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 methods, control devices, vehicles and storage media

[0001] Priority information

[0002] This application claims priority and benefits to patent application No. 2024102056240, filed with the China National Intellectual Property Administration on February 23, 2024, the entire contents of which are incorporated herein by reference. Technical Field

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

[0004] In related technologies, intelligent vehicles can interact with users, for example, through gestures and voice. However, these interactions are no longer sufficient to meet more of the user's needs.

[0005] Summary of the Invention

[0006] This application provides a vehicle control method, control device, vehicle, and storage medium to solve at least one of the aforementioned technical problems.

[0007] This application provides a vehicle control method including:

[0008] The decoding information of the audio signal is obtained, and the vehicle action is obtained based on the decoding information of the audio signal. The vehicle action includes at least one of the following: flapping wings, lighting up, shaking, jumping, lateral movement, and rotation.

[0009] The vehicle's execution system controls the vehicle's actions.

[0010] The aforementioned vehicle control method acquires the decoding information of the audio signal, obtains the vehicle's actions based on the decoding information, and controls the vehicle's execution system to execute the vehicle's actions. This enables the vehicle to interact with the user based on the audio signal, meeting more user needs and improving the user experience.

[0011] In one embodiment, the wing includes at least one of opening the door, waving the door, closing the door, raising and lowering the window, and operating the rearview mirror.

[0012] In one embodiment, the illumination includes at least one of headlight changes, turn signal changes, taillight changes, and ambient lighting changes.

[0013] In one embodiment, the swaying includes at least one of vehicle body single wheel lifting, vehicle body pitching, vehicle body tilting, and vehicle body vertical lifting.

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

[0015] In one implementation, the audio signal is determined based on 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 communicating with the vehicle according to a selection instruction.

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

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

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

[0020] In one implementation, the vehicle movement is determined by a cloud server based on the beat of the audio signal.

[0021] In one embodiment, the vehicle action has a duration, and the combination of the plurality of beats is determined based on the duration of the vehicle action.

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

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

[0024] Before the vehicle performs the action, a warning message confirming the safety of the surrounding area is issued;

[0025] In response to the confirmation command for the prompt information, the vehicle's execution system is controlled to perform the vehicle's actions.

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

[0027] During the execution of the vehicle's actions, if an abnormal situation occurs, the vehicle is controlled to stop performing the vehicle's actions.

[0028] In one implementation, the abnormal situation is determined by the vehicle's intelligent driving system based on collected environmental parameters.

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

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

[0031] One embodiment of this application includes a vehicle control device as described in the above-described embodiment.

[0032] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method of any of the above embodiments.

[0033] The aforementioned vehicle control device, vehicle, and computer-readable storage medium acquire decoding information of audio signals, obtain vehicle actions based on the decoding information of audio signals, control the vehicle's execution system to execute vehicle actions, thereby enabling the vehicle to interact with the user based on audio signals, meet more user needs, and improve user experience.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0036] Figure 1 is a flowchart illustrating the vehicle control method according to an embodiment of this application;

[0037] Figure 2 is a structural schematic diagram of the vehicle according to an embodiment of this application;

[0038] Figure 3 is another structural schematic diagram of the vehicle according to an embodiment of this application;

[0039] Figure 4 is a structural schematic diagram of the vibration damper according to an embodiment of this application;

[0040] Figure 5 is a flowchart illustrating a vehicle stationary steering control method according to an embodiment of this application;

[0041] Figure 6 is a schematic diagram of the algorithm flow of fuzzy PID according to the embodiments of this application;

[0042] Figure 7 is a schematic diagram of the yaw moment and wheel track of a vehicle according to an embodiment of this application;

[0043] Figure 8 is a schematic diagram of the kingpin center offset of a vehicle according to an embodiment of this application;

[0044] Figures 9 and 10 are schematic diagrams of the process of vehicle fixed wheel rotation and lateral movement according to the embodiments of this application;

[0045] Figures 11 and 12 are schematic diagrams of the force applied to the rotation and lateral movement of the vehicle's fixed wheels according to the embodiments of this application;

[0046] Figure 13 is a schematic diagram of another process of vehicle fixed wheel rotation and lateral movement according to an embodiment of this application;

[0047] Figure 14 is a structural schematic diagram of a vehicle control device according to an embodiment of this application.

[0048] Explanation of key component reference numerals:

[0049] Vehicle 100, execution system 12, suspension controller 13, 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 Implementation

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

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0052] This disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described herein. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0053] Please refer to Figures 1 and 2. An embodiment of this application provides a method for controlling a vehicle 100, which includes:

[0054] 101. Obtain the decoding information of the audio signal, and obtain the vehicle action based on the decoding information of the audio signal. The vehicle action includes at least one of the following: flapping wings, lighting up, shaking, jumping, lateral movement, and rotation.

[0055] 103, The execution system 12 of the vehicle 100 executes vehicle actions.

[0056] The above-mentioned vehicle 100 control method acquires the decoding information of the audio signal, and acquires the vehicle action based on the decoding information of the audio signal, controls the execution system 12 of the vehicle 100 to execute the vehicle action, thereby enabling the vehicle 100 to realize the interaction between the vehicle 100 and the user based on the audio signal, meeting more user needs and improving the user experience.

[0057] Specifically, vehicle 100 includes, but is not limited to, pure electric vehicles, hybrid vehicles, range-extended electric vehicles, and gasoline vehicles.

[0058] The audio signal can originate from the music playback software of the in-vehicle entertainment system, or from audio played by other devices in the environment where the vehicle 100 is located. It can also originate from a terminal device that is connected to the vehicle 100. Terminal devices include, but are not limited to, mobile phones, tablets, wearable smart devices (smartwatches, smart helmets, smart glasses, etc.), and personal computers. The vehicle 100 can connect to the terminal device wirelessly. In one embodiment, an audio signal acquisition request can be sent to the music playback software of the in-vehicle entertainment system or the terminal device, and the music playback software or terminal device determines the audio signal based on the audio signal acquisition request.

