Vehicle control method and apparatus, vehicle, and storage medium

Abstract

A vehicle control method, comprising: acquiring a tap signal; on the basis of the tap signal, determining a tap event; and, on the basis of a control instruction corresponding to the tap event, controlling a target vehicle. A tap signal based on the steering wheel of a target vehicle is acquired, and, on the basis of the tap signal of the steering wheel, a tap event applied to the steering wheel is determined. A user can control the vehicle by means of applying a tap event to the steering wheel, thereby achieving more complex and higher-level functional control of the vehicle while ensuring safe driving by the driver. Further disclosed are a vehicle control apparatus, a vehicle, and a computer-readable storage medium.

Description

Vehicle control methods, devices, vehicles and storage media

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411192896.8, filed on August 27, 2024, entitled "Vehicle Control Method, Apparatus, Vehicle and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of vehicle control, and more particularly to a vehicle control method, apparatus, vehicle, and storage medium (computer-readable storage medium). Background Technology

[0004] In vehicle applications, the steering wheel has gradually evolved from simply controlling the direction of travel to having more control functions, such as multimedia mode switching, voice prompts, and emergency alarms.

[0005] Currently, the interaction between the user and the vehicle steering wheel is achieved based on pressure sensors or acceleration sensors.

[0006] However, the vehicle control functions provided by the above methods are very limited. Technical solutions

[0007] This application provides a vehicle control method, device, vehicle, and computer-readable storage medium. Users can control the vehicle by applying a tapping event to the steering wheel, realizing complex and high-level vehicle function control, assisting intelligent driving of the vehicle, and at least partially solving the above-mentioned technical problems.

[0008] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising:

[0009] Acquire control signals;

[0010] The striking event is determined based on the control signal;

[0011] The target vehicle is controlled according to the control command corresponding to the impact event.

[0012] According to a second aspect of this application, a vehicle control device is provided, wherein / it includes, the vehicle control device comprising:

[0013] Acquisition devices are used to acquire control signals;

[0014] A processing device for determining a tapping event based on the control signal;

[0015] A control device is used to control the target vehicle according to the control command corresponding to the impact event.

[0016] According to a third aspect of this application, a vehicle is also provided, comprising a processor and a memory, wherein the memory stores computer instructions that, when executed by the processor, cause the processor to perform the steps of the vehicle control method described above.

[0017] According to a fourth aspect of this application, a computer-readable storage medium is also provided, comprising computer instructions that, when executed on a vehicle, cause the vehicle to perform the steps of the vehicle control method described above.

[0018] In the vehicle control method, apparatus, vehicle, and storage medium of this application embodiment, the vehicle can acquire control signals and process these control signals, enabling the vehicle to recognize a slapping event and control the vehicle according to the control command corresponding to the slapping event. Therefore, this application can directly achieve more complex and higher-level functional control of the vehicle based on the slapping event, while also ensuring the driver's safe driving.

[0019] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0022] Figure 1 is a schematic diagram of the control signal processing flow provided in the background art of this application;

[0023] Figure 2-1 is a first schematic diagram of the steering wheel striking area provided in the background art of this application;

[0024] Figure 2-2 is a second schematic diagram of the steering wheel striking area provided in the background art of this application;

[0025] Figure 2-3 is a third schematic diagram of the steering wheel striking area provided in the background art of this application;

[0026] Figure 3 is a first schematic diagram of the vehicle control process provided in an exemplary embodiment of this application;

[0027] Figure 4-1 is a first schematic diagram of the striking characteristic curve provided in an exemplary embodiment of this application;

[0028] Figure 4-2 is a second schematic diagram of the tapping characteristic curve provided in an exemplary embodiment of this application;

[0029] Figure 4-3 is a third schematic diagram of the tapping characteristic curve provided in an exemplary embodiment of this application;

[0030] Figure 5-1 is a schematic diagram of the temperature compensation principle provided in an exemplary embodiment of this application;

[0031] Figure 5-2 is a schematic representation of a temperature compensation query provided in an exemplary embodiment of this application;

[0032] Figure 6 is a second schematic diagram of the vehicle control process provided in an exemplary embodiment of this application;

[0033] Figure 7 is a schematic diagram of the vehicle control device provided in the embodiments of this application;

[0034] Figure 8 is a structural schematic diagram of the vehicle provided in the embodiments of this application.

[0035] Implementation methods of this application

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0037] According to the background description of this application, vehicle steering wheels have gradually evolved from controlling the direction of vehicle travel to having more control functions, such as multimedia mode switching, voice prompts, and emergency condition alarms.

[0038] In existing technologies, pressure sensors, acceleration sensors, and other sensors are generally integrated into the steering wheel. Once the sensors detect the driver operating the steering wheel, they will trigger the corresponding control command to control the corresponding functions of the vehicle.

[0039] The types of driver operations that can be detected by steering wheel tapping sensors in the current technology are limited. They can only realize the control of simple vehicle functions and are prone to accidental touches, and cannot accurately identify the user's true intentions.

[0040] Therefore, in order to solve the above problems, this application proposes a vehicle control method, vehicle, vehicle, computer-readable storage medium, and computer instruction product based on a HOD (Hands Off Detection) system, as shown in Figure 1. The HOD system in this application includes a HOD sensor acquisition unit and a HOD sensor signal processing unit. In this application, the HOD sensor acquisition unit can be arranged on the rim of the steering wheel. When the user taps the corresponding area of ​​the steering wheel, the HOD sensor acquisition unit acquires the tapping data and transmits the tapping data to the HOD sensor signal processing unit, and identifies the user's tapping intention based on the processed data.

