateral movement, the lateral movement (left-right lateral movement) may include at least one of the vehicle 100 lateral movement to the left and the vehicle 100 lateral movement to the right.

[0179] In one embodiment, the rightward lateral movement of vehicle 100 may include phases 1 and 2. Phase 1 involves the vehicle 100 transitioning from state 1 to state 2 and then from state 2 to state 3. Phase 1 is illustrated in FIG10 . Phase 2 involves the vehicle 100 transitioning from state 4 to state 5 and then from state 5 to state 6. Phase 2 is illustrated in FIG13 . The lateral movement distance is correlated (positively correlated) with the rotation angle of vehicle 100, and the forward movement distance is also positively correlated with the rotation angle. The posture of vehicle 100 in state 4 is consistent with that in state 3.

[0180] The second stage of lateral movement is similar to the first stage, and the first and second stages can form a cycle. After the first stage, the positive displacement in the longitudinal direction of the vehicle 100 (along the front direction of the vehicle) and the negative displacement generated in the second stage offset each other, thereby achieving the effect of translation of the vehicle 100, so as to realize the lateral movement of the vehicle 100 from left to right.

[0181] In one embodiment, the traverse may include phase one or phase two.

[0182] As can be seen from the above, lateral movement can include a combination of several fixed wheel rotations. The explanation of the embodiment of the vehicle body 14 lateral movement from right to left can refer to the explanation of the embodiment of the vehicle body 14 lateral movement from left to right, which will not be elaborated here.

[0183] The vehicle motion includes at least one of: wingspan, bright light, shaking, jumping, lateral movement, and rotation. In one embodiment, the vehicle motion includes wingspan, bright light, shaking, jumping, lateral movement, or rotation. In one embodiment, the vehicle motion includes a combination of two or more of wingspan, bright light, shaking, jumping, lateral movement, and rotation.

[0184] In one embodiment, the wing spreading includes at least one of door opening, door waving, door closing, window lifting and rearview mirror movement.

[0185] Thus, the wing spreading action can be achieved by the door action.

[0186] Specifically, a vehicle door includes a door body and a rearview mirror mounted on the door body. The rearview mirror is a motorized rearview mirror. The motorized rearview mirror includes the rearview mirror and a rearview mirror driver. The rearview mirror driver is capable of controlling the folding and unfolding of the rearview mirror. The rearview mirror operation includes folding and unfolding the rearview mirror.

[0187] In one embodiment, when the wing-spreading motion control signal includes a door opening signal, the door controller may control the corresponding door driver to drive the corresponding door to open. Optionally, the door opening may be a slow door opening, meaning that the door opens at a speed slower than the speed at which the vehicle opens during normal use.

[0188] In one embodiment, when the wing-spreading motion control signal includes a door waving signal, the door controller may control a corresponding door driver to drive the corresponding door to swing back and forth to implement the waving motion.

[0189] In one embodiment, when the wing-spreading motion control signal includes a door closing signal, the door controller may control the corresponding door driver to drive the corresponding door to close.

[0190] In one embodiment, when the wing-spreading motion control signal includes a window lifting signal, the door controller may control a corresponding window driver to drive the corresponding window to lift or lower.

[0191] In one embodiment, when the wing-spreading motion control signal includes a rearview mirror motion signal, the door controller may control a corresponding rearview mirror driver to drive the corresponding rearview mirror to perform the rearview mirror motion.

[0192] In one embodiment, when the wing-spanning motion control signal includes a combination of two or more of the above-mentioned motion control signals, the signals may be executed in a specific order or simultaneously if the actions do not conflict. The order may include, but is not limited to, a randomly determined order, a default order, a user-set order, and the like.

[0193] For example, when the wing-spreading action control signal includes a door opening signal and a door waving signal, when the door is initially closed, the door opening action may be performed first, and then the door waving action may be performed.