[0059] Optionally, the audio signal can be decoded by the processing unit of the vehicle 100, which includes, but is not limited to, electronic control unit (ECU), in-vehicle entertainment system, etc.

[0060] Optionally, the audio signal can be decoded by a cloud server. The cloud server can wirelessly connect with the vehicle 100. After decoding the audio signal, the cloud server transmits the decoded audio signal information to the vehicle 100, 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 a terminal device. The terminal device can wirelessly connect with the vehicle 100. After decoding the audio signal, the terminal device transmits the decoded audio signal information to the vehicle 100, enabling the vehicle 100 to obtain the decoded audio signal information. Wireless communication connection methods between the terminal device and the vehicle 100 include, but are not limited to, wireless networks (such as Wi-Fi), mobile communication networks, etc. Optionally, the terminal device can directly connect with the vehicle 100 wirelessly. Optionally, the terminal device can wirelessly connect with the vehicle 100 through a cloud server or other servers.

[0062] Vehicle 100 may include a control unit 200 and an execution system 12. The control unit 200 is electrically connected to the execution system 12. The execution system 12 includes a door system, a lighting system, an active suspension system, and a wheel steering system. The control unit 200 can acquire vehicle actions based on decoded audio signals. Vehicle actions include at least one of the following: flapping wings, lighting up, swaying, 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 includes a door actuator and a door. The door controller can be electrically connected to the door actuator and the control device 200 of the vehicle 100. The door actuator can be connected to the door. When the control device 200 of the vehicle 100 detects a vehicle movement including a wing-spreading movement, it can send a wing-spreading movement control signal to the door controller. The door controller then sends a drive signal to the door actuator based on the wing-spreading movement control signal. The door actuator drives the door to perform the wing-spreading movement based on the drive signal. Optionally, the wing-spreading movement control signal can control one or more doors to perform the wing-spreading movement. In one embodiment, the vehicle 100 may include a rear wing. The wing-spreading movement control signal can control the movement of the rear wing, such as controlling the rear wing to open, close, or wave.

[0064] In one embodiment, the vehicle lighting system may include a lighting controller and vehicle lights. The lighting controller may be electrically connected to the vehicle lights and the control device 200 of the vehicle 100. When the control device 200 of the vehicle 100 detects a vehicle action, including a lighting action, it may send a lighting action control signal to the lighting controller. The lighting controller then sends a drive signal to the vehicle lights according to the lighting action control signal, causing the vehicle lights to perform the lighting action.

[0065] In one embodiment, referring to Figures 2 and 3, the vehicle 100 includes a body 14 and a plurality of wheels 16. The wheels 16 are connected to control arms and steering knuckles. The 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 the control device 200 of the vehicle 100. The suspension structure 18 may be fixed to the control arms or steering knuckles and connected to the wheels 16. Each wheel 16 can be connected to the body 14 through a suspension structure 18. The active suspension system 12 can independently control each suspension structure 18 to perform vehicle actions.

[0066] Please refer to Figures 3 and 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 has an upper chamber 36 and a lower chamber 38, which 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 respectively connected to the upper chamber 36 and the lower chamber 38. The motor 28 can drive the fluid pump 26 to operate. For example, when the motor 28 rotates in a first direction, it drives the fluid pump 26 to transport fluid from the lower chamber 38 to the upper chamber 36; when the motor 28 rotates in a second direction, it drives the fluid pump 26 to transport fluid from the upper chamber 36 to the lower chamber 38. The first direction is opposite to the second direction. The motor 28 can be a three-phase AC motor.

[0067] The upper end of the piston rod 32 and the upper end of the elastic element 20 can be connected to the 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 body 14 and the wheel 16.

[0068] When the fluid in the lower chamber 38 is transported to the upper chamber 36, the fluid pressure in the upper chamber 36 presses down on the piston assembly 34. The piston assembly 34 drives the piston rod 32 to move downward, causing the vehicle body 14 to press down on the elastic element 20, thus lowering the height of the vehicle body 14 and achieving the downward pressing action of the vehicle body 14. The elastic element 20 is compressed, storing elastic potential energy. The vehicle body 14 can then 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 the piston assembly 34 upward. The piston assembly 34 drives the piston rod 32 to move upward. The piston rod 32 accelerates the body 14 upward. The elastic potential energy stored in the elastic element 20 is released. The elastic element 20 accelerates the body 14 upward. Under the dual acceleration of the shock absorber 24 and the elastic element 20, the body 14 is driven upward, increasing the height of the body 14 and realizing the lifting action of the body 14. Moreover, the body 14 can maintain its current height when the wheels 16 are not off the ground.

[0070] The suspension controller 13 can adjust the rotation direction and speed of the motor 28 to cause the shock absorber 24 to operate, enabling the active suspension system 12 to perform swaying or jumping actions. The downward and upward movements of the vehicle body 14 can cause the vehicle 100 to sway or jump. For example, lifting the vehicle body 14 without lifting the wheels 16 off the ground is called rising, and lifting the vehicle body 14 while lifting the wheels 16 off the ground is called jumping. When the vehicle body 14 sways and / or rises, the vehicle 100 can sway. When the vehicle body 14 causes all four wheels to jump, the vehicle 100 can jump.

[0071] Optionally, a suspension structure 18 is connected between each wheel 16 and the body 14, and the 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 (speed), the shock absorber 24 can contract faster and shorter, or extend longer and faster. The faster and shorter contraction of the shock absorber 24 causes the elastic element 20 to be compressed more quickly, allowing it to store more elastic potential energy in a shorter time, thus enabling the vehicle body 14 to respond to descent more quickly. The faster extension of the shock absorber 24 causes the elastic element 20 to be released more quickly, releasing elastic potential energy more rapidly, allowing the vehicle body 14 to respond to rise more quickly.

[0073] The rotation direction and speed of the motor 28 can be adjusted according to the amplitude of the shaking or jumping, thereby controlling the lifting height and speed of the vehicle body 14, as well as the lowering height and speed of the vehicle body 14, so that the shock absorber 24 can operate to realize the shaking or jumping action of the active suspension system 12. The amplitude of the shaking or jumping and the rotation direction and speed of the 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 the decoding information of the audio signal.

