CN106155291A - Vehicle control system and method for operating thereof - Google Patents
Vehicle control system and method for operating thereof Download PDFInfo
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- CN106155291A CN106155291A CN201510175635.XA CN201510175635A CN106155291A CN 106155291 A CN106155291 A CN 106155291A CN 201510175635 A CN201510175635 A CN 201510175635A CN 106155291 A CN106155291 A CN 106155291A
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Abstract
A kind of vehicle control system, vehicle includes memory cell, touch control unit and vehicle window.The mapping table of gesture and action command is preset in memory cell storage one, and touch control unit is for responding the touch control gesture of user's input and producing input signal.Control system includes gesture recognition module, is used for responding input signal and detects touch control gesture according to input signal；Gesture analysis module, for comparing the default gesture of the touch control gesture of gesture recognition module identification and storage in mapping table, obtain the default gesture corresponding action command consistent with touch control gesture, touch control gesture in touch control unit towards one first direction slide touch control gesture when, action command rises for the corresponding vehicle window of control, touch control gesture for slide towards a second direction in touch control unit touch control gesture when, corresponding action command declines for the corresponding vehicle window of control；Control module, for rising or falling of the action command control vehicle window according to acquired in gesture analysis module.
Description
Technical field
The present invention relates to a kind of vehicle control system, particularly relate to a kind of auxiliary for controlling automotive window liter degradation
The control system of auxiliary system and method for operating thereof.
Background technology
The lifting of traditional automotive window, the vehicle window by being arranged on inside car door controls by key control mostly.
When user thinks either fully open or fully to close vehicle window, need to grow and control button by vehicle window；When user thinks
When part is turned on or off vehicle window, need to repeatedly short be adjusted by vehicle window control button, until by car
Regulation to needs height.So, existing vehicle window control button is all mechanical key, easy through Long-Time Service
The fault such as generation makes moist, get loose, and these buttons can only individually control window lifting action, function singleness,
And the accessory system such as the broadcasting of the air-conditioning in automobile, audio frequency and navigation all needs single mechanical key to go control, press
Key is too much, takes up space.
Content of the invention
In view of this, it is necessary to a kind of control system rising degradation accessory system for controlling automotive window is provided
And method of operating.
A kind of vehicle control system, it is applied on a vehicle, and vehicle includes memory cell and touch control unit,
Vehicle also includes vehicle window, and memory cell is stored with a mapping table presetting gesture and action command, touch-control
Unit produces corresponding input signal for responding the touch control gesture of user's input；Vehicle control system also wraps
Include；Mode switch module, inputs for responding touch-control on touch control unit for the user, and then control vehicle enters
Enter vehicle window control model；Gesture recognition module, is used for responding input signal, and detects use according to input signal
The touch control gesture at family；Gesture analysis module, for by the touch control gesture of gesture recognition module identification and storage list
Default gesture in the corresponding table of relation of unit's storage is compared, and obtains the default hand consistent with touch control gesture
The corresponding action command of gesture, touch control gesture is a touch control gesture slided towards a first direction in touch control unit
When, the default gesture corresponding action command consistent with touch control gesture is corresponding with touch control unit for control
Vehicle window rise, touch control gesture be one in touch control unit towards one second direction slide touch control gesture when, with touch
The consistent corresponding action command of default gesture of control gesture is for controlling under the vehicle window corresponding with touch control unit
Fall；Control module, for according to acquired in gesture analysis module action command control vehicle window rising or under
Fall.
A kind of control method for vehicle, it is applied on a vehicle, and vehicle includes memory cell and touch control unit,
Vehicle also includes vehicle window, and memory cell is stored with a mapping table presetting gesture and action command, touch-control
Unit is for responding the gesture of user's input and producing corresponding input signal；Control method for vehicle includes step:
Touch-control input on touch control unit for the response user, and then control vehicle entrance vehicle window control model；Respond defeated
Enter signal, and detect the touch control gesture of user according to input signal；Corresponding with relation for touch control gesture table will be deposited
The default gesture of storage is compared, and obtains the default gesture corresponding action command consistent with touch control gesture, touches
Control gesture be one in touch control unit towards one first direction slide touch control gesture when, consistent with touch control gesture
The corresponding action command of default gesture be control corresponding with touch control unit vehicle window rising, touch control gesture is
One in touch control unit towards one second direction slide touch control gesture when, action command for control and touch control unit
Corresponding vehicle window declines；And control module, for the action command control according to acquired in gesture analysis module
Rising or falling of vehicle window processed.
The control system of the vehicle of the present invention and control method, mode switch module controls this vehicle and enters vehicle window
Control model, as long as inputting a touch control gesture on touch control unit, can obtain one consistent with this touch control gesture
The corresponding action command of default gesture, control module so according to this action command control vehicle window motion, pendulum
Taken off the mode of traditional mechanical key control vehicle window, will not produce because of Long-Time Service make moist, get loose etc. therefore
Barrier.
Brief description
Fig. 1 is the module diagram of the control system of one embodiment of the invention.
Fig. 2 is the module diagram of the vehicle comprising control system shown in Fig. 1.
Fig. 3 is the simplified diagram of the touch control unit shown in Fig. 1.
Fig. 4 A-4D is the default gesture schematic diagram in the memory cell shown in Fig. 1.
Other default gesture schematic diagram in memory cell shown in Fig. 1 for the Fig. 5-7.
The flow chart of the method for operating that Fig. 8-11 is this control system.