[0194] For example, when the wing-spreading action control signal includes a door opening signal and a rearview mirror action signal, when the initial state of the door is closed, the door opening action and the rearview mirror action can be executed simultaneously, or the door opening action can be executed first and then the rearview mirror action, or the rearview mirror action can be executed first and then the door opening action.

[0195] For another example, when the wing-spreading action control signal includes a door opening signal and a door closing signal, if the door is initially closed, the door opening action is performed first, followed by the door closing action. If the door is initially open, the door closing action is performed first, followed by the door opening action.

[0196] In one embodiment, the bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

[0197] Thus, the bright light action can be realized by the headlight action.

[0198] Specifically, the vehicle 100 includes vehicle lights, which may include headlights, turn signals, taillights, and ambient lighting. The headlights may include, but are not limited to, headlights and daytime running lights. The turn signals include front turn signals, side turn signals, and rear turn signals. The ambient lighting includes at least one of a center console ambient light, a door ambient light, and a roof ambient light.

[0199] In one embodiment, when the bright light action control signal includes a headlight change signal, the vehicle light controller can control the headlight to perform a headlight change action, including but not limited to turning on the headlight, turning off the headlight, flashing the headlight, the pattern formed when the headlight is illuminated, the color of the headlight, the light flow effect formed when the headlight is illuminated, etc.

[0200] In one embodiment, when the bright light action control signal includes a turn signal change signal, the vehicle light controller can control the turn signal to perform a turn signal change action, and the turn signal change action includes but is not limited to turning the turn signal on, turning the turn signal off, flashing the turn signal, the pattern formed when the turn signal is illuminated, the color of the turn signal, the light flow effect formed when the turn signal is illuminated, etc.

[0201] In one embodiment, when the bright light action control signal includes a taillight change signal, the vehicle light controller can control the taillight to perform a taillight change action, including but not limited to turning on the taillight, turning off the taillight, flashing the taillight, the pattern formed when the taillight is illuminated, the color of the taillight, the light flow effect formed when the taillight is illuminated, etc.

[0202] In one embodiment, when the bright light action control signal includes an ambient light change signal, the vehicle light controller can control the ambient light to perform the ambient light change action, and the ambient light change action includes but is not limited to turning on the ambient light, turning off the ambient light, flashing the ambient light, the pattern formed when the ambient light is illuminated, the color of the ambient light, the light flow effect formed when the ambient light is illuminated, etc.

[0203] In one embodiment, when the light action control signal includes a combination of two or more of the above-mentioned action control signals, the actions can be executed in a certain order or simultaneously if the actions do not conflict. The order can include, but is not limited to, a randomly determined order, a predetermined order, a user-set order, etc.

[0204] For example, when the bright light action control signal includes a headlight on signal and a taillight on signal, when the initial state of the headlights and taillights is off, the headlight and taillight on actions can be executed simultaneously, or the headlight on action can be executed first and then the taillight on action, or the taillight on action can be executed first and then the headlight on action.

[0205] In one embodiment, the shaking includes at least one of lifting of a single wheel of the vehicle body, pitching of the vehicle body, and lifting of the vehicle body up and down.

[0206] Thus, the rocking motion can be achieved by the motion of the vehicle body 14 .

[0207] Specifically, in one embodiment, when the shaking action control signal includes a vehicle body single wheel lift signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform a single wheel lift action. For example, if the vehicle body single wheel lift is the left front wheel, the suspension controller 13 can control the rotation direction and rotation speed of the motor of the suspension structure 18 of the left front wheel to control the vehicle body 14 to lift the left front wheel, while the suspension structures 18 of the remaining wheels 16 maintain their current state.

[0208] In one embodiment, when the shaking action control signal includes a vehicle body roll signal, the suspension controller 13 may control the corresponding suspension structure 18 to perform a vehicle body roll action. Specifically, the vehicle body roll may include at least one of a left vehicle body roll and a right vehicle body roll.