[0041] The steering wheel structure in this application can be shown in Figures 2-1 to 2-3:

[0042] (1) The HOD system acquisition unit is located on the steering wheel body 100, in a safe area that the user can easily touch; 100 is divided into four areas A001 to A004 on the side facing the driver, A001: area 1, A002: area 2, A003: area 3 and A004: area 4, and is divided into A005: area 5 on the side facing away from the driver;

[0043] (2) The HOD processing unit is integrated into the steering wheel switch 200 and shares the steering wheel ECU with other steering wheel functional units;

[0044] Based on this, as shown in Figure 1, the impact signal collected by the HOD system acquisition unit is output by the steering wheel ECU and transmitted to the vehicle functional system via the vehicle CAN bus. The vehicle functional system may include, but is not limited to, the central control multimedia system, the instrument cluster system, the window control system, the Bluetooth system, etc.

[0045] In this embodiment, the HOD system acquisition unit can use a capacitive sensor to detect the user's tapping operation on the aforementioned area of ​​the steering wheel.

[0046] In this application, the aforementioned HOD system is integrated into the steering wheel switch circuit board, eliminating the need for external attachment to other parts of the steering wheel. This reduces the space occupied inside the steering wheel, and the multiple detection areas can be mainly distributed in the steering wheel rim area, providing wide and flexible coverage. This allows users to conveniently control the vehicle's multiple functions without taking their hands off the steering wheel while enjoying a safe driving environment.

[0047] In addition to placing the HOD system on the steering wheel, this embodiment can also place the HOD system in other areas of the vehicle, such as the seat handle, seat back, or interior of the vehicle, so that people in the vehicle (passengers or driver) can control the vehicle by tapping the corresponding area. This embodiment does not make specific limitations on this.

[0048] Based on this, the vehicle control method in this application embodiment can be applied to vehicles, such as gasoline vehicles, plug-in hybrid electric vehicles, or new energy vehicles, etc. This application does not specifically limit the type of vehicle control method. As shown in Figure 3, the vehicle control method in this application embodiment may specifically include the following steps:

[0049] S10, acquires control signals;

[0050] In this embodiment, the vehicle can acquire control signals through the HOD system acquisition unit.

[0051] In one specific embodiment, S10 may include:

[0052] The system acquires control signals triggered by the steering wheel of the target vehicle to determine, based on the control signals, a slapping event applied to the steering wheel.

[0053] In this embodiment, the control signal can be a control signal applied by the user to the steering wheel of the target vehicle.

[0054] As described above, a capacitive sensor can be installed in at least one of the A001 to A005 areas of the steering wheel, so that the vehicle can control the capacitive sensor to collect the control information applied by the user to the steering wheel of the target vehicle. For example, the target area can be tapped at a certain frequency and number of times to generate a corresponding control signal. In this embodiment, the control signal can be a capacitance change signal (usually manifested as a change in voltage or current).

[0055] Understandably, the principle by which capacitive sensors identify the contact area between the steering wheel and the hand is mainly based on changes in capacitance. For example, when the driver's hand touches the steering wheel, a capacitance is formed between the human body and the steering wheel. The size of the capacitance is proportional to the contact area; the larger the contact area, the larger the capacitance value. Capacitive sensors can detect this change in capacitance, thereby determining the contact state between the driver's hand and the steering wheel.

[0056] Specifically, a capacitive sensor typically consists of multiple electrodes distributed on or inside the steering wheel. When the driver's hand touches the steering wheel, a capacitance is formed between the human body and these electrodes. By measuring the change in capacitance on these electrodes, the capacitive sensor can determine whether the driver's hand is on the steering wheel, and the location and area of ​​contact. The system analyzes this data to determine whether the driver is gripping the steering wheel correctly and whether it is safe to release their hands in autonomous driving mode.

[0057] In addition, according to the above description, in this embodiment, besides setting the HOD system on the steering wheel, the HOD system can also be set in other areas of the vehicle, such as the seat handle, seat back, or interior of the vehicle body, without any specific limitation.

[0058] The following description uses the HOD system set on the steering wheel as an example to illustrate each embodiment.

[0059] S20, determine the striking event based on the control signal;

[0060] In this embodiment, the vehicle can process the control signal to obtain the slapping event.

[0061] In this embodiment, the tapping event can be a tapping event applied by the user to the steering wheel. For example, after receiving a control signal triggered by the steering wheel, the vehicle can process the control signal to identify the tapping event applied by the user to the steering wheel. The vehicle's processing of the control signal can involve statistical analysis of the received control signal to extract signal features in order to identify the tapping event triggered by the user. This will be described in detail in subsequent embodiments and will not be repeated here.

[0062] It should be noted that, in this embodiment, the tapping event can be a functional event unrelated to functional safety, such as switching multimedia modes, adjusting playback volume, answering a phone call, etc., or a functional event that transmits information to other users inside or outside the vehicle, such as voice reminders like "Please fasten your seatbelt" or "Do not stick your hands out of the window," or a low-volume horn reminder to pedestrians and vehicles nearby. This embodiment does not limit the type of tapping event, allowing users to control the vehicle by tapping the steering wheel.

[0063] S30, control the target vehicle according to the control command corresponding to the striking event.

[0064] In this embodiment, after processing the control signal and obtaining the tapping event applied by the user on the steering wheel, the vehicle can determine the control command corresponding to the tapping event and control the vehicle according to the control command.

[0065] For example, as shown in Figure 1, after the vehicle uses sensors to collect control signals and processes them, the signals are output by the vehicle's steering wheel ECU and transmitted to the vehicle's functional systems via the vehicle's CAN bus. The vehicle's functional systems can include the central control multimedia system, the instrument cluster system, the window control system, the Bluetooth system, etc.