Main element symbol description
| Control system | 1000 |
| Vehicle | 100 |
| Memory cell | 10 |
| Touch control unit | 20 |
| First touch area | 21 |
| First sub-touch area | 211 |
| Second sub-touch area | 212 |
| 3rd sub-touch area | 213 |
| 4th sub-touch area | 214 |
| Second touch area | 22 |
| Left front portion | 221 |
| Right front portion | 222 |
| Left back portion | 223 |
| Right rear portion | 224 |
| First direction | 23 |
| Second direction | 24 |
| Third direction | 25 |
| Fourth direction | 26 |
| Processor | 30 |
| Mode switch module | 301 |
| Gesture recognition module | 302 |
| Gesture analysis module | 303 |
| Control module | 304 |
| Display control unit | 40 |
| Switch element | 50 |
| Display unit | 60 |
| Window lifting system | 200 |
| Air conditioning system | 300 |
| Audio frequency broadcast system | 400 |
| Vehicular navigation system | 500 |
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Referring to Fig. 1-2, Fig. 1 is the module diagram of control system 1000 in an embodiment of the present invention,
This control system 1000 is applied on vehicle 100 as shown in Figure 2.The 10th, vehicle 100 includes memory cell
The 30th, touch control unit the 20th, processor shows control unit the 40th, switch element 50 and display unit 60.Car
100 also include multiple accessory system, as window lifting system the 200th, air conditioning system the 300th, audio frequency is broadcast
Place system 400 and Vehicular navigation system 500 etc..Control system 1000 is used for controlling and regulate these auxiliary
System, and adjustment state can be shown on display unit 60.
Memory cell 10 is stored with a mapping table presetting gesture and action command, presets gesture and action
The concrete corresponding relation of instruction, hereafter will specifically introduce.
Touch control unit 20 inputs for the touch-control responding user and produces corresponding input signal.Present embodiment
In, touch control unit 20 is a Trackpad, Trackpad for respond user on this Trackpad touch-control input and
Producing the touching signals comprising position of touch, this touching signals comprising position of touch is input signal.Please
Referring to Fig. 3 in the lump, touch control unit 20 includes the first touch area 21 and adjacent with the first touch area 21
Second touch area 22.Wherein, four sub-touch areas are included in the first touch area 21: the first son touches
Control the 211st, the second sub-touch area, region the 212nd, the 3rd sub-touch area 213 and the 4th sub-touch area 214.
The 211st, the second sub-touch area, first sub-touch area the 212nd, the 3rd sub-touch area 213 and the 4th sub-touch-control
Window lifting system the 200th, air conditioning system the 300th, the audio frequency of region 214 correspondence control vehicle 100 respectively
Play System 400 and Vehicular navigation system 500.Before second touch area 22 includes the 221st, the right side, left front portion
Portion the 222nd, left back portion 223 and right rear portion 224.Vehicle 100 includes at least four control model, i.e. vehicle window
Control model, airconditioning control pattern, audio frequency control pattern and navigational control mode etc..This arbitrary sub-Touch Zone
Territory is for responding touch-control input on it for the user so that vehicle 100 enters and this arbitrary sub-touch area phase
Corresponding control model, after entering corresponding control model, this second touch area 22 is used for responding use
Touch-control on it for the family inputs to the accessory system corresponding with this arbitrary sub-touch area.It is understood that
Touch control unit 20 can also is that capacitive touch screen, electric resistance touch screen, infrared touch panel or surface acoustic wave touch
Screen etc..
It is understood that the sub-touch area quantity of the first touch area 21 is not limiting as, corresponding auxiliary system
System be also not necessarily limited in present embodiment four kinds.
Referring again to Fig. 1-2, control system 1000 includes mode switch module the 301st, gesture recognition module
302nd, gesture analysis module 303 and control module 304.Control system 1000 delivers in the place of vehicle 100
On reason device 30.
Mode switch module 301 is used for responding user in the 211st, the second sub-touch area, the first sub-touch area
212nd, the touch-control input on the 3rd sub-touch area 213 and the 4th sub-touch area 214, and then control vehicle
100 enter corresponding control model.
Gesture recognition module 302 obtain touch control unit 20 respond user touch-control input and produce input letter
Number, and the touch control gesture of user is detected according to this input signal.In present embodiment, gesture recognition module 302
The touching signals that touch-control for obtaining Trackpad response user inputs and produces, and detect according to this touching signals
Survey the touch control gesture of user.Wherein, gesture recognition module 302 be additionally operable to carry out this touch control gesture to smooth,
Eliminate noise and image characteristics extraction etc. to process, slide the touch control gesture after processing to obtain a modified peace.
Gesture analysis module 303 is used for touch control gesture and the memory cell 10 identifying gesture recognition module 302
Default gesture in the mapping table of storage carries out comparison one by one, obtains consistent with this touch control gesture pre-
If the corresponding action command of gesture.Specifically, gesture recognition module 302 is identified by gesture analysis module 303
Touch control gesture carry out comparison one by one with the default gesture in the mapping table being stored in memory cell 10,
Judge whether described mapping table has the default gesture consistent with the athletic posture of this touch control gesture, if right
Answer and relation table has the default gesture consistent with the athletic posture of this touch control gesture, then obtain this default gesture phase
Corresponding action command, and the action command of acquisition is sent to control module 304.
Control module 304 controls corresponding auxiliary system according to the action command that gesture analysis module 303 obtains
System completes the corresponding action with this action command.
The action command control display unit 60 that display control unit 40 obtains according to gesture analysis module 303
Show this action command with the form of word.Display unit 60 can be aobvious for being installed in looking squarely of windshield
Show device.Together with being appreciated that display unit 60 can also superpose be installed in touch control unit 20.
Switch element 50 is only used for controlling startup and the closedown of this control system 1000, not control auxiliary system
The startup of system and closedown.It is understood that switch element 50 may be configured as an independent button, it is possible to tactile for being arranged at
Virtual key on control unit 20.
In present embodiment, the quantity of touch control unit 20 is consistent with the quantity of liftable vehicle window, each touch-control list
Unit 20 is arranged adjacent to a liftable vehicle window, and is respectively arranged on the car door of corresponding liftable vehicle window.It is understood that
In other embodiments, touch control unit 20 can also be provided on the console before driver's seat.
Referring again to Fig. 3, for ease of describing, define first direction the 23rd, second direction the 24th, third direction
25 and fourth direction 26.Touch control unit 20 has front, rear, left and right four side, wherein, first direction 23
Referring to vertical direction, second direction 24 is contrary with first direction 23 reverse, i.e. from back to front
Direction, third direction 25 refers to direction from left to right, and fourth direction 26 is contrary with third direction 25
Direction, direction i.e. from right to left.