[0209] The left side tilt of the vehicle body refers to the vehicle body 14 tilting to the left, that is, the right side of the vehicle body 14 is higher than the left side of the vehicle body 14. When the vehicle body tilt signal is a left side tilt signal, in one embodiment, the suspension controller 13 can control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to maintain the current height of the right side of the vehicle body 14, and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to perform a downward movement of the vehicle body 14, thereby causing the vehicle body 14 to tilt to the left. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to maintain the current height of the left side of the vehicle body 14, and control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to perform a lifting movement of the vehicle body 14, thereby causing the vehicle body 14 to tilt to the left. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left front wheel and the suspension structure 18 of the left rear wheel to perform a downward action on the vehicle body 14, and control the suspension structure 18 of the right front wheel and the suspension structure 18 of the right rear wheel to perform a lifting action on the vehicle body 14, thereby causing the vehicle body 14 to tilt to the left.

[0210] The amplitudes of the two suspension structures 18 lowering can be the same or different. The amplitudes of the two suspension structures 18 raising can be the same or different.

[0211] For the explanation of the implementation method of the right side tilt of the vehicle body, please refer to the explanation of the implementation method of the left side tilt of the vehicle body, which will not be elaborated in detail here.

[0212] In one embodiment, when the roll motion control signal includes a vehicle body pitch signal, the suspension controller 13 may control the corresponding suspension structure 18 to perform a vehicle body pitch motion. The vehicle body pitch motion may include at least one of a vehicle body front pitch motion and a vehicle body rear pitch motion.

[0213] The front pitching action of the vehicle body refers to the descent and lift of the front side (front of the vehicle) of the vehicle body 14. When the vehicle body pitch signal is a front pitching signal of the vehicle body, in one embodiment, the suspension controller 13 can control the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to maintain the current height of the rear side (rear of the vehicle body), and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to perform the downward movement of the vehicle body 14, thereby allowing the front of the vehicle to descend. In one embodiment, the suspension controller 13 can control the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to perform the upward movement of the vehicle body 14, and control the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to maintain the current height of the vehicle body 14, thereby allowing the front of the vehicle to descend. In one embodiment, the suspension controller 13 controls the suspension structure 18 of the left front wheel and the suspension structure 18 of the right front wheel to perform a downward movement of the vehicle body 14, and controls the suspension structure 18 of the left rear wheel and the suspension structure 18 of the right rear wheel to perform a lifting movement of the vehicle body 14, thereby causing the front of the vehicle to drop downward.

[0214] The amplitudes of the two suspension structures 18 lowering can be the same or different. The amplitudes of the two suspension structures 18 raising can be the same or different.

[0215] The explanation of the embodiment of lifting the front of the vehicle can refer to the explanation of the embodiment of lowering the front of the vehicle, which will not be elaborated in detail here. The explanation of the embodiment of the rear pitching action of the vehicle body 14 can refer to the explanation of the embodiment of the front pitching action of the vehicle body 14, which will not be elaborated in detail here.

[0216] In one embodiment, when the shaking action control signal includes a vehicle body up and down movement signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform a vehicle body up and down movement. Vehicle body up and down movement refers to the vehicle body 14 as a whole rising or falling.

[0217] The overall raising of the vehicle body 14 can be achieved by the suspension controller 13 controlling the suspension structures 18 of the four wheels 16 to lift the vehicle body 14, thereby raising the vehicle body 14 to the same height (relative to the ground). The overall lowering of the vehicle body 14 can be achieved by the suspension controller 13 controlling the suspension structures 18 of the four wheels 16 to press the vehicle body 14 downward, thereby lowering the vehicle body 14 to the same height (relative to the ground). The explanation of the embodiment of the overall raising of the vehicle body 14 can be referred to the explanation of the above embodiment and will not be elaborated on here.

[0218] In one embodiment, the rotation includes at least one of rotation in place and rotation of a fixed wheel.

[0219] Thus, a rotational motion can be achieved by the movement of the wheel 16 .