[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, as long as they can adjust the height of the vehicle body 14 (raise and lower the height of the vehicle body 14).

[0075] When the control device 200 of the vehicle 100 detects vehicle movements including swaying or jumping, it can send a swaying or jumping control signal to the suspension controller 13. The suspension controller 13 then sends a drive signal to the motor 28 based on the swaying or jumping control signal, causing the motor 28 to drive the shock absorber 24 to perform the swaying or jumping action. Optionally, the swaying or jumping control signal can control one or more suspension structures 18 to perform swaying or jumping actions.

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

[0077] Specifically, the wheel steering system includes a steering controller, a front axle motor, and a rear axle motor, with the steering controller electrically connected to the front and rear 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 right front wheel drive motor, the left rear wheel drive motor, and the right rear wheel drive motor to achieve stationary rotation, fixed wheel rotation, and lateral movement.

[0079] Regarding in-situ rotation, this application provides a method for in-situ steering of a vehicle 100, as shown in Figure 5. This method includes the following steps S1100 and S1200:

[0080] S1100: When the vehicle 100 is in stationary turning mode, determine the target yaw moment of the vehicle 100 based on the vehicle 100 status information.

[0081] Among them, the vehicle 100 status information includes the difference and the 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 of change of the difference over time.

[0083] Specifically, when the vehicle's movement includes a stationary turning motion, the control device 200 of the vehicle 100 can control the vehicle 100 to be in a stationary turning mode. In this mode, the vehicle 100 can perform a stationary turning motion. A target yaw rate can be set to the desired yaw rate when the vehicle 100 performs a stationary turning motion. Different vehicles 100 can have the same or different target yaw rates set, or the target yaw rate can be set according to the vehicle model of the vehicle 100. This application does not specifically limit this aspect.

[0084] In this embodiment, a yaw rate sensor can be installed on the vehicle body 14, and the current yaw rate of the vehicle 100 can be obtained based on the yaw rate sensor. Of course, the current yaw rate can also be calculated from other parameters of the vehicle 100. This application does not specifically limit this.

[0085] In the embodiments of this application, the above difference can be obtained by the following formula.

[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. ω rd This represents the target's yaw rate. ω r This represents the current yaw rate.

[0088] In this embodiment of the application, the aforementioned rate of change of difference Δe can be obtained according to the following formula 2. ωr (t):

[0089] In this embodiment, when vehicle 100 turns in place, the rate of change of the yaw rate of the same yaw moment differs under different adhesion coefficients of the road surface. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, so that the target yaw moment of this application can be matched with the adhesion coefficient of the road surface where vehicle 100 is currently located.

[0090] Based on the above, and assuming that the vehicle 100 status information includes the difference and the rate of change of the difference, the target yaw moment that matches the adhesion coefficient of the current ground where the vehicle 100 is located can be determined according to the vehicle 100 status information.

[0091] In one embodiment of this application, the above-mentioned S1100 can be implemented by the following S1110 and S1111:

[0092] S1110. Determine the control parameters for the current moment based on the difference and the rate of change of the difference.

[0093] In one embodiment of this application, the control parameters include a proportional coefficient, a derivative coefficient, and an integral coefficient. Based on this, the control parameters at the current time include the proportional coefficient, the derivative coefficient, and the integral coefficient at the current time.

[0094] In one embodiment of this application, the difference, the rate of change of the difference, and the change in the control parameter are related. Based on this, the above-mentioned S1110 can be implemented through the following S1110-1 and S1110-2:

[0095] S1110-1. Determine the change in control parameters at the current moment based on the correspondence.

[0096] In this embodiment of the application, when the control parameters at the current time include the proportional coefficient, the derivative coefficient, and the integral coefficient at the current time, the change in the control parameters at the current time in S1110-1 is specifically: the change in the proportional coefficient, the change in the derivative coefficient, and the change in the integral coefficient at the current time.

[0097] In this embodiment, the correspondence in S1110-1 can be obtained by the vehicle 100 developers based on simulation experiments. In one embodiment, the correspondence obtained by the vehicle 100 developers based on simulation experiments in S1110-1 is shown in Table 1 below:

[0098] Table 1

[0099] In Table 1, △Kp represents the change in the proportional coefficient of the control parameters, △Ki represents the change in the integral coefficient of the control parameters, and △Kd represents the change in the derivative coefficient of the control parameters.

[0100] As shown in Figure 6, ΔKp, ΔKi, and ΔKd in Table 1 can be obtained by subtracting Δe from the given information. ωr (t) and e ωr (t) is obtained by inputting into the fuzzy controller.

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

[0102] Based on the correspondence shown in Table 1 above, the specific values ​​of ΔKP, ΔKi, and ΔKd are determined according to fuzzy rules and membership functions. Where, e 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 parameters for the current moment based on the control parameters of the previous moment and the change in control parameters at the current moment.

[0104] In this application embodiment, when the control parameters include: proportional coefficient, integral coefficient, and derivative coefficient, the specific implementation of S1110-2 is: the sum of the proportional coefficient at the previous moment and the change in the proportional coefficient at the current moment is used as the proportional coefficient at the current moment;

[0105] The sum of the integral coefficients from the previous time step and the changes in the integral coefficients at the current time step is taken as the integral coefficient at the current time step.

[0106] The sum of the changes in the differential coefficients at the previous time step and at the current time step is taken as the differential coefficient at the current time step.

[0107] It is understood that at the initial moment when vehicle 100 begins to turn in place, there are no control parameters from the previous moment. Therefore, in this embodiment, the control parameters at the initial moment of vehicle 100's in-place turning are set to preset values. That is, the control parameters at the initial moment when vehicle 100 enters the in-place turning mode are preset values. These preset values ​​are either the control parameters when vehicle 100 is on a surface with the maximum coefficient of adhesion or the control parameters when vehicle 100 is on a surface with the minimum coefficient of adhesion, and can be obtained empirically. When the preset value is the control parameter when vehicle 100 is on a surface with the maximum coefficient of adhesion, the control parameters at the current moment are decreased compared to the preset value; when the preset value is the control parameter when vehicle 100 is on a surface with the minimum coefficient of adhesion, the control parameters at the current moment are increased compared to the preset value.