When mode switch module 301 responds touch-control input on the first sub-touch area 211 for the user, mould
Formula handover module 301 controls vehicle 100 and enters vehicle window control model, and control system 1000 will control vehicle window liter
Fall system 200.
Referring to Fig. 4 A, gesture recognition module 302 obtains the input signal that touch control unit 20 produces, and root
Detect according to this input signal in the second touch area 22, have a touch control gesture slided towards first direction 23
When, gesture analysis module 303 obtains and this touch control gesture phase one according to this touch control gesture from mapping table
The corresponding action command of default gesture causing, i.e. controls the vehicle window corresponding with this touch control unit 20 and rises to
High point, control module 304 controls the vehicle window corresponding with this touch control unit 20 according to this action command and rises to
Peak；Gesture recognition module 302 detects user has one towards second direction in the second touch area 22
During the touch control gesture that 24 slide, control module 304 responds this touch control gesture and obtains from mapping table and be somebody's turn to do
The consistent corresponding action command of default gesture of touch control gesture, i.e. control are corresponding with this touch control unit 20
Vehicle window drops to minimum point, and control module 304 controls corresponding with this touch control unit 20 according to this action command
Vehicle window drop to minimum point.
In present embodiment, under vehicle window control model, before the 221st, the right side, the left front portion of the second touch area 22
The left front vehicle window of the 222nd, left back portion 223 of portion and right rear portion 224 corresponding vehicle 100 respectively, right front window,
Left back vehicle window and right vehicle rear window.
Refer to Fig. 4 B, gesture recognition module 302 detect the second touch area 22 left front portion the 221st,
Right front portion the 222nd, left back portion 223 and right rear portion 224 have in any one to four regions this touch-control of click
Unit 20 tap gesture, an and touch-control hand sliding towards first direction 23 in this second touch area 22
During gesture, gesture analysis module 303 taps gesture and this touch control gesture according to this, reads from mapping table
Tap gesture and the consistent corresponding action command of default gesture of this touch control gesture with this, i.e. control is chosen
Vehicle window rises to peak, and control module 304 controls, according to this action command, the vehicle window chosen and rises to the highest
Point；If the 222nd, gesture recognition module 302 detects left front portion the 221st, the right front portion in the second touch area 22
Left back portion 223 and right rear portion 224 have in any one to four regions and clicks on tapping of this touch control unit 20
Gesture, and one in this second touch area 22 towards second direction 24 slide touch control gesture when, gesture is divided
Analysis module 303 taps gesture and this touch control gesture according to this, reads and tap gesture with this from mapping table
The default gesture corresponding action command consistent with this touch control gesture, i.e. controls the vehicle window chosen and drops to
Low spot, control module 304 controls, according to this action command, the vehicle window chosen and drops to minimum point.
Referring to Fig. 4 C, gesture recognition module 302 detects one in the second touch area 22 from left front portion
When 221 touch control gesture that slide in rear portion 224 to the right and left front window are closed, gesture analysis module 303 is according to this
Touch control gesture obtains the default gesture corresponding action consistent with this touch control gesture from mapping table and refers to
Order, i.e. controls left front vehicle window and drops to minimum point, and control module 304 controls left front car according to this action command
Window drops to minimum point.Gesture recognition module 302 detects one in the second touch area 22 from left front portion
221 to the right rear portion 224 slide touch control gesture and when left front vehicle window fully opens, gesture analysis module 303
Obtain the default gesture corresponding control consistent with this touch control gesture according to this touch control gesture from mapping table
System instruction, i.e. controls left front vehicle window and rises to peak, and control module 304 controls a left side according to this control instruction
Front window rises to peak.Gesture recognition module 302 detects one in the second touch area 22 from left front
Portion 221 rear portion 224 to the right slide touch control gesture and when left front vehicle window semi-open, gesture analysis module 303
Obtain the default gesture corresponding control consistent with this touch control gesture according to this touch control gesture from mapping table
System instruction, i.e. controls left front vehicle window and rises to peak, and control module 304 controls a left side according to this control instruction
Front window rises to peak.Gesture recognition module 302 detects in the second touch area 22 from left front portion
221 continuously slipping touch control gesture twice in rear portion 224 and when left front vehicle window semi-open to the right, gesture analysis mould
Block 303 obtains the default gesture pair consistent with this touch control gesture according to this touch control gesture from mapping table
The control instruction answered, i.e. controls left front vehicle window and drops to minimum point, and control module 304 is according to this control instruction
Control left front vehicle window and drop to minimum point.
Gesture recognition module 302 detects one in the second touch area 22 from right front portion 222 rear portion to the left
When 223 touch control gesture slided and right front window are closed, control module 304 can control under right front window
Reduce as far as possible；Gesture recognition module 302 detects one in the second touch area 22 from right front portion 222
When the touch control gesture of rear portion 223 slip to the left and right front window fully open, control module 304 can control
Right front window rise to peak；Gesture recognition module 302 detect one in the second touch area 22 from
When the touch control gesture of right front portion 222 rear portion 223 to the left slip and right front window are half-open, control module 304 energy
Enough control right front window rises to peak；Gesture recognition module 302 detects in the second touch area 22
It is interior from the continuously slipping touch control gesture twice in right front portion 222 rear portion 223 to the left and when right front window is half-open,
Control module 304 can control right front window and drop to minimum point.
Gesture recognition module 302 detects one in the second touch area 22 from left back portion 223 to right front portion
When 222 touch control gesture slided and left back vehicle window are closed, control module 304 can control under left back vehicle window
Reduce as far as possible；Gesture recognition module 302 detects one in the second touch area 22 from left back portion 223
When the touch control gesture that right front portion 222 is slided and left back vehicle window fully open, control module 304 can control
Left back vehicle window rise to peak；Gesture recognition module 302 detect one in the second touch area 22 from
Left back portion 223 when the touch control gesture that right front portion 222 is slided and left back vehicle window semi-open, control module 304 energy
Enough control left back vehicle window rises to peak；Gesture recognition module 302 detects in the second touch area 22
In from left back portion 223 to the continuously slipping touch control gesture twice of right front portion 222 and when left back vehicle window semi-open,
Control module 304 can control left back vehicle window and drop to minimum point.