[0220] Specifically, the rotation in place may include at least one of a clockwise rotation in place and a counterclockwise rotation in place. The explanation of the implementation of the rotation in place can refer to the above explanation of the rotation in place action, which will not be elaborated here.

[0221] Fixed-wheel rotation may refer to the vehicle 100 rotating about one of the wheels 16. Specifically, fixed-wheel rotation may include at least one of the following: the vehicle 100 rotating about the right front wheel, the vehicle 100 rotating about the left front wheel, the vehicle 100 rotating about the right rear wheel, and the vehicle 100 rotating about the left rear wheel. The explanation of the fixed-wheel rotation can be found in the above explanation of the fixed-wheel rotation action and will not be elaborated on here.

[0222] In one embodiment, the audio signal is determined based on the selected music file.

[0223] Thereby, the audio signal can be determined using the music file.

[0224] Specifically, the music file can be stored in the vehicle 100, in a terminal device, in a cloud server, or in any two or three of the above three. One or more music files can be selected from a plurality of music files. If multiple music files are selected, the selected multiple music files can be sorted, and the selected multiple music files can be decoded to obtain decoding information for each music file. According to the order of sorting, the corresponding vehicle action is obtained, and according to the order of sorting, the execution system 12 of the vehicle 100 is controlled to execute the vehicle action in sequence. The sorting method may include but is not limited to random method, sorting by the length of the music file playback, sorting by the first letter of the music file name, sorting by the file size of the music file, sorting by the user's settings, etc.

[0225] In one embodiment, the music file is determined by an input component of the vehicle 100 according to a selection instruction, and / or the music file is determined by a terminal device in communication with the vehicle 100 according to a selection instruction.

[0226] Thus, the music file can be determined by the vehicle 100 input component and / or the terminal device according to the selection instruction.

[0227] Optionally, the vehicle 100 input components include, but are not limited to, the vehicle 100's touchscreen display (such as the central control screen, passenger screen, roof display, headrest display, sun visor display, etc.), in-vehicle buttons, knobs, voice control components, and the like. For example, the central control screen may display the vehicle 100's graphical user interface, which may include a "vehicle 100 dance" icon. The user may click the "vehicle 100 dance" icon to trigger the vehicle 100 dance function. In response to the user's instruction to trigger the vehicle 100 dance function, the vehicle 100 control device 200 may display a dance interface on the central control screen or a pop-up interface on the vehicle 100 graphical user interface. The dance interface or pop-up interface may display a list of music files. The user may browse the music files by swiping up or down on the central control screen and clicking on a music file. In response to the user's click on a music file, the vehicle 100 control device 200 may generate a selection instruction, select the music file clicked by the user, and then obtain the corresponding decoding information.

[0228] The terminal device can establish a wireless communication connection with the vehicle 100 directly, or it can establish a wireless communication connection with the vehicle 100 through a cloud server. In one embodiment, the terminal device may be installed with a control application (APP) for the vehicle 100. The APP's graphical user interface may display a "vehicle 100 dance" icon. The user can click the "vehicle 100 dance" icon to trigger the vehicle 100 dance function. In response to the user's triggering instruction for the vehicle 100 dance function, the terminal device may display a dance interface on the terminal device's touch screen display or a pop-up interface on the APP's graphical user interface. The dance interface or pop-up interface displays a list of music files. The user can browse the music files by swiping up or down on the terminal device's touch screen display and clicking on a music file. In response to the user's click on a music file, the terminal device may generate a selection instruction, select the music file clicked by the user, and then obtain the corresponding decoding information.

[0229] In one embodiment, the decoded information of the audio signal includes the tempo of the audio signal.

[0230] In this way, the vehicle behavior can be acquired through the beat of the audio signal.

[0231] Specifically, the decoded information of the audio signal may include at least one beat. The decoded information is obtained by decoding the audio signal, and the decoded information includes the beat of the audio signal. A music file may be composed of multiple beats, and these beats are encoded to form the audio signal. The beat of the audio signal can be obtained by decoding the audio signal.