[0066] As can be seen, in this embodiment, the vehicle can collect control signals applied by the user to the steering wheel of the target vehicle. After receiving the direction-triggered control signal, the vehicle can process the control signal to identify the tapping event applied by the user to the steering wheel and obtain the tapping feature corresponding to the tapping event. After processing the control signal and obtaining the tapping event applied by the user to the steering wheel and the tapping feature of the tapping event, the vehicle can determine the control command corresponding to the tapping feature and control the vehicle according to the control command. Therefore, in this application, the driver can directly apply the corresponding tapping event to the steering wheel to achieve more complex and higher-level functional control of the vehicle, and the driver does not need to take their hands off the steering wheel during driving, thus ensuring safe driving.

[0067] In one embodiment, the control signal includes multiple sets of periodic control signals acquired within a preset period;

[0068] Based on this, in S20 above, "determining the tapping event according to the control signal" may include:

[0069] S201, perform data statistics on the control signal to obtain the statistical characteristics of the control signal, and determine the change characteristics of the control signal based on the statistical characteristics of the control signal;

[0070] S202, in response to the existence of target change features that meet preset conditions, determine the tapping event triggered by the target change features.

[0071] In this embodiment, after the vehicle acquires the control signal, it can perform data statistics on the control signal to obtain the statistical characteristics of the control signal, and determine the change characteristics of the control signal based on the statistical characteristics.

[0072] Furthermore, the vehicle can determine the variation characteristics of the control signal based on the statistical characteristics of the periodic control signal.

[0073] As can be understood, the tapping characteristic curves constructed based on the aforementioned statistical characteristics, as shown in Figures 4-1, 4-2, and 4-3 (this curve represents the linear relationship between the control signal and the acquisition time), illustrate the following: Figure 4-1 shows a tapping event where the user tapped the steering wheel once; Figure 4-2 shows a tapping event where the user tapped the steering wheel twice; and Figure 4-3 shows a tapping event where the user tapped the steering wheel three times in a "two fast, one slow" pattern. After constructing the tapping characteristic curves, the vehicle can determine the changing characteristics of the control signal based on these curves.

[0074] Specifically, for example, the change characteristics of the control signal in this embodiment may include the amount of change Δi and the rate of change, where the amount of change Δi is the vertical axis representing the data of the tapping characteristic curve, and the rate of change is the slope of the tapping characteristic curve. As can be seen from the figure, the amount of change of the tapping event is much smaller than the amount of change of the control signal when the user normally holds the steering wheel, and the rate of change of the tapping event is much larger than the rate of change when the user normally holds the steering wheel under the same acquisition time.

[0075] In this way, after the vehicle acquires the change feature, it can detect whether the change feature meets the corresponding preset conditions. If it is determined that the change feature meets the preset conditions, it can respond to the change feature meeting the preset conditions and determine that there is a slapping event within a preset period, so that the slapping feature of the slapping event can be determined based on the change feature in the future.

[0076] The aforementioned preset conditions may include the change in the control signal in the change characteristics being less than a preset first threshold and the change rate of the control signal in the change characteristics being greater than a preset second threshold.

[0077] Specifically, when the user is holding the steering wheel normally, the vehicle can collect the triggered control signals, perform data statistics on the control signals, and determine the amount of change in the control signals when the user is holding the steering wheel normally as the first threshold, and the rate of change of the control signals when the user is holding the steering wheel normally as the second threshold.

[0078] Furthermore, the control signal includes multiple sets of periodic control signals acquired within a preset period; in step S201, "performing data statistics on the control signal to obtain the statistical characteristics of the control signal, and determining the variation characteristics of the control signal based on the statistical characteristics of the control signal" may include:

[0079] S2011, For each cycle control signal, perform data statistics on the cycle control signal to obtain the statistical characteristics of the cycle control signal;

[0080] S2012, determine the variation characteristics of the periodic control signals based on the statistical characteristics of each periodic control signal.

[0081] It should be noted that, in this embodiment, when the user applies a tapping event to the steering wheel, the vehicle can use the complete duration required to apply one tapping event as a set of preset cycles, and generate a corresponding cycle control signal in the cycle.

[0082] Based on this, for each cycle of control signal, the vehicle can perform data statistics on the control signal of that cycle to obtain the statistical characteristics of the control signal of that cycle.

[0083] Specifically, for example, the control signal can be a set of current or voltage values. In this way, the vehicle can calculate the statistical characteristics such as the mean and variance (or standard deviation) of a set of data, and then determine the variation characteristics of the control signal based on these statistical characteristics.

[0084] Furthermore, after S2012 above, "determining the variation characteristics of the periodic control signal based on the statistical characteristics of each periodic control signal", it may include:

[0085] S2013, Extract the amount and rate of change from the target change features;

[0086] Based on this, the preset conditions include: the amount of change is less than a preset first threshold and the rate of change is greater than a preset second threshold. In S202 above, "in response to the existence of a target change feature that satisfies the preset conditions, determining a tapping event triggered by the target change feature" includes:

[0087] S2021, In response to the existence of target change features that meet preset conditions, determine the tapping event triggered by the target change features.

[0088] It should be noted that in this embodiment, as shown in Figure 4-1, for the tapping event (the user taps the steering wheel once), if the control signal of one cycle contains 10 sets of data, the mean and variance of the data are processed to obtain the linear relationship between the collected value of the control signal (i.e., the change in the control signal in this embodiment) and the collection time. Among them, the collected value △2 of the tapping characteristic is smaller than the data △2 when the hand is normally gripping the steering wheel (△1 > △2), and the slope of the collected value is larger under the same collection time. In addition, the duration T2 of the tapping event is less than the duration T1 of the event when the hand is normally gripping the steering wheel (T1 > T2).