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

[0109] In one embodiment of this application, the above-mentioned S1111 can be implemented by the following S1111-1:

[0110] S1111-1. Based on the difference and the control parameters at the current moment, the target yaw moment is determined using a PID controller.

[0111] In this embodiment, as shown in Figure 6, the difference, the rate of change of the difference, and the control parameters at the current moment can be input into the PID controller to determine the target yaw moment. The calculation process of the PID controller is shown in Formula 3 below:

[0112] Where Kp is the proportional coefficient at the current time, Ki is the integral coefficient at the current time, and Kd is the differential coefficient at the current time.

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

[0114] In this embodiment, since the target yaw moment matches the coefficient of adhesion of the ground where the vehicle 100 is currently located, a stationary turn can be completed when the vehicle 100 is controlled to turn in place according to the target yaw moment. This ensures that the vehicle 100 can complete a stationary turn on surfaces with different coefficients of adhesion. In other words, this application provides a stationary turn method that adapts to the coefficient of adhesion of the ground where the vehicle 100 is currently located.

[0115] In this embodiment, when vehicle 100 turns in place, the rate of change of yaw rate differs for the same yaw moment on surfaces with different coefficients of adhesion. Therefore, this application uses the rate of change of the difference as one of the parameters for determining the required target yaw moment, enabling the target yaw moment to match the coefficient of adhesion of the surface where vehicle 100 is currently located, thus achieving adaptive in-place turning. In other words, the in-place turning control method for vehicle 100 provided in this embodiment can enable vehicle 100 to complete in-place turning under different coefficients of adhesion. This ensures that vehicle 100 can complete in-place turning on surfaces with different coefficients of adhesion. Furthermore, this control method considers the influence of the rate of change of the difference and adjusts the target yaw moment in real time, thereby improving the response speed of the yaw rate, reducing fluctuations, and overcoming the technical defect of large fluctuations in yaw rate caused by a coarse control method.

[0116] In one embodiment of this application, the above-mentioned S1200 can be implemented by the following S1210-S1212:

[0117] S1210. Determine the front axle load distribution parameters and the rear axle load distribution parameters based on the front axle load and the rear axle load.

[0118] In this embodiment, 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 load distribution parameter can be the proportion of the front axle load in the total load, and the rear axle load distribution parameter can be the proportion of the rear axle load in the total load. The total load is the sum of the front axle load and the rear axle load.

[0120] Based on the above, S1210 can be achieved through the following formulas four and five:

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

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

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

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

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

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

[0127] S1211. Determine the drive torque of the front axle motor based on the front axle distribution parameters 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 drive torque of the front axle motor includes the drive torque of the left front wheel drive motor and the drive torque of the right front wheel drive motor. Based on this, the above-mentioned S1211 can be implemented by the following formula six:

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

[0130] The wheel track B is shown in Figure 7.

[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 drive torque of the rear axle motor based on the rear axle distribution parameters 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-mentioned S1211 can be implemented by the following formula seven:

[0134] Among them, T rr T represents the right rear wheel drive torque. rl, where B is the left rear wheel drive torque, B is the wheel track width, 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 according to the left rear wheel drive torque, and the right rear wheel drive motor is controlled according to the right rear wheel drive torque.

[0136] In this embodiment of the application, the driving torque of each drive 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 this application, the vehicle 100 stationary steering control method provided in this application further includes the following steps S1300 and S1400:

[0138] S1300, Obtain the in-place turning command.

[0139] In this embodiment, the stationary turn command is used to indicate the turning direction of the vehicle 100 when turning in place. Specifically, when the vehicle action includes a stationary rotation action, the control device 200 of the vehicle 100 can send a stationary turn command to the steering controller. The steering controller executes the stationary rotation action according to the stationary turn command. The stationary turn command can specifically instruct the vehicle 100 to turn clockwise or counterclockwise when turning in place.

[0140] In the embodiments of this application, the specific implementation of S1300 is similar to the specific implementation of the method for obtaining the stationary turning mode in S1100, and will not be repeated here.

[0141] S1400. Determine the direction of the target yaw moment based on the in-place turning direction indicated by the in-place turning command.

[0142] In this embodiment, as shown in FIG7, when the stationary turning direction command instructs the vehicle 100 to turn counterclockwise while stationary, 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 stationary turning command instructs the vehicle 100 to turn clockwise while stationary, the direction of the yaw moment ΔM is determined to be clockwise and represented by a negative value.

[0143] Based on the above, when ΔM is positive, the driving torque of the front axle motor in S1210 is achieved through Formula 6, and the driving torque of the rear axle motor is achieved through Formula 7.

[0144] When ΔM is negative, the driving torque of the front axle motor in S1210 above is achieved by formula eight below, and the driving torque of the rear axle motor is achieved by formula nine below.

[0145] Based on formulas six to nine above, it can be achieved that when a vehicle turns in place, the direction of the turn is consistent with the direction of the turn indicated by the turn command.

[0146] In one embodiment of this application, the vehicle 100 stationary steering control method provided in this application further includes the following steps S1500-S1700:

[0147] S1500, Lock the steering wheel according to the stationary turning command.

[0148] In this application, the specific implementation of S1500 is as follows: upon receiving a stationary steering command, the steering wheel is locked. In one embodiment, the steering wheel is locked by performing a return-to-center locking maneuver.

[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 they are subjected to, thereby avoiding wheel rotation and resulting deviation when turning in place.

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

[0151] S1610. Determine at least one of the front axle steering motor adjustment parameters and the rear axle steering motor adjustment parameters based on the front axle load and the rear axle load.

[0152] In this embodiment, the adjustment parameters of the front axle steering motor are the same as the aforementioned front axle allocation parameters. The adjustment parameters of the rear axle steering motor are the same as the aforementioned rear axle allocation parameters.