[0232] In one example, a music file may include Track 1 (Track 1), Track 2, Track 3, and so on. The decoded information corresponding to each track may include at least one of Beat 1, Beat 2, Beat 3, and so on, determined based on actual conditions. In addition to beats, the decoded information of the audio signal may also include information such as beat type, beat time, and duration. In one embodiment, please refer to Table 2, which shows the decoded information of multiple tracks (the gray area represents the decoded information of the audio signal).

[0233] Table 2 - Audio track decoding information

[0234] In one embodiment, the vehicle motion is determined based on a combination of multiple beats of the audio signal.

[0235] For example, when track 1 is selected, track 1 can be decoded to obtain decoding information of track 1, which includes beat 1, beat 2, beat 3, beat 4, beat 5, beat 6, and beat 7. Beats 1 to 4 can be used for the door system. Beats 2, beats 5 to 7 can be used for the light system. More specifically, referring to Table 3 below, the door opening action is determined based on the combination of beat 1, beat 2, beats 5 to 7. The door closing action is determined based on the combination of beat 3 and beat 4. The headlight change action is determined based on the combination of beats 1 to 3 and beat 7. The turn signal change action is determined based on the combination of beat 2, beat 4, and beat 5.

[0236] Therefore, the control device 200 of the vehicle 100 can determine that the vehicle action includes the door opening action and the headlight changing action based on beat 1. During the playback of audio track 1, when beat 1 is played, the control device 200 of the vehicle 100 can control the door system to perform the door opening action and control the light system to perform the headlight changing action. When beat 2 is played, the control device 200 of the vehicle 100 can control the door system to perform the door opening action, control the light system to perform the headlight changing action and the turn signal changing action. When beat 3 is played, the control device 200 of the vehicle 100 can control the door system to perform the door closing action and control the light system to perform the headlight changing action, and so on. In Table 3, "√" indicates that an action is executed, and "×" indicates that an action is not executed.

[0237] Table 3 - Vehicle action arrangement based on the decoded information of Track 1

[0238] It will be appreciated that in other embodiments, vehicle motion may be determined based on a single beat.

[0239] It is understood that in other embodiments, the decoded information of the audio signal may further include other information arranged with the vehicle action, and is not limited to the beat.

[0240] In one embodiment, the vehicle motion is determined based on a preset relationship between tempo and motion and the tempo of the audio signal.

[0241] Specifically, the preset relationship between the beat and the action can be pre-calibrated and stored in at least one of the vehicle 100, the cloud server and the terminal device. The preset relationship between the beat and the action is a preset mapping relationship between the beat and the action. For example, the action corresponding to beat 1 can be preset to be a headlight change action, and a mapping relationship between beat 1 and the headlight change action is formed. The decoding information of track 1 includes beat 1, and the control device 200 of the vehicle 100 can determine that the vehicle action is a headlight change action based on the above preset relationship and beat 1 of track 1. During the playback of track 1, when beat 1 of track 1 is played, the control device 200 of the vehicle 100 can control the vehicle light system to perform the headlight change action.

[0242] The vehicle action is determined based on the preset relationship between the beat and the action and the beat of the audio signal, and the vehicle action can be quickly determined. Table 4 shows the preset relationship between the beat and the action in one embodiment (the gray area represents the content of the action arrangement based on the decoded information of the audio signal). As an example, if the vehicle action corresponding to the beat is executed, you can fill in "√" in the box; if the vehicle action corresponding to the beat is not executed, you can fill in "×" in the box. "TT" in Table 4 represents the value of the duration. The value of the duration can be specifically set according to the actual situation.

[0243] Table 4 - Relationship between movement and beat

[0244] In one embodiment, a vehicle action is determined by a cloud server based on the tempo of an audio signal. Specifically, the cloud server may input the tempo of the audio signal into an artificial intelligence model (AI model), which then choreographs the action based on the tempo of the audio signal to form the vehicle action. The cloud server transmits the vehicle action to the vehicle 100, and the control device 200 of the vehicle 100 controls the execution system 12 to execute the vehicle action. The AI ​​model may be a pre-trained model.