[0089] As shown in Figure 4-2, in a single-cycle control signal containing 10 data points (where a user taps the steering wheel twice consecutively), the mean and variance of the data are processed to obtain a linear relationship between the acquired values ​​and the acquisition time. The acquired values ​​of two consecutive taps show smaller variations and a larger slope compared to a normal hand grip. Furthermore, the variation time is shorter and the number of variations is greater: △1>△2≈△2′. Additionally, the duration of the two taps is approximately the same (T2a≈T2b) and both are shorter than the duration T1 of a normal hand grip on the steering wheel: T2a≈T2b. <T1。

[0090] As shown in Figure 4-3, in a tapping event (the user taps the steering wheel three times at a frequency of two fast taps followed by one slow tap), if the control signal in one cycle contains 10 sets of data, after processing the data for mean and variance, the linear relationship between the acquired value of the control signal (i.e., the change in the control signal in this embodiment) and the acquisition time is obtained. Among them, the acquired value of the "2 fast + 1 slow" continuous tapping characteristic, compared with the normal hand grip, is characterized by: smaller change, shorter change time, and more changes. In summary, the data slope value of the "2 fast + 1 slow" tapping is larger, and the number of changes is greater: △1>△2≈△2′≈△2″; In addition, the duration of the two taps is basically the same (T2a≈T2b≈T2c) and both are less than the duration T1 when the steering wheel is normally gripped: T2a≈T2b≈T2c <T1。

[0091] According to the above explanation, when a vehicle determines whether the user's action on the steering wheel is a slapping event or another event (such as normal gripping of the steering wheel), it can make a judgment based on at least two aspects: the amount of change in the control signal and the rate of change of the amount of change (i.e., the slope of the aforementioned slapping characteristic curve). The amount of change in a slapping event is smaller and the rate of change is higher.

[0092] Thus, if the vehicle determines that the change amount is less than the preset first threshold and the change rate is greater than the preset second threshold, it can determine that a tapping event exists within the preset period. The determination method of the first threshold and the second threshold can refer to the above description, and will not be repeated here.

[0093] Therefore, in this embodiment, the vehicle can perform data statistics on the control signals, calculate the change characteristics of the control signals based on the statistical characteristics of the control signals, and identify the tapping events and the tapping characteristics of the tapping events based on the change characteristics and preset conditions. In this way, this embodiment can expand the recognition of tapping events through HOD to achieve richer tapping events and realize more complex and higher-level vehicle function control, rather than just simple function control such as audio control and Bluetooth control. Moreover, it is only determined as a tapping event when the change characteristics meet the preset conditions; otherwise, it can be classified as other events, avoiding the incorrect start and stop of the corresponding vehicle functions caused by the user accidentally touching the steering wheel.

[0094] In one embodiment, S30 above, "controlling the target vehicle according to the control command corresponding to the slapping event" may include:

[0095] S301, determine the striking characteristics of the striking event based on the target change characteristics;

[0096] S302, control the target vehicle according to the control command corresponding to the striking feature.

[0097] In this embodiment, according to the above description, when the vehicle acquires the target change feature, it can detect whether the target change feature meets the corresponding preset condition. If it is determined that the target change feature meets the preset condition, it can respond to the target change feature meeting the preset condition and determine that there is a slapping event within a preset period. Then, the vehicle can determine the slapping feature of the slapping event based on the target change feature and control the target vehicle according to the control command corresponding to the slapping feature.

[0098] It should be noted that, in this embodiment, the tapping features corresponding to the tapping event include, but are not limited to, the tapping frequency when the user taps the steering wheel, the tapping gesture used by the user (such as a single finger, half palm, etc.), and the tapping location (at least one of the regions A001, A002, A003, A004, and A005 mentioned above). The above are just some examples of tapping features; other tapping features may also be included, which will not be listed here.

[0099] Furthermore, the striking feature includes the striking frequency of the striking event; based on this, in S301 above, "determining the striking feature of the striking event based on the target change feature" may include:

[0100] S3011, Based on the target change characteristics, determine the tapping frequency and tapping time interval of the tapping event;

[0101] S3012, determine the tapping frequency of the tapping event based on the tapping frequency and the tapping time interval.

[0102] In this embodiment, based on the above description, the vehicle can construct a corresponding striking characteristic curve as shown in Figures 4-1 to 4-3 based on the statistical characteristics of the control signal. Furthermore, the striking frequency and striking time interval of the striking event can be determined based on the changing characteristics of the control signal in the striking characteristic curve.

[0103] Taking Figure 4-3 as an example, the vehicle can determine the frequency of the slapping event as 3 times (△2, △2′, △2″) based on the slapping characteristic curve, and the time intervals between the three slaps are T2d and T2e, where T2d < T2e, that is, the user applied a "two fast and one slow" slapping event to the steering wheel.

[0104] Furthermore, the vehicle can determine the tapping frequency of the tapping event based on the tapping frequency and the tapping time interval. For example, the tapping frequency and the tapping time interval can be directly used as the tapping frequency of the tapping event.

[0105] Furthermore, the slapping features also include slapping location and slapping gesture; based on this, in S301 above, "determining the slapping features of the slapping event based on the target change features" may further include:

[0106] S3013, Based on the target change characteristics of the control signal, determine the striking position of the striking event, wherein the control signal includes multiple sets of control signals applied to different striking areas on the target object;

[0107] S3014, Based on the change characteristics, determine the contact area corresponding to the tapping event, wherein the contact area is the area in contact with the target object when the tapping event is applied;

[0108] S3015, determine the slapping gesture of the slapping event based on the contact area.

[0109] After identifying the user-applied tapping event by observing the changing characteristics of the control signal generated by the user tapping the steering wheel (i.e., the target object in this embodiment), the vehicle can not only identify the tapping frequency of the tapping event based on the tapping characteristic curve, but also determine the tapping position and tapping gesture based on the changing characteristics of the control signal.