It is anterior to the left from right rear portion 224 in the second touch area 22 that gesture recognition module 302 detects one
When 221 touch control gesture slided and right vehicle rear window are closed, control module 304 can control under right vehicle rear window
Reduce as far as possible；Gesture recognition module 302 detects one in the second touch area 22 from right rear portion 224
When anterior 221 touch control gesture slided and right vehicle rear window fully open to the left, control module 304 can control
Right vehicle rear window rise to peak；Gesture recognition module 302 detect one in the second touch area 22 from
When the touch control gesture of right rear portion 224 anterior 221 slips to the left and right vehicle rear window are half-open, control module 304 energy
Enough control right vehicle rear window rises to peak；Gesture recognition module 302 detects in the second touch area 22
In from right rear portion 224 anterior 221 continuously slipping touch control gesture twice and when right vehicle rear window is half-open to the left,
Control module 304 can control right vehicle rear window and drop to minimum point.
Refer to Fig. 4 D, in the second touch area 22, have four together when gesture recognition module 302 detects
When towards first direction 23 slide touch control gesture when, gesture analysis module 303 according to this touch control gesture from correspondence
Relation table obtains the default gesture corresponding action command consistent with this touch control gesture, i.e. controls all cars
Window rises to peak, and control module 304 controls all vehicle windows according to this action command and rises to peak；
Slide towards second direction 24 while gesture recognition module 302 detects and has four in the second touch area 22
During the touch control gesture moved, gesture analysis module 303 obtains from mapping table according to this touch control gesture and is somebody's turn to do
The consistent corresponding action command of default gesture of touch control gesture, i.e. controls all vehicle windows and drops to minimum point,
Control module 304 controls all vehicle windows according to this action command and drops to minimum point.
As long as it is understood that in vehicle window process of rising or falling, gesture recognition module 302 detects second
Having when tapping gesture of this touch control unit 20 of a click in touch area 22, control module 304 controls and is somebody's turn to do
The corresponding vehicle window of touch control unit 20 stops rising or falling.
It is understood that in other embodiments, during the regulation of vehicle window, vehicle window can also follow touch-control
Gesture rises towards the slip of first direction 23, and the distance that vehicle window rises and touch control gesture are towards first direction 23
Sliding distance be directly proportional, follow touch control gesture and decline towards the slip of second direction 24, vehicle window decline away from
It is directly proportional towards the sliding distance of second direction 24 to touch control gesture, and when touch control gesture is suspended, vehicle window will
Stop motion.
See also Fig. 5, when mode switch module 301 responds user on the second sub-touch area 212
Touch-control input when, mode switch module 301 controls vehicle 100 and enters airconditioning control pattern, control system
1000 will control air conditioning system 300.
Have in the second touch area 22 towards first direction 23 slip when gesture recognition module 302 detects
During touch control gesture, gesture analysis module 303 obtains and this touch-control according to this touch control gesture from mapping table
The consistent corresponding action command of default gesture of gesture, in i.e. control and regulation air conditioning system 300 makes car
Temperature raises, and control module 304 controls air conditioning system 300 according to this action command makes vehicle interior temperature liter
Height, temperature raise number be directly proportional to the distance that this touch control gesture is slided towards first direction 23.When gesture is known
When other module 302 detects the touch control gesture having in the second touch area 22 towards second direction 24 slip,
Gesture analysis module 303 obtains consistent with this touch control gesture according to this touch control gesture from mapping table
Preset the corresponding action command of gesture, i.e. control and regulation air conditioning system 300 makes vehicle interior temperature decline, control
Molding block 304 controls air conditioning system 300 according to this action command makes vehicle interior temperature decline, and temperature declines
Number be directly proportional to the distance that this touch control gesture is slided towards second direction 24.
It is understood that control air conditioning system 300 makes vehicle interior temperature rise to a temperature value or drop to a temperature
The information of angle value all can be shown on display unit 60.
See also Fig. 6, when mode switch module 301 responds user on the 3rd sub-touch area 213
Touch-control input when, mode switch module 301 controls vehicle 100 and enters audio frequency control pattern, control system
1000 will control audio frequency broadcast system 400.
Have in the second touch area 22 towards first direction 23 slip when gesture recognition module 302 detects
During touch control gesture, gesture analysis module 303 obtains and this touch-control according to this touch control gesture from mapping table
The consistent corresponding action command of default gesture of gesture, i.e. control heighten the volume of audio frequency broadcast system 400,
Control module 304 controls the volume heightening audio frequency broadcast system 400 according to this action command, and volume is heightened many
It is directly proportional to the distance that this touch control gesture is slided towards first direction 23 less.When gesture recognition module 302 detects
When having the touch control gesture towards second direction 24 slip in the second touch area 22, gesture analysis module 303
Obtain the default gesture consistent with this touch control gesture according to this touch control gesture from mapping table corresponding dynamic
Instruct, i.e. control reduces the volume of audio frequency broadcast system 400, and control module 304 is according to this action command
Control reduces the volume of audio frequency broadcast system 400, and volume reduces how many and this touch control gesture towards second direction 24
The distance slided is directly proportional.Have towards the 3rd in the second touch area 22 when gesture recognition module 302 detects
Direction 25 slide touch control gesture when, gesture analysis module 303 according to this touch control gesture from mapping table
Obtain the default gesture corresponding action command consistent with this touch control gesture, i.e. control audio frequency broadcast system
The audio frequency play list of 400 switches to next song, and control module 304 controls audio frequency according to this action command
The audio frequency play list of Play System 400 switches to next song.When gesture recognition module 302 detects
When having the touch control gesture towards fourth direction 26 slip in the second touch area 22, gesture analysis module 303
Obtain the default gesture corresponding action consistent with this touch control gesture according to this touch control gesture from mapping table
Instruction, i.e. the audio frequency play list of control audio frequency broadcast system 400 switch to a song, control module 304
The audio frequency play list controlling audio frequency broadcast system 400 according to this action command switches to a upper song.