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

[0154] S1620. Determine the resultant torque of the front axle steering motor based on the target yaw moment and the adjustment parameters of the front axle steering motor.

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

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

[0157] Furthermore, the resultant torque of the rear axle steering motor in S1621 above can be achieved through the following formula eleven:

[0158] Where Tmf is the resultant torque of the front axle steering motor in vehicle 100, d is the kingpin center offset, and Tmr is the resultant torque of the rear axle steering motor in vehicle 100, as shown in Figure 8.

[0159] S1700, controls the steering motor based on the resultant torque.

[0160] When vehicle 100 is turning in place, the different directions of the left and right driving forces will cause the wheels to turn, resulting in the wheels rotating around the kingpin and causing vehicle 100 to veer off course during in-place turning. This application uses a steering motor to compensate for the target yaw moment in real time, thereby reducing the impact of wheel turning on in-place turning.

[0161] Specifically, the combined torque of the front axle steering motor or the rear axle steering motor ensures that the direction of the torque generated by the wheels is opposite to the steering direction caused by the different driving forces of the left and right wheels. When the vehicle is turned counterclockwise at 100 degrees, 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 make the wheels rotate clockwise, thereby reducing the wheel steering caused by the different driving torque directions.

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

[0163] In this embodiment, on the one hand, the resultant torque of the steering motor in vehicle 100 is determined by the front axle load and the rear axle load, which conforms to the motion characteristics of vehicle 100. On the other hand, in stationary steering mode, the steering wheel of vehicle 100 is locked, and steering compensation is performed on vehicle 100 by controlling the steering motor according to the resultant torque. This avoids the situation where the lateral force of the wheel caused by the friction between the wheel and the ground drives the steering wheel to rotate when the wheel is turning in place, and further avoids wheel deviation, which would prevent vehicle 100 from being unable to turn in place.

[0164] In one embodiment of this application, in conjunction with the above, as shown in FIG6, when the front axle motor is controlled by the drive torque of the front axle motor, the rear axle motor by the drive torque of the rear axle motor, the front axle steering motor by the resultant torque of the front axle steering motor, and the rear axle steering motor by the resultant torque of the rear axle steering motor, the current yaw rate of the vehicle 100 changes. At this time, returning to step S1100 above, the vehicle 100 will continue to turn in place.

[0165] Regarding the rotation of a fixed wheel, the rotation of a fixed wheel can refer to the vehicle 100 rotating around one of its wheels 16. Specifically, the rotation of a fixed wheel can include at least one of the following: 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] Referring to Figure 9, when vehicle 100 switches from state 1 to state 2, vehicle 100 rotates counterclockwise around the right front wheel. Referring to Figure 10, when switching from state 2 to state 3, vehicle 100 rotates clockwise around the right rear wheel.

[0167] As shown in Figure 11, to achieve the transition from state 1 to state 2, driving forces need to be applied to the right rear wheel and the left rear wheel. The vectors are equal in magnitude and opposite in direction, and the driving force on the right rear wheel is F. f1 The direction is the front of the car; the left rear wheel is F. f2 The direction is the rear of the car. With the right front wheel locked, the left front wheel not applying any driving force, and the brake released, then:

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

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

[0170] Let the wheelbase of vehicle 100 be L, calculate the torque Δω1 generated by the driving force during rotation:

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

[0172] As shown in Figure 12, to achieve the transition from state 2 to state 3, driving forces need to be applied to the left front wheel and the right front wheel. The vectors are equal in magnitude and opposite in direction, and the driving force on the left front wheel is F. f3 The direction is the front of the car; the right front wheel is F. f4 The direction is the rear of the car. With the right rear wheel locked, the left rear wheel not applying any driving force, and the brake released, then:

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

[0174] Wherein: F f3 F f4 These are the driving forces for the left and right front wheels, respectively.

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

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

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

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

[0179] In one implementation, the rightward lateral movement of vehicle 100 may include two phases: Phase 1, where vehicle 100 switches from state 1 to state 2 and then from state 2 to state 3 (see Figure 10); and Phase 2, where vehicle 100 switches from state 4 to state 5 and then from state 5 to state 6 (see Figure 13). The lateral movement distance is positively correlated with the rotation angle of vehicle 100, and the forward movement distance is also positively correlated with the rotation angle. The attitude of vehicle 100 in state 4 is the same as that in state 3.

[0180] Phase two of the lateral movement is similar to phase one. Phase one and phase two can be a cycle. After phase one ends, the positive displacement of vehicle 100 in the longitudinal direction (along the direction of the front of the vehicle) cancels out the negative displacement generated in phase two, thereby achieving the effect of vehicle 100 translation, so as to realize the lateral movement of vehicle 100 from left to right.

[0181] In one implementation, the lateral movement may include either Phase 1 or Phase 2.

[0182] As can be seen from the above, lateral movement can include a combination of several fixed wheel rotation actions. For an explanation of the implementation of the vehicle body 14 lateral movement from right to left, please refer to the explanation of the implementation of the vehicle body 14 lateral movement from left to right described above; further details will not be provided here.

[0183] Vehicle actions include at least one of wing deployment, light illumination, swaying, jumping, lateral movement, and rotation. In one embodiment, vehicle actions include wing deployment, light illumination, swaying, jumping, lateral movement, or rotation. In another embodiment, vehicle actions include a combination of two or more of wing deployment, light illumination, swaying, jumping, lateral movement, and rotation.

[0184] In one embodiment, the wing-shaped movement includes at least one of the following: opening the door, waving the door, closing the door, raising and lowering the window, and operating the rearview mirror.

[0185] Therefore, the wing-spreading action can be achieved by the door movement.

[0186] Specifically, the vehicle door includes a door body and a rearview mirror mounted on the door body, the rearview mirror being an electric rearview mirror. The electric rearview mirror includes the mirror itself and a mirror actuator, the latter controlling the folding and unfolding of the mirror. The mirror's actions include folding and unfolding.

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

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

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

[0190] In one implementation, when the wing-spreading motion control signal includes a window lifting signal, the door controller can control the corresponding window driver to drive the corresponding window lifting.