[0110] It should be noted that, in this embodiment, according to the above description, the HOD system can use a capacitive sensor to collect the control signal triggered by the user. In this embodiment, a capacitive sensor can be set in at least one of the tapping areas A001 to A005.

[0111] If a capacitive sensor is set in only one area, the off-hand detection is a single-area recognition. In this scenario, the user can tap the tapping area with the capacitive sensor using gestures such as single finger, two fingers, multiple fingers, or half palm. The signal processing unit can recognize the user's different tapping intentions, and the corresponding tapping frequency is also different when the number of taps per unit time is different, which can be used to distinguish more tapping intentions.

[0112] If capacitive sensors are set in multiple areas, the off-hand detection is multi-area recognition. In this scenario, the signal processing unit supports multi-channel processing. The control signals collected by each capacitive sensor are processed independently and are not affected by each other. Functions can be executed according to the set priority to avoid false triggering or function failure. At the same time, under specific conditions, multi-channel composite response time is also supported.

[0113] Based on this, the vehicle can identify the location of the slapping event according to the changing characteristics of the control signal. This control signal can be multiple sets of control signals applied by the user to different slapping areas on the steering wheel. It is understood that, as explained above, since the steering wheel is pre-divided into multiple slapping areas A001 to A005, the slapping location can be determined by identifying which specific slapping area triggered the control signal.

[0114] Furthermore, as described above, a capacitive sensor typically consists of multiple electrodes distributed on or inside the steering wheel. When the driver's hand touches the steering wheel, a capacitance is formed between the human body and these electrodes. By measuring the change in capacitance on these electrodes, the capacitive sensor can determine whether the driver's hand is on the steering wheel, and the location and area of ​​contact. Therefore, in this embodiment, the vehicle can calculate the contact area with the steering wheel when the user applies a tapping event based on the amount and rate of change of the control signal.

[0115] Specifically, for example, in this embodiment, the tapping event applied by the user on the steering wheel includes, but is not limited to, low-frequency tapping with two fingers, high-frequency tapping with two fingers, low-frequency tapping with half a palm, high-frequency tapping with half a palm, and high-frequency tapping with more than half a palm. This embodiment does not specifically limit the type of tapping event, and can be flexibly customized and developed according to user needs.

[0116] Furthermore, in S302 above, "controlling the target vehicle according to the control command corresponding to the striking feature" may include:

[0117] S3021, in response to the tapping frequency in the tapping feature being higher than a preset frequency threshold, determine the corresponding security level based on the tapping gesture in the tapping feature;

[0118] S3022, Generate corresponding safety control commands based on the safety level to control the target vehicle.

[0119] It should be noted that, in this embodiment, the tapping method and the triggered vehicle function event can be customized, for example:

[0120] (1) Using two fingers to tap the acquisition unit at low frequency can be used to process some non-functional safety events, such as multimedia mode switching, volume adjustment, and telephone answering.

[0121] (2) Using two fingers to tap the acquisition unit at a high frequency can be used to process some functional events that need to transmit information to other users inside and outside the vehicle, such as voice reminders such as "Please fasten your seat belt" and "Do not stick your hands out of the window", or low-volume horn reminders to pedestrians and vehicles at close range.

[0122] (3) Using a half-palm low-frequency tapping acquisition unit, it can be used for some interactions outside of the vehicle system and functional events that need to be considered for execution, such as ride-hailing users accepting orders with one click, and can complete the operation without touching the mobile phone.

[0123] (4) Using a half-palm high-frequency tapping acquisition unit, it can be used for some urgent functional events that need to be executed without much time to think, such as issuing a high-volume horn reminder when reminding emergency avoidance, or in the case of vehicle malfunction requiring emergency stopping.

[0124] (5) Using a high-frequency tap of more than half a palm to strike a specific acquisition unit can be used to handle some urgent functional events related to user personal safety, such as alarms or calls for help in case of unexpected working conditions.

[0125] Thus, in this embodiment, high-frequency taps can be defined as events related to safety incidents (in line with user behavior habits), different gestures (i.e., the contact area with the steering wheel) reflect different levels of urgency of the event (two fingers for a voice reminder to fasten the seat belt, half a palm for emergency avoidance, and above for an alarm), while low-frequency taps are all non-safety incidents.

[0126] Specifically, for example, after a vehicle identifies a tapping event, it can determine whether the tapping frequency of the event exceeds a preset frequency threshold. If the tapping frequency is found to be higher than the preset frequency threshold, the corresponding safety level can be determined based on the tapping gesture in the tapping characteristics.

[0127] Based on the slapping gesture in the slapping feature, the corresponding safety level is determined, and a corresponding safety control command is generated based on the safety level. The vehicle is then controlled according to the safety control command.

[0128] In addition, this embodiment can also pre-build a mapping table between tapping events and safety control commands. In this mapping table, each tapping event has a corresponding control command. For example, a high-frequency tapping with two fingers is mapped to a control command to remind the user to fasten their seat belt.

[0129] Therefore, this embodiment can identify the tapping frequency, tapping location, and tapping gesture of a tapping event by controlling the change characteristics of the control signal. Compared with traditional vehicle control based on the steering wheel, the tapping sensing based on the HOD system in this embodiment can not only distinguish the tapping intention by tapping location and tapping frequency, but also expand the gesture definition to a richer range through the recognition of gestures by HOD. This allows users to achieve more complex and higher-level control of the vehicle without taking their hands off the steering wheel.

[0130] In one embodiment, after "acquiring the control signal", S10 may further include:

[0131] S40, filter abnormal data in the control signal according to preset filtering rules;

[0132] S50, acquire the ambient temperature information corresponding to the control signal, and determine the target compensation value according to the ambient temperature information and the preset mapping relationship, wherein the preset mapping relationship includes the ambient temperature when the control signal is acquired and the corresponding compensation value, which is used to compensate for the control signal error caused by the ambient temperature;

[0133] S60, the filtered control signal is compensated according to the target compensation value, so as to process the compensated control signal.