[0245] In one embodiment, a vehicle action is configured with a duration, and the combination of multiple beats is determined based on the duration of the vehicle action. A beat may be relatively short, while the execution system 12 may require a longer duration to execute the vehicle action. To ensure that the execution system 12 can execute the vehicle action in response to the beat, the required beat combination is determined based on the duration of the vehicle action.

[0246] For example, for track 1, the duration of beats 1 to 4 is 0.5 seconds, and the duration of the door opening action is set to 2 seconds. Therefore, the multiple beat combinations required for the door opening action can be a combination of beats 1 to 4.

[0247] For example, for audio track 1, the duration of beats 1 to 4 is 0.5 seconds, and the duration of the headlight change action is set to 1.5 seconds. Therefore, the multiple beat combinations required for the headlight change action are a combination of any three consecutive beats from beats 1 to 4, such as beats 1 to beat 3, and beats 2 to beat 4.

[0248] For different vehicles 100 , the duration of the same vehicle action may be set to be the same or different, which is not specifically limited here.

[0249] In one embodiment, the control method further includes: controlling the vehicle 100 to lock before the vehicle action is executed. This can improve the safety of the vehicle during the execution of the action to a certain extent.

[0250] Specifically, the vehicle action may be performed before, but not limited to, obtaining a decoded audio signal, before, or after obtaining a decoded audio signal, or before, or after obtaining a decoded audio signal. It may also be performed during, before, or after obtaining a vehicle action. In short, before the vehicle action is performed, the control device 200 of the vehicle 100 may control the vehicle 100 to lock. Controlling the vehicle 100 to lock may include controlling the doors of the vehicle 100 to lock.

[0251] Optionally, before locking the vehicle, the control device 200 of the vehicle 100 may control the vehicle 100 to issue a prompt message, for example, by playing a corresponding prompt audio through a speaker in the vehicle and / or displaying corresponding prompt text, graphics, etc. on a display screen in the vehicle, to prompt the user to leave the vehicle 100. Optionally, the control device 200 of the vehicle 100 may also send a prompt message to a terminal device through the vehicle 100. After receiving the prompt message, the terminal device may prompt the user by pushing or popping up a window.

[0252] After the vehicle 100 is locked, the control device 200 of the vehicle 100 may control the execution system 12 to execute a vehicle action.

[0253] In one embodiment, the control method further includes:

[0254] Before the vehicle takes action, a prompt message is issued to confirm the surrounding safety;

[0255] In response to the confirmation instruction of the prompt information, the execution system 12 of the vehicle 100 is controlled to execute a vehicle action.

[0256] In this way, the safety of vehicle actions can be improved to a certain extent.

[0257] Specifically, since the vehicle 100 will move during the execution of the vehicle action. In order to improve the safety during the execution of the vehicle action to a certain extent, before the vehicle action is executed, the control device 200 of the vehicle 100 can send a prompt message for confirming the surrounding safety. For example, the control device 200 of the vehicle 100 can control the speaker to play the corresponding prompt audio, and / or display the corresponding prompt text, pattern, etc. through the display screen in the vehicle, so that the user can confirm the safety situation around the vehicle 100. Optionally, the control device 200 of the vehicle 100 can also send a prompt message to the terminal device through the vehicle 100. After receiving the prompt message, the terminal device can prompt the user by pushing or pop-up window, so that the user can confirm the safety situation around the vehicle 100.

[0258] The user can confirm the prompt of surrounding safety confirmation by clicking a physical button, a virtual button or voice input. In response to the confirmation instruction of the prompt information, the control device 200 of the vehicle 100 can control the execution system 12 of the vehicle 100 to execute the vehicle action.