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

[0192] In one implementation, when the wing extension motion control signal includes a combination of two or more of the aforementioned motion control signals, they can be executed in a certain 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, etc.

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

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

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

[0196] In one embodiment, the illumination includes at least one of headlight changes, turn signal changes, taillight changes, and ambient lighting changes.

[0197] Therefore, the lighting action can be achieved by the movement of the vehicle lights.

[0198] Specifically, 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 center console ambient lighting, door ambient lighting, and roof ambient lighting.

[0199] In one implementation, when the light control signal includes a headlight change signal, the headlight controller can control the headlights to perform headlight change actions, including but not limited to turning the headlights on, turning the headlights off, flashing the headlights, creating patterns when the headlights are emitting light, changing the color of the headlights, and creating light flow effects when the headlights are emitting light.

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

[0201] In one implementation, when the lighting action control signal includes a taillight change signal, the vehicle lighting controller can control the taillights to perform taillight change actions, including but not limited to turning the taillights on, turning the taillights off, flashing the taillights, the pattern formed when the taillights are emitting light, the color of the taillights, and the light flow effect formed when the taillights are emitting light.

[0202] In one implementation, when the lighting action control signal includes an ambient light change signal, the vehicle lighting controller can control the ambient light to perform ambient light change actions, including but 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 emitting light, the color of the ambient light, and the light flow effect formed when the ambient light is emitting light.

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

[0204] For example, when the lighting control signal includes a headlight on signal and a taillight on signal, if the headlights and taillights are initially off, the headlights and taillights can be turned on simultaneously, or the headlights can be turned on first and then the taillights, or the taillights can be turned on first and then the headlights.

[0205] In one embodiment, swaying includes at least one of vehicle body single wheel lifting, vehicle body pitching, vehicle body and vehicle body vertical lifting.

[0206] Therefore, the swaying motion can be achieved by the movement of vehicle body 14.

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

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

[0209] Leftward tilt of the vehicle body refers to the vehicle body 14 tilting to the left, meaning the right side of the vehicle body 14 is higher than the left side. When the vehicle body tilt signal is a leftward tilt signal, in one embodiment, the suspension controller 13 can control the suspension structures 18 of the right front wheel and the right rear wheel to maintain the current height of the right side of the vehicle body 14, and control the suspension structures 18 of the left front wheel and 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 structures 18 of the left front wheel and the left rear wheel to maintain the current height of the left side of the vehicle body 14, and control the suspension structures 18 of the right front wheel and 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 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 action of the vehicle body 14, thereby causing the vehicle body 14 to tilt to the left.

[0210] The two suspension structures 18 can descend by the same amount or different amounts. The two suspension structures 18 can rise by the same amount or different amounts.

[0211] The explanation of the implementation method for tilting the vehicle to the right can be found in the explanation of the implementation method for tilting the vehicle to the left, and will not be elaborated here.

[0212] In one embodiment, when the sway control signal includes a vehicle pitch signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform a vehicle pitch action. The vehicle pitch action may include at least one of a forward vehicle pitch action and a rearward vehicle pitch action.

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

[0214] The two suspension structures 18 can descend by the same amount or different amounts. The two suspension structures 18 can rise by the same amount or different amounts.

[0215] The explanation of the implementation method for raising the front of the vehicle can be found in the explanation of the implementation method for lowering the front of the vehicle, and will not be elaborated upon here. The explanation of the implementation method for the rearward pitching motion of the vehicle body 14 can be found in the explanation of the implementation method for the forward pitching motion of the vehicle body 14, and will not be elaborated upon here.

[0216] In one embodiment, when the swaying control signal includes a vehicle body vertical movement signal, the suspension controller 13 can control the corresponding suspension structure 18 to perform a vehicle body vertical movement. Vehicle body vertical movement refers to the entire vehicle body 14 rising or falling.

[0217] The overall raising of the vehicle body 14 can be achieved by the suspension controller 13 controlling the suspension structure 18 of the four wheels 16 to lift 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 structure 18 of the four wheels 16 to lower the vehicle body 14 to the same height (relative to the ground). For an explanation of the implementation method of the overall raising of the vehicle body 14, please refer to the explanation of the above implementation method; further details will not be provided here.

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

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

[0220] Specifically, in-place rotation can include at least one of in-place clockwise rotation and in-place counterclockwise rotation. The explanation of implementation methods for in-place rotation can be found above in the explanation of in-place rotation operations, and will not be elaborated upon here.

[0221] Rotation of a fixed wheel can refer to the rotation of vehicle 100 around one of its wheels 16. Specifically, rotation of a fixed wheel can include at least one of the following: rotation of vehicle 100 around the right front wheel, rotation of vehicle 100 around the left front wheel, rotation of vehicle 100 around the right rear wheel, and rotation of vehicle 100 around the left rear wheel. For an explanation of the implementation of rotation of a fixed wheel, please refer to the above explanation of the operation of rotation of a fixed wheel; further details will not be provided here.

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

[0223] Therefore, music files can be used to determine audio signals.

[0224] Specifically, music files can be stored in vehicle 100, terminal devices, cloud servers, or any two or three of these locations. One or more music files can be selected. If multiple music files are selected, they can be sorted and decoded to obtain decoding information for each file. Based on the sorted order, corresponding vehicle actions are obtained, and the execution system 12 of vehicle 100 is controlled to execute these actions sequentially. Sorting methods may include, but are not limited to, random sorting, sorting by music file playback duration, sorting by the first letter of the music file name, sorting by music file size, and sorting according to user settings.

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

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

[0227] Optionally, the input components of vehicle 100 include, but are not limited to, the vehicle 100's touchscreen displays (such as a central control screen, passenger-side screen, roof display, headrest display, sun visor display, etc.), in-vehicle buttons, knobs, voice components, etc. For example, the central control screen can display the vehicle 100's graphical user interface, which has a "Vehicle 100 Dancing" icon. Users can click the "Vehicle 100 Dancing" icon to trigger the vehicle 100's dancing function. In response to the user's trigger command for the vehicle 100's dancing function, the vehicle 100's control device 200 can display a dancing interface on the central control screen or a pop-up interface on the vehicle 100's graphical user interface. The dancing interface or pop-up interface displays a list of music files, which users can browse by swiping up or down on the central control screen and clicking on one of the music files. In response to the user's click on a music file, the vehicle 100's control device 200 can generate a selection command to select the music file clicked by the user, thereby obtaining the corresponding decoding information.