[0134] It should be noted that, in this embodiment, considering the possibility of users accidentally touching the steering wheel, the control signal can be filtered before processing to improve control accuracy. Furthermore, as described above, the control signal collected by the capacitive sensor is actually a capacitance signal, and the change in capacitance signal is closely related to ambient temperature and humidity. Therefore, this embodiment can also control the ambient temperature during signal collection to compensate for the control signal, thereby eliminating the influence of the environment and hardware differences on the control signal, and further improving the control accuracy of the steering wheel and the vehicle.

[0135] Specifically, for example, the vehicle can filter out abnormal data in the control signal according to preset filtering rules, thereby filtering out abnormal control signals.

[0136] In this embodiment, the preset filtering rule may include: if each data in the control signal is within a preset filtering range, the filtering range may be determined based on the mean or median of the control signal. For example, a range may be determined first based on the mean or median of the control signal, and data in the control signal within the range may be retained while data outside the range may be removed to obtain the filtered control signal.

[0137] This allows for the collection of ambient temperature information, and the determination of the target compensation value based on the ambient temperature information and a preset mapping relationship.

[0138] In this embodiment, the mapping relationship can specifically be a temperature compensation lookup table, which can include the ambient temperature when the control signal is acquired and the corresponding compensation value, used to compensate for the control signal error caused by the ambient temperature.

[0139] Specifically, for example, according to the table shown in Figure 5-1, this table contains the average value of the control signal at each temperature, and the difference between this average value and the control signal average value calibrated at 20°C. This difference can be used as the compensation value for the control signal. Based on this, a temperature compensation lookup table as shown in Figure 5-2 can be used. This temperature compensation lookup table contains the ambient temperature range of the control signal and the target compensation value ΔRef corresponding to that ambient temperature range.

[0140] For example, as shown in Figure 5-2, if the ambient temperature for acquiring the control signal is between -10°C and 10°C, then by consulting the temperature compensation lookup table, the target compensation value ΔRef can be determined to be -9.

[0141] Then, based on the target compensation value obtained from the query, the filtered control signal can be compensated.

[0142] For example, the target compensation value can be added to each data point in the collected control signal to obtain the compensated control signal.

[0143] In another embodiment, after compensating the filtered control signal, the compensated control signal can be first imported into a preset cache space, and it can be determined whether the data storage volume of the preset cache space reaches a preset threshold. When the data storage volume of the preset cache space reaches the preset threshold, the compensated control signal can be statistically analyzed to determine the change characteristics of the control signal. Conversely, when the data storage volume of the preset cache space does not reach the preset threshold, the control signal can be re-acquired for filtering and compensation, and imported into the aforementioned preset cache space, until the data storage volume of the preset cache space reaches the preset threshold.

[0144] It is understandable that in this embodiment, the data cache space serves as a buffer for data storage. When the data is full, an event determination is performed, which can reduce the system's processing power consumption. If the data is processed in real time, there is a problem of high system power consumption, and it is impossible to filter out some abnormal conditions, such as occasional unintentional touches or light touches. The fact that the buffer is full serves as the standard for whether to process the event, which can filter out some abnormal conditions and reduce the system's processing power consumption.

[0145] Therefore, in this embodiment, by using data filtering and data compensation strategies, interference from user accidental touches is eliminated, as well as the influence of ambient temperature, hardware conditions, etc., on the control signal. This avoids the misidentification of tapping events caused by the aforementioned interference, significantly improves the control precision of the steering wheel, and thus effectively improves the control precision of the vehicle.

[0146] Therefore, in this embodiment, the tapping frequency, tapping position, and tapping gesture of the user's tapping event on the steering wheel can be identified. Each type of tapping event has a corresponding safety control command, which allows the user to achieve more complex and advanced control of the vehicle by simply operating the steering wheel, assisting the user in intelligent driving and ensuring safety during the driving process.

[0147] In summary, as shown in Figure 6, the vehicle control method in this embodiment may include at least the following:

[0148] (1) The HOD sensor acquisition unit periodically scans the changing values ​​in the system, generates raw data, and then sends it to the signal processing unit;

[0149] (2) The HOD sensor signal processing unit filters the raw data to remove abnormal data;

[0150] (3) The HOD signal processing unit collects environmental signals and determines whether the original data needs to be compensated. The temperature and humidity signals are from the vehicle input or the temperature and humidity sensor built into the steering wheel. The compensation data comes from historical calibration.

[0151] (4) The original data will be loaded into the data buffer of the processing unit after compensation. When the data stored in the buffer is full, the HOD processing unit will recognize it as an event.

[0152] (5) The HOD processing unit analyzes the characteristics of the data in this group, calculates its mean and variance (standard deviation), identifies the data change characteristics, fits it into a linear change, and calculates its slope value (i.e. rate of change).

[0153] (6) The HOD processing unit compares the data change characteristics with the calibrated threshold to determine the specific slapping event;

[0154] (7) The HOD processing unit transmits the corresponding time information to the steering wheel ECU, and then to the corresponding functional system of the whole vehicle to realize the function triggering.

[0155] Thus, the steering wheel tapping sensor function in this embodiment is based on the HOD system, enabling users to conveniently perform multi-functional operations without taking their hands off the steering wheel while enjoying a safe driving environment. Compared to traditional steering wheel tapping sensors, the HOD-based tapping sensor can not only distinguish tapping intentions by tapping location and frequency, but also expand the definition of gestures through HOD's gesture recognition, enabling more complex and advanced operations. The HOD-based tapping sensor has more accurate anti-mistouch characteristics, and the software can effectively filter out invalid signals, more accurately recognizing the user's tapping intentions. In addition, the HOD system is integrated into the steering wheel switch circuit board, eliminating the need for external attachments to other parts of the steering wheel and reducing the space occupied inside the steering wheel. The detection positions are mainly distributed in the steering wheel rim area, providing wide and flexible coverage.