It is understood that the volume of audio frequency broadcast system 400 is heightened to a volume value or is reduced to a volume value, and
Control audio frequency broadcast system 400 play list plays the information of a upper song or next song, all can be shown in
On display unit 60.
See also Fig. 7, when mode switch module 301 responds user on the 4th sub-touch area 214
Touch-control input when, mode switch module 301 controls vehicle 100 and enters navigational control mode, control system
1000 will control Vehicular navigation system 500.
When gesture recognition module 302 detects the word of input in the second touch area 22, gesture analysis
Module 303 analyzes this Word message, is shown in this Word message on display unit 60 and passes to vehicle and leads
Boat system 500, control module 304 controls Vehicular navigation system 500 and starts for destination with this Word message
Navigation.
It is understood that for ease of the control of accessory system, the touch control unit 20 of neighbouring main driving seat can be made to have the
One touch area 21 and the second touch area 22, remaining touch control unit 20 all only has the second touch area 22.
It is understood that display module can be arranged on touch control unit 20, corresponding with this touch control unit 20 with display
The folding condition of vehicle window.
It is understood that control module can be arranged, to control remaining touch-control on the touch control unit 20 of neighbouring main driving seat
The switch of unit 20.
Referring to Fig. 8, Fig. 8 is to be applied to the method for operating that control system 1000 enters vehicle window control model
Flow chart.
Step S81, starts control system 1000, and mode switch module 301 controls vehicle 100 and enters vehicle window
Control model.Specifically, manipulation of switches unit 50, in one embodiment, switch element 50 be one by
Key, presses this button and starts control system 1000；The sub-touch area of touch-control first 211, so that control system
1000 entrance vehicle window control models.
Step S82, the touch-control input that the second touch area 22 of touch control unit 20 responds user produces input
Signal.Specifically, this touch-control input can be: one in the second touch area 22 towards first direction 23 or the
The touch control gesture slided in two directions 24；Or left front portion the 221st, the right front portion that in the second touch area 22 is the 222nd,
Left back portion 223 and right rear portion 224 tap gesture and at the second touch-control in any one to four regions
The touch control gesture slided towards first direction 23 or second direction 24 in region；Or one in the second touch area 22
The interior touch control gesture slided from left front portion 221 rear portion 224 to the right；Or one in the second touch area 22 from the right side
Anterior 222 touch control gesture that slide in rear portion 223 to the left；Or one in the second touch area 22 from left back portion
223 touch control gesture slided to right front portion 222；Or one in the second touch area 22 from right rear portion 224 to
The touch control gesture slided in left front portion 221；Or four in the second touch area 22 simultaneously towards first direction 23
Or the touch control gesture that second direction 24 is slided.
Step S83, responds this input signal, and detects the touch control gesture of user according to this input signal.Tool
Body ground, in present embodiment, gesture recognition module 302 responds described touching signals, and believes according to this touch-control
Number detecting user touch control gesture.
Described touch control gesture is compared by step S84 with the default gesture in mapping table, it is judged that should
Whether mapping table has the default gesture consistent with the athletic posture of this touch control gesture, if it is not, then terminate
This flow process, waits the touch control gesture operation of user user's next time, if having in mapping table and this touch-control hand
The consistent default gesture of the athletic posture of gesture, then enter step S85.
Step S85, obtains the default gesture corresponding action command consistent with this touch control gesture.Specifically,
Described gesture analysis module 303 obtains the default gesture corresponding action command consistent with this touch control gesture, and
The action command of acquisition is sent to control module 304.This touch control gesture is one in the second touch area 22
Towards first direction 23 slide touch control gesture when, the default gesture corresponding action consistent with this touch control gesture
Instruction rises to peak for controlling the vehicle window corresponding with this touch control unit 20；This touch control gesture is one
During the touch control gesture slided towards second direction 24 in two touch areas 22, consistent with this touch control gesture is pre-
If the corresponding action command of gesture drops to minimum point for controlling the vehicle window corresponding with this touch control unit 20；Should
Touch control gesture be the 222nd, a left back portion 223 of left front portion the 221st, the right front portion in the second touch area 22 and
Right rear portion 224 taps gesture and towards first direction in the second touch area in any one to four regions
During the touch control gesture that 23 slide, the default gesture corresponding action command consistent with this touch control gesture is control
The vehicle window chosen rises to peak；This touch control gesture be one the second touch area 22 left front portion the 221st,
In right front portion the 222nd, left back portion 223 and right rear portion 224, the point in any one to four regions touches
In two touch areas towards second direction 24 slide touch control gesture when, the default hand consistent with this touch control gesture
The vehicle window that the corresponding action command of gesture is chosen for control drops to minimum point；This touch control gesture be one second touch
When the touch control gesture slided from left front portion 221 rear portion 224 to the right in control region 22 and left front window are closed, with this
The consistent corresponding action command of default gesture of touch control gesture drops to minimum point for the left front vehicle window of control；Should
Touch control gesture is a touch control gesture slided from left front portion 221 rear portion 224 to the right in the second touch area 22
And when left front vehicle window fully opens, the default gesture corresponding action command consistent with this touch control gesture is
Control left front vehicle window and rise to peak；This touch control gesture be one in the second touch area 22 from left front portion
221 to the right rear portion 224 slide touch control gesture and when left front vehicle window semi-open, consistent with this touch control gesture
Preset the corresponding action command of gesture and rise to peak for the left front vehicle window of control；This touch control gesture is one
From the continuously slipping touch control gesture twice in left front portion 221 rear portion 224 to the right and left front in two touch areas 22
During vehicle window semi-open, the default gesture corresponding action command consistent with this touch control gesture is the left front vehicle window of control
Drop to minimum point；This touch control gesture be one in the second touch area 22 from right front portion 222 rear portion to the left
When 223 touch control gesture slided and right front window are closed, the default gesture consistent with this touch control gesture is corresponding
Action command drops to minimum point for the right front window of control；This touch control gesture is one in the second touch area 22