[0228] The terminal device can directly wirelessly connect to the vehicle 100, or it can wirelessly connect to the vehicle 100 through a cloud server. In one embodiment, the terminal device may have a control application (APP) for the vehicle 100 installed. The graphical user interface of the APP may display a "Vehicle 100 Dancing" icon. The user can click the "Vehicle 100 Dancing" icon to trigger the vehicle 100 dancing function. In response to the user's trigger command for the vehicle 100 dancing function, the terminal device may display a dancing interface on its touch screen or a pop-up interface on the APP's graphical user interface. The dancing interface or pop-up interface displays a list of music files, which the user can browse by swiping up or down on the terminal device's touch screen and clicking on one of the music files. In response to the user's click operation on a music file, the terminal device can generate a selection command to select the music file clicked by the user and then obtain the corresponding decoding information.

[0229] In one implementation, the decoding information of the audio signal includes the beat of the audio signal.

[0230] Therefore, vehicle movement can be obtained through the rhythm of the audio signal.

[0231] Specifically, the decoding information of an audio signal can include at least one beat. Decoding the audio signal yields decoding information, which includes the beat of the audio signal. A music file can consist of multiple beats, which are encoded to form an audio signal. Decoding the audio signal allows the acquisition of its beat.

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

[0233] Table 2 - Audio Track Decoding Information

[0234] In one implementation, vehicle movement is determined based on a combination of multiple beats of an audio signal.

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

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

[0237] Table 3 - Vehicle motion choreography based on decoding information from audio track 1

[0238] It is understood that in other implementations, vehicle movements may be determined based on a single beat.

[0239] It is understood that in other implementations, the decoded information of the audio signal may also include other information choreographed with the vehicle's movements, and is not limited to beats.

[0240] In one implementation, the vehicle movement is determined based on a preset relationship between the beat and the movement, and the beat of the audio signal.

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

[0242] Vehicle actions are determined based on a preset relationship between beats and actions, and the beat of the audio signal, allowing for rapid determination of vehicle actions. Table 4 shows a preset relationship between beats and actions in one implementation (the gray area represents the content of action choreography based on the decoding information of the audio signal). As an example, if the vehicle action corresponding to the beat is executed, a "√" can be filled in the box; if the vehicle action corresponding to the beat is not executed, a "×" can be filled in the box. "TT" in Table 4 represents the duration value. The duration value can be set according to the specific circumstances.

[0243] Table 4 - Relationship between movement and rhythm

[0244] In one implementation, vehicle movements are determined by a cloud server based on the rhythm of an audio signal. Specifically, the cloud server can input the rhythm of the audio signal into an artificial intelligence model (AI model), which then choreographs movements based on the rhythm to form vehicle movements. The cloud server sends the vehicle movements to vehicle 100, and vehicle 100's control device 200 controls the execution system 12 to execute the vehicle movements. The AI ​​model can be a pre-trained model.

[0245] In one implementation, the vehicle movement has a duration, and the combination of multiple beats is determined based on the duration of the vehicle movement. A beat may be short, while the execution system 12 may require a longer duration to execute the vehicle movement. To ensure that the execution system 12 can respond to the beats and execute the vehicle movement to a certain extent, the required combination of beats is determined by the duration of the vehicle movement.

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

[0247] For example, for track 1, the duration of beats 1 to 4 is 0.5 seconds each, 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 any three consecutive beats from beats 1 to 4, such as beats 1 to 3, beats 2 to 4.

[0248] For different vehicles 100, the duration of the same vehicle's action can be set to be the same or different, without specific limitations here.

[0249] In one embodiment, the control method further includes locking the vehicle 100 before the vehicle performs any action. This can improve safety during the vehicle's operation to some extent.

[0250] Specifically, the execution of vehicle actions may occur, but is not limited to, during the acquisition of audio signal decoding signals, or before or after the acquisition of audio signal decoding signals, or during the acquisition of vehicle actions, or before or after the acquisition of vehicle actions. In short, before the execution of vehicle actions, the control device 200 of vehicle 100 can control vehicle 100 to lock. Controlling vehicle 100 to lock may include controlling the locking of vehicle 100's doors.

[0251] Optionally, before locking the vehicle, the control device 200 of the vehicle 100 can control the vehicle 100 to issue a prompt message, such as playing a corresponding prompt audio through the vehicle's speakers and / or displaying corresponding prompt text, images, etc., on the vehicle's display screen, so that the user leaves the vehicle 100. Optionally, the control device 200 of the vehicle 100 can also send a prompt message to a terminal device through the vehicle 100. After receiving the prompt message, the terminal device can notify the user through push notifications or pop-up windows.

[0252] After the vehicle 100 is locked, the control device 200 of the vehicle 100 can control the execution system 12 to perform vehicle actions.

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

[0254] Before the vehicle performs any action, a warning message confirming the safety of the surrounding area is issued;

[0255] In response to the confirmation command for the prompt information, the execution system 12 of the control vehicle 100 executes vehicle actions.

[0256] This can improve the safety of vehicle operation to some extent.

[0257] Specifically, since vehicle 100 will move during the execution of vehicle actions, in order to improve safety during the execution of vehicle actions to a certain extent, the control device 200 of vehicle 100 can send a safety confirmation prompt message before the vehicle actions are performed. For example, the control device 200 of vehicle 100 can control the speaker to play a corresponding prompt audio, and / or display corresponding prompt text, patterns, etc. on the in-vehicle display screen, so that the user can confirm the safety situation around vehicle 100. Optionally, the control device 200 of vehicle 100 can also send a prompt message to a terminal device through vehicle 100. After receiving the prompt message, the terminal device can prompt the user through push or pop-up window, so that the user can confirm the safety situation around vehicle 100.