[0259] The user can cancel the surrounding safety confirmation prompt by clicking a physical button, a virtual button, or by voice input. In response to the cancellation instruction of the prompt information, the control device 200 of the vehicle 100 can send the surrounding safety confirmation prompt again after a certain delay, or exit the execution process of the vehicle action.

[0260] Optionally, after a music file is selected, a prompt to confirm surrounding safety can be issued. Responding to the prompt confirms that preparations are complete, activating the dance function of vehicle 100. The music file is then decoded to obtain decoded information. Based on the decoded audio signal, a vehicle action is derived, and the execution system 12 of vehicle 100 is controlled to execute the vehicle action.

[0261] In one embodiment, the control method further includes: when an abnormal situation occurs in the vehicle 100 during the execution of the vehicle action, controlling the vehicle 100 to stop executing the vehicle action. In this way, the safety during the execution of the vehicle action can be improved to a certain extent.

[0262] Specifically, vehicle 100 also includes an intelligent driving system, which may include sensors (such as lidar, millimeter-wave radar, cameras, etc.). The intelligent driving system can use the sensors to collect environmental parameters of vehicle 100. In one embodiment, the abnormal condition is determined by the intelligent driving system of vehicle 100 based on the collected environmental parameters.

[0263] In one embodiment, a safety range centered around vehicle 100 can be defined. The intelligent driving system utilizes sensors to detect in real time whether there are obstacles within the safety range of vehicle 100. If an obstacle enters the safety range, the intelligent driving system can issue an alarm signal indicating an abnormality. Upon receiving the alarm signal, the control device 200 of vehicle 100 determines that an abnormality has occurred and controls the corresponding execution system 12 to cease executing vehicle actions. The size of the safety range can be determined based on actual circumstances and is not specifically limited in this application.

[0264] Controlling the corresponding execution system 12 to stop executing the vehicle action can be controlling all execution systems 12 to stop executing the vehicle action, or it can be controlling some execution systems 12 to stop executing a portion of the vehicle action while other execution systems 12 continue to execute another portion of the vehicle action. The continued execution of the portion of the vehicle action does not pose a danger to the vehicle 100 or obstacles. For example, when the vehicle action includes a door waving action and a headlight changing action. During the execution of the vehicle action, after receiving an alarm signal, the control device 200 of the vehicle 100 can control the door system to stop executing the door waving action, while the headlight system continues to execute the headlight changing action.

[0265] 2 , a control device 200 of a vehicle 100 according to an embodiment of the present application includes a controller 202 . The controller 202 is configured to be electrically connected to the execution system 12 of the vehicle 100 . The controller 202 is used to implement the steps of the control method of any of the above embodiments.

[0266] The control device 200 of the above-mentioned vehicle 100 can obtain the decoding information of the audio signal, and obtain the vehicle action based on the decoding information of the audio signal, and control the execution system 12 of the vehicle 100 to execute the vehicle action, thereby enabling the vehicle 100 to interact with the user based on the audio signal, meet more user needs, and improve user experience.

[0267] Specifically, the controller 202 can communicate with other controllers via a CAN bus (Controller Area Network), thereby controlling the operation of the vehicle 100 .

[0268] A vehicle 100 according to an embodiment of the present application includes the control device 200 of the vehicle 100 according to the above embodiment.

[0269] Specifically, the controller 202 may be electrically connected to the implementation system 12. The implementation system 12 includes an active suspension system, a lighting system, a door system, and a wheel steering system.

[0270] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by the processor 204 , the computer program implements the control method of any of the above embodiments.

[0271] In one embodiment, referring to FIG. 14 , the control device 200 of the vehicle 100 may include a processor 204 and a memory 206 . The memory 206 stores a computer program. When the computer program is executed by the processor 204 , the control method of any of the above embodiments is implemented.