In from right front portion 222 rear portion 223 to the left slide touch control gesture and when right front window fully opens, with this
The consistent corresponding action command of default gesture of touch control gesture rises to peak for the right front window of control；Should
Touch control gesture be one in the second touch area 22 right front portion 222 rear portion 223 to the left slide touch control gesture and
When right front window is half-open, the default gesture corresponding action command consistent with this touch control gesture is the control right side
Front window rises to peak；This touch control gesture be one in the second touch area 22 from right front portion 222 to the left
The continuously slipping touch control gesture twice in rear portion 223 and when right front window is half-open, consistent with this touch control gesture
The corresponding action command of default gesture drop to minimum point for the right front window of control；This touch control gesture be one
The touch control gesture and the left back window that slide from left back portion 223 to right front portion 222 in second touch area 22 are closed
When, the default gesture corresponding action command consistent with this touch control gesture drops to for the left back vehicle window of control
Low spot；This touch control gesture is one to slide from left back portion 223 to right front portion 222 in the second touch area 22
Touch control gesture and when left back vehicle window fully opens, the default gesture consistent with this touch control gesture is corresponding dynamic
Make instruction and rise to peak for the left back vehicle window of control；This touch control gesture be one in the second touch area 22 from
The touch control gesture slided to right front portion 222 in left back portion 223 and when left back vehicle window semi-open, with this touch control gesture
The consistent corresponding action command of default gesture rises to peak for the left back vehicle window of control；This touch control gesture
Be one in the second touch area 22 from left back portion 223 to the continuously slipping touch control gesture twice of right front portion 222
And when left back vehicle window semi-open, the default gesture corresponding action command consistent with this touch control gesture is control
Left back vehicle window drops to minimum point；This touch control gesture be one in the second touch area 22 from right rear portion 224
When anterior 221 touch control gesture slided and right rear window are closed to the left, the default hand consistent with this touch control gesture
The corresponding action command of gesture drops to minimum point for the right vehicle rear window of control；This touch control gesture is one at the second touch-control
In region 22 from right rear portion 224 anterior 221 touch control gesture slided and fully opening at right vehicle rear window to the left
When, the default gesture corresponding action command consistent with this touch control gesture rises to the highest for the right vehicle rear window of control
Point；This touch control gesture be one in the second touch area 22 from right rear portion 224 to the left anterior 221 slide touch
Controlling gesture and when right vehicle rear window is half-open, the default gesture corresponding action command consistent with this touch control gesture is
Control right vehicle rear window and rise to peak；This touch control gesture be one in the second touch area 22 from right rear portion
224 anterior 221 continuously slipping touch control gesture twice and when right vehicle rear window is half-open to the left, with this touch-control hand
The consistent corresponding action command of default gesture of gesture drops to minimum point for the right vehicle rear window of control；This touch control gesture
When being the touch control gesture that four are slided towards first direction 23 in the second touch area 22 simultaneously, with this touch-control
The consistent corresponding action command of default gesture of gesture rises to peak for all vehicle windows of control；This touch-control
Gesture is the touch control gesture that four are slided towards second direction 24 in the second touch area 22 simultaneously when, with this
The consistent corresponding action command of default gesture of touch control gesture drops to minimum point for all vehicle windows of control.
Step S86, controls vehicle 100 according to this action command and completes the corresponding action with this action command.
Referring to Fig. 9, Fig. 9 is to be applied to the method for operating that control system 1000 enters airconditioning control pattern
Flow chart.
Step S91, starts control system 1000, and mode switch module 301 controls vehicle 100 and enters air-conditioning
Control model.Specifically, manipulation of switches unit 50, in one embodiment, switch element 50 be one by
Key, presses this button and starts control system 1000；The sub-touch area of touch-control second 212, so that control system
1000 entrance airconditioning control patterns.
Step S92, the touch-control input that the second touch area 22 of touch control unit 20 responds user produces input
Signal.Specifically, this touch-control input can be: one has one towards first direction 23 in the second touch area 22
Or the touch control gesture that second direction 24 is slided.
Step S93, responds this input signal, and detects the touch control gesture of user according to this input signal.Tool
Body ground, in present embodiment, gesture recognition module 302 responds described touching signals, and believes according to this touch-control
Number detecting user touch control gesture.
Described touch control gesture is compared by step S94 with the default gesture in mapping table, it is judged that should
Whether mapping table has the default gesture consistent with the athletic posture of this touch control gesture, if it is not, then terminate
This flow process, waits the touch control gesture operation of user user's next time, if having in mapping table and this touch-control hand
The consistent default gesture of the athletic posture of gesture, then enter step S95.
Step S95, obtains the default gesture corresponding action command consistent with this touch control gesture.Specifically,
Described gesture analysis module 303 obtains the default gesture corresponding action command consistent with this touch control gesture, and
The action command of acquisition is sent to control module 304.This touch control gesture is one in the second touch area 22
Towards first direction 23 slide touch control gesture when, the default gesture corresponding action consistent with this touch control gesture
Instruction makes vehicle interior temperature raise for control air conditioning system 300；This touch control gesture is one in the second Touch Zone
During the touch control gesture slided towards second direction 24 in territory 22, the default gesture pair consistent with this touch control gesture
The action command answered makes vehicle interior temperature decline for control air conditioning system 300.
Step S96, controls vehicle 100 according to this action command and completes the corresponding action with this action command.
Referring to Figure 10, Figure 10 is to be applied to the method for operating that control system 1000 enters audio frequency control pattern
Flow chart.
Step S101, starts control system 1000, and mode switch module 301 controls vehicle 100 and enters sound
Frequently control model.Specifically, manipulation of switches unit 50, in one embodiment, switch element 50 is one
Button, presses this button and starts control system 1000；The sub-touch area 213 of touch-control the 3rd, so that control system
System 1000.Enter audio frequency control pattern.