[0156] This embodiment also provides a vehicle control device, which can be integrated into a terminal medical device. For example, as shown in Figure 7, the vehicle control device may include:

[0157] Acquisition device 1001 is used to acquire control signals;

[0158] Processing device 1002 is used to determine a tapping event based on the control signal;

[0159] The controller 1003 is used to control the target vehicle according to the control command corresponding to the impact event.

[0160] Optionally, the processing device 1002 is further configured to:

[0161] The control signal is statistically analyzed to obtain its statistical characteristics, and the change characteristics of the control signal are determined based on these statistical characteristics.

[0162] In response to the existence of target change features that meet preset conditions, a tapping event triggered by the target change features is determined.

[0163] Optionally, the control signal includes multiple sets of periodic control signals acquired within a preset period;

[0164] The processing device 1002 is also used for:

[0165] For each cycle control signal, data statistics are performed on the cycle control signal to obtain the statistical characteristics of the cycle control signal;

[0166] The variation characteristics of the periodic control signals are determined based on the statistical characteristics of each periodic control signal. Optionally, the processing device 1002 is further configured to:

[0167] Extract the amount and rate of change from the target change features;

[0168] The preset conditions include: the amount of change is less than a preset first threshold and the rate of change is greater than a preset second threshold;

[0169] In response to the existence of target change features that meet preset conditions, a tapping event triggered by the target change features is determined.

[0170] Optionally, the controller 1003 is further configured to:

[0171] The striking characteristics of the striking event are determined based on the target change characteristics;

[0172] The target vehicle is controlled according to the control command corresponding to the striking feature.

[0173] Optionally, the tapping feature includes the tapping frequency of the tapping event;

[0174] The controller 1003 is also used for:

[0175] Based on the target change characteristics, determine the tapping frequency and tapping time interval of the tapping event;

[0176] The tapping frequency of the tapping event is determined based on the tapping frequency and the tapping time interval.

[0177] Optionally, the striking feature further includes the striking location;

[0178] The controller 1003 is also used for:

[0179] The striking position of the striking event is determined based on the target change characteristics of the control signal, wherein the control signal includes multiple sets of control signals applied to different striking areas on the target object.

[0180] Optionally, the slapping feature may further include a slapping gesture;

[0181] The controller 1003 is also used for:

[0182] Based on the amount and rate of change in the target change characteristics, the contact area corresponding to the tapping event is determined, wherein the contact area is the area in contact with the target object when the tapping event is applied;

[0183] The slapping gesture of the slapping event is determined based on the contact area.

[0184] Optionally, the controller 1003 is further configured to:

[0185] In response to the tapping frequency in the tapping feature being higher than a preset frequency threshold, the corresponding security level is determined based on the tapping gesture in the tapping feature;

[0186] Based on the security level, corresponding security control commands are generated to control the target vehicle.

[0187] Optionally, the vehicle control device in this embodiment further includes:

[0188] A filtering device is used to filter abnormal data in the control signal according to a preset filtering rule;

[0189] An environmental information acquisition device is used to acquire the ambient temperature information corresponding to the control signal, and determine the target compensation value according to the ambient temperature information and a preset mapping relationship. The preset mapping relationship includes the ambient temperature when the control signal is acquired and the corresponding compensation value, which is used to compensate for the control signal error caused by the ambient temperature.

[0190] A compensation device is used to compensate the filtered control signal according to the target compensation value, so as to process the compensated control signal.

[0191] Optionally, the acquisition device 1001 is also used for:

[0192] The system acquires control signals triggered by the steering wheel of the target vehicle to determine, based on the control signals, a slapping event applied to the steering wheel.

[0193] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0194] Accordingly, this application also provides a vehicle, which may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., without specific limitations.

[0195] As shown in Figure 8, which is a schematic diagram of the vehicle structure provided in an embodiment of this application, the vehicle 1100 includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and computer instructions stored on the memory 1102 and executable on the processor. The processor 1101 and the memory 1102 are electrically connected. Those skilled in the art will understand that the vehicle structure shown in the figure does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0196] The processor 1101 is the control center of the vehicle 1100. It connects to various parts of the vehicle 1100 via various interfaces and lines. By running or loading software programs and / or components stored in the memory 1102, and by calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby performing overall monitoring of the vehicle 1100. The processor 1101 can be a CPU, GPU, network processor (NP), etc., and can implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0197] In this embodiment, the processor 1101 in the vehicle 1100 loads the instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 runs the application programs stored in the memory 1102 to realize various functions, such as:

[0198] Acquire control signals;

[0199] The striking event is determined based on the control signal;

[0200] The target vehicle is controlled according to the control command corresponding to the impact event.

[0201] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0202] Optionally, as shown in FIG8, the vehicle 1100 further includes: a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107. Those skilled in the art will understand that the vehicle structure shown in FIG8 does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0203] The touch display screen 1103 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 1103 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 1101. It can also receive and execute commands from the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 1103 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve input functions.

[0204] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other vehicles, and to transmit and receive signals with network devices or other vehicles.

[0205] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle via a speaker and a microphone. Audio circuit 1105 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 1105, converted back into audio data, and processed by processor 1101 before being transmitted via radio frequency circuit 1104 to, for example, another vehicle, or output to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the vehicle.

[0206] The input unit 1106 can be used to receive input numbers, character information or user characteristic information (such as fingerprints, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0207] Power supply 1107 is used to supply power to various components of vehicle 1100. Optionally, power supply 1107 can be logically connected to processor 1101 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management through the power management device. Power supply 1107 may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0208] Although not shown in Figure 8, vehicle 1100 may also include cameras, sensors, wireless fidelity devices, Bluetooth devices, etc., which will not be described in detail here.