[0272] For example, the control method implemented by the computer program when executed by the processor 204 includes:

[0273] 101, obtaining decoded information of an audio signal, and obtaining a vehicle motion based on the decoded information of the audio signal, where the vehicle motion includes at least one of flapping wings, flashing lights, shaking, jumping, lateral movement, and rotation;

[0274] 103 , the execution system 12 of the vehicle 100 is controlled to execute vehicle actions.

[0275] It should be noted that the above explanation of the implementation method and beneficial effects of the control method is also applicable to the control device 200 of the vehicle 100, the vehicle 100 and the computer-readable storage medium of this embodiment. To avoid redundancy, it will not be elaborated here.

[0276] It is understood that a computer program includes computer program code. The computer program code may be in source code form, object code form, executable file or some intermediate form, etc. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution medium, etc. The processor may be a central processing unit, or other general-purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.

[0277] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that specific features, structures, materials, or characteristics described in conjunction with an embodiment or example are included in at least one embodiment or example of the present application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0278] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: include: Obtaining decoded information of the audio signal, and obtaining a vehicle motion according to the decoded information of the audio signal, wherein the vehicle motion comprises at least one of flapping wings, flashing lights, shaking, jumping, lateral movement, and rotation; An execution system of the vehicle is controlled to execute the vehicle action.

2. The control method according to claim 1, characterized in that: The wing spreading includes at least one of the actions of door opening, door waving, door closing, window lifting and rearview mirror lifting.

3. The control method according to claim 1 or 2, characterized in that: The bright light includes at least one of a headlight change, a turn signal change, a taillight change, and an ambient light change.

4. The control method according to any one of claims 1 to 3, characterized in that: The shaking includes at least one of the lifting of a single wheel of the vehicle body, the pitching of the vehicle body, the rolling of the vehicle body, and the lifting and lowering of the vehicle body.

5. The control method according to any one of claims 1 to 4, characterized in that: The rotation includes at least one of rotation in place and rotation of a fixed wheel.

6. The control method according to any one of claims 1 to 5, characterized in that: The audio signal is determined according to the selected music file.

7. The control method according to claim 6, characterized in that: The music file is determined by a vehicle input component according to a selection instruction, and / or the music file is determined by a terminal device in communication with the vehicle according to a selection instruction.

8. The control method according to any one of claims 1 to 7, characterized in that: The decoded information of the audio signal includes the beat of the audio signal.

9. The control method according to claim 8, characterized in that: The vehicle motion is determined based on a combination of a plurality of beats of the audio signal.

10. The control method according to claim 8, characterized in that: The vehicle action is determined based on a preset relationship between beat and action and the beat of the audio signal.

11. The control method according to claim 8, characterized in that: The vehicle action is determined by the cloud server according to the beat of the audio signal.

12. The control method according to claim 9, characterized in that: The vehicle action is set with a duration, and the combination of the multiple beats is determined according to the duration of the vehicle action.

13. The control method according to any one of claims 1 to 12, characterized in that: The control method further includes: Before the vehicle action is performed, controlling the vehicle to lock, and / or; Before the vehicle action is executed, a prompt message for confirming the surrounding safety is issued; In response to a confirmation instruction of the prompt information, an execution system of the vehicle is controlled to execute the vehicle action.

14. The control method according to any one of claims 1 to 13, characterized in that: The control method further includes: During the execution of the vehicle action, when an abnormal situation occurs in the vehicle, the vehicle is controlled to stop executing the vehicle action.

15. The control method according to claim 14, characterized in that: The abnormal situation is determined by the intelligent driving system of the vehicle based on the collected environmental parameters.

16. The control method according to any one of claims 1 to 15, characterized in that: The execution system includes a door system, a lighting system, an active suspension system and a wheel steering system.

17. A vehicle control device, characterized in that: The invention comprises a controller configured to be electrically connected to an execution system of a vehicle, and the controller is used to implement the steps of the control method according to any one of claims 1 to 16.

18. A vehicle, characterized in that: A control device for a vehicle comprising the vehicle according to claim 17.

19. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 16 is implemented.

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