Step S102, the touch-control input that the second touch area 22 of touch control unit 20 responds user produces input
Signal.Specifically, this touch-control input can be: one in the second touch area 22 towards first direction 23 or the
The touch control gesture slided in two directions 24；One in the second touch area 22 towards third direction 25 or fourth direction
26 touch control gesture slided.
Step S103, responds this input signal, and detects the touch control gesture of user according to this input signal.Tool
Body ground, in present embodiment, gesture recognition module 302 responds described touching signals, and believes according to this touch-control
Number detecting user touch control gesture.
Described touch control gesture is compared by step S104 with the default gesture in mapping table, it is judged that should
Whether mapping table has the default gesture consistent with the athletic posture of this touch control gesture, if it is not, then terminate
This flow process, waits the touch control gesture operation of user user's next time, if having in mapping table and this touch-control hand
The consistent default gesture of the athletic posture of gesture, then enter step S105.
Step S105, obtains the default gesture corresponding action command consistent with this touch control gesture.Specifically,
Described gesture analysis module 303 obtains the default gesture corresponding action command consistent with this touch control gesture, and
The action command of acquisition is sent to control module 304.This touch control gesture is one in the second touch area 22
Towards first direction 23 slide touch control gesture when, the default gesture corresponding action consistent with this touch control gesture
Instruction heightens the volume of audio frequency broadcast system 400 for control；This touch control gesture is one in the second touch area 22
Interior slide towards second direction 24 touch control gesture when, the default gesture consistent with this touch control gesture is corresponding dynamic
Make instruction and turn down the volume of audio frequency broadcast system 400 for control；This touch control gesture is one in the second touch area
During the touch control gesture slided towards third direction 25 in 22, the default gesture consistent with this touch control gesture is corresponding
Action command for control audio frequency broadcast system 400 audio frequency play list switch to next song；This touch-control
Gesture be one in the second touch area 22 towards fourth direction 26 slide touch control gesture when, with this touch-control hand
The consistent corresponding action command of default gesture of gesture is the audio frequency play list of control audio frequency broadcast system 400
Switch to a song.
Step S106, controls vehicle 100 according to this action command and completes the corresponding action with this action command.
Referring to Figure 11, Figure 11 is to be applied to the method for operating that control system 1000 enters navigational control mode
Flow chart.
Step S111, starts control system 1000.Mode switch module 301 controls vehicle 100 and enters navigation
Control model.Specifically, switch-unit 50, in one embodiment, switch element 50 be one by
Key, presses this button and starts control system 1000；The sub-touch area 214 of touch-control the 4th, so that control system
1000 entrance navigational control mode.
Step S112, the touch-control input that the second touch area 22 of touch control unit 20 responds user produces input
Signal.Specifically, this input signal is Word message, can want the destination of arrival for user.
Step S113, responds this input signal, and detects the word letter of the input of user according to this input signal
Breath.Specifically, in present embodiment, gesture recognition module 302 responds described touching signals, and according to this
The Word message of the input of touching signals detecting user.
Step S114, analyzes this input signal, and this Word message is passed to Vehicular navigation system 500.
Step S115, control Vehicular navigation system 500 navigates with this Word message for destination.
The control system of the vehicle of the present invention, as long as user performs a hand in the region that gesture can be identified
Gesture just can obtain one and the corresponding action command of this gesture, and it is complete that control module just controls corresponding accessory system
Become and the corresponding action of this action command, easy to operate, diverse in function.
Those skilled in the art are it should be appreciated that above embodiment is intended merely to explanation originally
Invention, and it is not used as limitation of the invention, as long as within the spirit of the present invention, right
What embodiment of above was made suitably changes and changes all to fall within the scope of protection of present invention.
Claims (12)
1. a vehicle control system, this vehicle control system is applied on a vehicle, and this vehicle includes storage
Unit and touch control unit, this vehicle also includes vehicle window, it is characterised in that: this memory cell be stored with one preset
Gesture and the mapping table of action command, this touch control unit produces for responding the touch control gesture of user's input
Raw corresponding input signal；This vehicle control system also includes；
Mode switch module, inputs for responding touch-control on this touch control unit for the user, and then controls this car
Enter vehicle window control model；
Gesture recognition module, is used for responding this input signal, and detects the touch-control of user according to this input signal
Gesture；
Gesture analysis module, for by the touch control gesture of gesture recognition module identification and the storage of this memory cell
Default gesture in the corresponding table of this relation is compared, and obtains the default gesture pair consistent with this touch control gesture
The action command answered, this touch control gesture is a touch control gesture slided towards a first direction in this touch control unit
When, the default gesture corresponding action command consistent with this touch control gesture is relative with this touch control unit for control
The vehicle window answered rises, this touch control gesture be one in this touch control unit towards one contrary with this first direction second
During the touch control gesture slided in direction, the default gesture corresponding action command consistent with this touch control gesture is control
Make the vehicle window corresponding with this touch control unit to decline；
Control module, for action command according to acquired in this gesture analysis module control this vehicle window rise or
Decline.
2. vehicle control system as claimed in claim 1, it is characterised in that: this vehicle window include left front vehicle window,
Right front window, left back vehicle window and right vehicle rear window, this touch control unit includes the first touch area and the second Touch Zone
Territory, this mode switch module is for responding touch-control input on this first touch area for the user and then control car
Enter vehicle window control model, this second touch area for touch-control input a touch control gesture, this second touch-control
Region includes left front portion, right front portion, left back portion and right rear portion, this left front portion, right front portion, left back portion and
Right-rearward portion is other to should the left front vehicle window of vehicle, right front window, left back vehicle window and right vehicle rear window, this gesture
Identification module detects appoints in the left front portion of this second touch area, right front portion, left back portion and right rear portion
Anticipate and have in one to four regions that clicks on this touch control unit to tap a gesture and court in this second touch area
During the touch control gesture that this first direction slides, the default gesture corresponding action consistent with this touch control gesture refers to
Order rises for the vehicle window that control is chosen；This gesture recognition module detect this second touch area left front portion,
Right front portion, left back portion and right rear portion have in any one to four regions the point tentacle clicking on this touch control unit
Gesture and one in this second touch area towards this second direction slide touch control gesture when, with this touch control gesture
The consistent corresponding action command of default gesture declines for the vehicle window that control is chosen.