[0209] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0210] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0211] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of computer instructions, which can be loaded by a processor to execute any of the vehicle control methods provided in embodiments of this application. The computer instructions can execute the steps of the following vehicle control method:

[0212] Acquire control signals;

[0213] The striking event is determined based on the control signal;

[0214] The target vehicle is controlled according to the control command corresponding to the impact event.

[0215] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0216] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0217] Since the computer instructions stored in the computer-readable storage medium can execute any of the vehicle control methods provided in the embodiments of this application, the beneficial effects that any of the vehicle control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0218] In the above descriptions of the vehicle control device, computer-readable storage medium, and vehicle, each embodiment has its own emphasis. Parts not detailed in a particular embodiment can be found in the relevant descriptions of other embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes and beneficial effects of the vehicle control device, computer-readable storage medium, computer instruction product, vehicle, and their corresponding parts described above can be referred to the description of the vehicle control method in the above embodiments, and will not be repeated here.

[0219] The foregoing has provided a detailed description of a vehicle control method, apparatus, vehicle, and computer-readable storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0220] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0221] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0222] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0223] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control method, wherein, include: Acquire control signals; The striking event is determined based on the control signal; and The target vehicle is controlled according to the control command corresponding to the impact event.

2. The vehicle control method according to claim 1, wherein, Determining the tapping event based on the control signal includes: The control signal is statistically analyzed to obtain its statistical characteristics, and the variation characteristics of the control signal are determined based on these statistical characteristics; and In response to the existence of target change features that meet preset conditions, a tapping event triggered by the target change features is determined.

3. The vehicle control method according to claim 2, wherein, The control signals include multiple sets of periodic control signals acquired within a preset period; The step of performing data statistics on the control signal to obtain the statistical characteristics of the control signal, and determining the change characteristics of the control signal based on the statistical characteristics of the control signal, includes: For each cycle control signal, data statistics are performed on the cycle control signal to obtain its statistical characteristics; and The variation characteristics of the periodic control signals are determined based on the statistical characteristics of each periodic control signal.

4. The vehicle control method according to claim 3, wherein, After determining the variation characteristics of the periodic control signals based on the statistical characteristics of each periodic control signal, the process includes: Extract the amount and rate of change from the target change features; The preset conditions include: the change amount is less than a preset first threshold and the change rate is greater than a preset second threshold. The step of determining the tapping event triggered by the target change feature in response to the existence of a target change feature that satisfies the preset conditions includes: In response to the existence of target change features that meet preset conditions, a tapping event triggered by the target change features is determined.

5. The vehicle control method according to any one of claims 2-4, wherein, The step of controlling the target vehicle according to the control command corresponding to the slapping event includes: The striking characteristics of the striking event are determined based on the target change characteristics; and The target vehicle is controlled according to the control command corresponding to the striking feature.

6. The vehicle control method according to claim 5, wherein, The tapping feature includes the tapping frequency of the tapping event; Determining the striking characteristics of the striking event based on the target change characteristics includes: Based on the target change characteristics, determine the tapping frequency and tapping time interval of the tapping event; and The tapping frequency of the tapping event is determined based on the tapping frequency and the tapping time interval.

7. The vehicle control method according to claim 5, wherein, The striking feature also includes the striking location; Determining the striking characteristics of the striking event based on the target change characteristics includes: The striking position of the striking event is determined based on the target change characteristics of the control signal, wherein the control signal includes multiple sets of control signals applied to different striking areas on the target object.

8. The vehicle control method according to claim 5, wherein, The slapping feature also includes a slapping gesture; Determining the striking characteristics of the striking event based on the target change characteristics includes: Based on the amount and rate of change in the target change characteristics, the contact area corresponding to the striking event is determined, wherein the contact area is the area in contact with the target object when the striking event is applied; and The slapping gesture of the slapping event is determined based on the contact area.

9. The vehicle control method according to claim 5, wherein, The step of controlling the target vehicle according to the control command corresponding to the striking feature includes: In response to a tapping frequency exceeding a preset frequency threshold in the tapping feature, a corresponding security level is determined based on the tapping gesture in the tapping feature; and Based on the security level, corresponding security control commands are generated to control the target vehicle.

10. The vehicle control method according to any one of claims 1 to 9, wherein, Following the acquisition control signal, the following is included: Abnormal data in the control signal is filtered according to preset filtering rules; The ambient temperature information corresponding to the control signal is acquired, and a target compensation value is determined based on the ambient temperature information and a preset mapping relationship. The preset mapping relationship includes the ambient temperature at the time the control signal was acquired and the corresponding compensation value, used to compensate for control signal errors caused by ambient temperature. The filtered control signal is compensated according to the target compensation value, and then the compensated control signal is processed.

11. The vehicle control method according to any one of claims 1 to 9, wherein, The acquisition control signal includes: The system acquires control signals triggered by the steering wheel of the target vehicle to determine, based on the control signals, a slapping event applied to the steering wheel.

12. A vehicle control device, wherein, The vehicle control device includes: Acquisition devices are used to acquire control signals; A processing device for determining a tapping event based on the control signal; A control device is used to control the target vehicle according to the control command corresponding to the impact event.

13. A vehicle, wherein, It includes a processor and a memory, wherein the memory stores computer instructions that, when executed by the processor, cause the processor to perform the steps of any of the methods described in claims 1 to 11.

14. A computer-readable storage medium applied to the vehicle control method of claim 1, wherein, It includes computer instructions that, when executed on a vehicle, cause the vehicle to perform the steps of any of the methods described in claims 1 to 11.

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