[0258] Users can confirm surrounding safety prompts by clicking physical buttons, virtual buttons, or voice input. In response to the confirmation command, the control device 200 of the vehicle 100 can control the execution system 12 of the vehicle 100 to perform vehicle actions.

[0259] Users can cancel the surrounding safety confirmation prompt by clicking a physical button, a virtual button, or by voice input. In response to the cancellation command, the control device 200 of the vehicle 100 can resend the surrounding safety confirmation prompt after a certain delay, or exit the vehicle's operation execution process.

[0260] Optionally, a safety confirmation prompt can be issued after the music file is selected. In response to the confirmation instruction, the preparation is complete, and the vehicle 100's dancing function is activated. The music file is then decoded to obtain its decoding information, and the vehicle's actions are determined based on the decoded audio signal information, controlling the vehicle 100's execution system 12 to perform the vehicle's actions.

[0261] In one embodiment, the control method further includes: during vehicle operation, when an abnormal situation occurs in vehicle 100, controlling vehicle 100 to stop performing vehicle operations. This can improve safety during vehicle operation 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 collect environmental parameters of the vehicle 100 through these sensors. In one embodiment, an abnormal situation is determined by the intelligent driving system of vehicle 100 based on the collected environmental parameters.

[0263] In one implementation, a safety range centered on vehicle 100 can be set. The intelligent driving system uses sensors to detect in real time whether there are obstacles within the safety range of vehicle 100. When an obstacle enters the safety range, the intelligent driving system can issue an alarm signal indicating an abnormal situation. After receiving the alarm signal, the control device 200 of vehicle 100 determines that an abnormal situation has occurred and can control the corresponding execution system 12 to stop performing vehicle actions. The size of the safety range can be specifically set according to actual conditions, and this application does not specifically limit it.

[0264] Controlling the corresponding execution system 12 to stop performing vehicle actions can involve controlling all execution systems 12 to stop performing vehicle actions, or controlling some execution systems 12 to stop performing a portion of vehicle actions, while other execution systems 12 continue performing other portions of vehicle actions. The continued performance of the remaining vehicle actions does not pose a danger to the vehicle 100 or obstacles. For example, when vehicle actions include waving a door and changing headlights. During the execution of vehicle actions, after receiving an alarm signal, the control device 200 of the vehicle 100 can control the door system to stop waving the door, while the headlight system continues changing the headlights.

[0265] Referring to Figure 2, a control device 200 for a vehicle 100 according to an embodiment of this 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 vehicle 100 can acquire 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. In this way, the vehicle 100 can realize the interaction between the vehicle 100 and the user based on the audio signal, meet more user needs, and improve the user experience.

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

[0268] One embodiment of the present application includes a vehicle 100 including the control device 200 of the vehicle 100 described above.

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

[0270] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor 204, implements the control method of any of the above embodiments.

[0271] In one embodiment, referring to FIG14, the control device 200 of the vehicle 100 may include a processor 204 and a memory 206. The memory 206 stores a computer program, which, when executed by the processor 204, implements the control method of any of the above embodiments.

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

[0273] 101. Obtain the decoding information of the audio signal, and obtain the vehicle action based on the decoding information of the audio signal. The vehicle action includes at least one of the following: flapping wings, lighting up, shaking, jumping, lateral movement, and rotation.

[0274] 103, The execution system 12 of the vehicle 100 executes vehicle actions.

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

[0276] It is understood that a computer program includes computer program code. Computer program code can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, external hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0277] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the 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 one or more embodiments or examples.

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

Claims

1. A control method of a vehicle, characterized by, include: The decoding information of the audio signal is obtained, and the vehicle action is obtained based on the decoding information of the audio signal. The vehicle action includes at least one of the following: flapping wings, lighting up, shaking, jumping, lateral movement, and rotation. The control system of the vehicle executes the vehicle's actions.

2. The control method according to claim 1, characterized by, The wing-like movement includes at least one of the following: door opening, door waving, door closing, window raising / lowering, and rearview mirror operation.

3. The control method according to claim 1 or 2, characterized by, The lighting includes at least one of the following: headlight changes, turn signal changes, taillight changes, and ambient lighting changes.

4. The control method according to any one of claims 1 to 3, characterized by, The shaking includes at least one of the following: single wheel lifting, vehicle pitching, vehicle tilting, and vehicle vertical lifting.

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

6. The control method according to any one of claims 1 to 5, characterized by, The audio signal is determined based on the selected music file.

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

8. The control method according to any one of claims 1 to 7, characterized by, The decoding information of the audio signal includes the beat of the audio signal.

9. The control method according to claim 8, characterized by, The vehicle's movements are determined based on a combination of multiple beats of the audio signal.

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

11. The control method according to claim 8, characterized by, The vehicle's movements are determined by the cloud server based on the rhythm of the audio signal.

12. The control method according to claim 9, characterized by, The vehicle action has a duration, and the combination of the multiple beats is determined based on the duration of the vehicle action.

13. The control method according to any one of claims 1 to 12, characterized by, The control method further includes: Before the vehicle action is performed, control the vehicle to lock, and / or; Before the vehicle performs the action, a warning message confirming the safety of the surrounding area is issued; In response to the confirmation command for the prompt information, the vehicle's execution system is controlled to perform the vehicle's actions.

14. The control method according to any one of claims 1 to 13, characterized by, The control method further includes: During the execution of the vehicle's actions, if an abnormal situation occurs, the vehicle is controlled to stop performing the vehicle's actions.

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

16. The control method according to any one of claims 1 to 15, characterized by, The execution system includes the door system, the lighting system, the active suspension system, and the wheel steering system.

17. A control device of a vehicle characterized by comprising: The system includes a controller configured to be electrically connected to the vehicle's execution system, the controller being used to implement the steps of the control method according to any one of claims 1-16.

18. A vehicle characterized by comprising: Includes the vehicle control device as described in claim 17.

19. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the control method according to any one of claims 1-16.

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