3. vehicle control system as claimed in claim 1, it is characterised in that: this vehicle window include left front vehicle window,
Right front window, left back vehicle window and right vehicle rear window, this touch control unit includes the first touch area and the second Touch Zone
Territory, this mode switch module is for responding touch-control input on this first touch area for the user and then control car
Enter vehicle window control model, after this second touch area includes left front portion, right front portion, left back portion and the right side
Portion, this left front portion, right front portion, left back portion and right-rearward portion are other to should the left front vehicle window of vehicle, right front truck
Window, left back vehicle window and right vehicle rear window, this gesture recognition module detects one in this second touch area from this
During the touch control gesture slided to this right rear portion in left front portion, the default gesture consistent with this touch control gesture is corresponding
Action command is for controlling the lifting of this left front vehicle window；This gesture recognition module detects one in this second Touch Zone
In territory when the touch control gesture that this right front portion is slided to this left back portion, the default hand consistent with this touch control gesture
The corresponding action command of gesture is for controlling the lifting of this right front window；This gesture recognition module detect one this
During the touch control gesture slided from this left back portion to this right front portion in two touch areas, consistent with this touch control gesture
The corresponding action command of default gesture for control this left back vehicle window lifting；This gesture recognition module detects
During the touch control gesture that slides from this right rear portion towards this left front portion in this second touch area, with this touch-control hand
The consistent corresponding action command of default gesture of gesture is for controlling the lifting of this right vehicle rear window.
4. vehicle control system as claimed in claim 1, it is characterised in that: this gesture recognition module is detected
During to the touch control gesture slided towards this first direction while having four in this touch control unit, this control module control
Make all vehicle windows to rise；This gesture recognition module detect while having four in this touch control unit towards this second
During the touch control gesture slided in direction, all vehicle windows of this control module control decline.
5. the vehicle control system as described in claim the 1st, the 2nd, 3 and 4 any one, it is characterised in that:
During vehicle window rises or falls, this gesture recognition module detects has a click to be somebody's turn to do in this touch control unit
When tapping gesture of touch control unit, this control module control vehicle window corresponding with this touch control unit stops rising
Or decline, otherwise, this control module controls corresponding vehicle window and rises to peak or drop to minimum point.
6. the vehicle control system as described in claim the 1st, the 2nd, 3 and 4 any one, it is characterised in that:
During the regulation of vehicle window, vehicle window can also be followed touch control gesture and be risen towards the slip of this first direction, follows
Touch control gesture declines towards the slip of this second direction, and when touch control gesture is suspended, vehicle window is by stop motion.
7. a control method for vehicle, this control method for vehicle is applied on a vehicle, and this vehicle includes storage
Unit and touch control unit, this vehicle also includes vehicle window, it is characterised in that: this memory cell be stored with one preset
Gesture and the mapping table of this action command, this touch control unit simultaneously produces for the gesture responding user's input
Corresponding input signal；This control method for vehicle includes step；
Touch-control input on this touch control unit for the response user, and then control vehicle entrance vehicle window control model；
Respond this input signal, and detect the touch control gesture of user according to this input signal；
The default gesture of storage in corresponding with this relation for this touch control gesture table is compared, obtains and this touch-control
The consistent corresponding action command of default gesture of gesture, this touch control gesture be one in this touch control unit towards one
During the touch control gesture slided in one direction, the default gesture corresponding action command consistent with this touch control gesture is
Control the vehicle window corresponding with this touch control unit to rise, this touch control gesture be one in this touch control unit towards one the
During the touch control gesture slided in two directions, the default gesture corresponding action command consistent with this touch control gesture is
Control the vehicle window corresponding with this touch control unit to decline；And
Control rising or falling of this vehicle window according to this action command.
8. control method for vehicle as claimed in claim 7, it is characterised in that this vehicle window include left front vehicle window,
Right front window, left back vehicle window and right vehicle rear window, this touch control unit includes the first touch area and the second Touch Zone
Territory, this second touch area includes left front portion, right front portion, left back portion and right rear portion, this left front portion, right side
Portion anterior, left back and right-rearward portion are other to should the left front vehicle window of vehicle, right front window, left back vehicle window and the right side
Vehicle rear window, this control method for vehicle further comprises the steps of:
In left front portion, right front portion, left back portion and the right rear portion detect this second touch area any one
Have in four regions click on this touch control unit tap gesture and in this second touch area towards this first
During the touch control gesture slided in direction, the vehicle window that control is chosen rises；And
In left front portion, right front portion, left back portion and the right rear portion detect this second touch area any one
Have in four regions click on this touch control unit tap gesture and in this second touch area towards this second
During the touch control gesture slided in direction, the vehicle window that control is chosen declines.
9. control method for vehicle as claimed in claim 7, it is characterised in that this vehicle window include left front vehicle window,
Right front window, left back vehicle window and right vehicle rear window, this touch control unit includes the first touch area and the second Touch Zone
Territory, this second touch area includes left front portion, right front portion, left back portion and right rear portion, this left front portion, right side
Portion anterior, left back and right-rearward portion are other to should the left front vehicle window of vehicle, right front window, left back vehicle window and the right side
Vehicle rear window, this control method for vehicle further comprises the steps of:
There is a touch control gesture slided from this left front portion to this right rear portion in detecting in this second touch area
When, control the lifting of this left front vehicle window；
There is a touch control gesture slided from this right front portion to this left back portion in detecting this second touch area
When, control the lifting of this right front window；
There is a touch control gesture slided from this left back portion to this right front portion in detecting this second touch area
When, control the lifting of this left back vehicle window；And
There is a touch control gesture slided from this right rear portion towards this left front portion in detecting this second touch area
When, control the lifting of this right vehicle rear window.
10. control method for vehicle as claimed in claim 7, it is characterised in that this control method for vehicle also wraps
Include step:
During the touch control gesture slided towards this first direction while having four in detecting this touch control unit, control
All vehicle windows rise；And
During the touch control gesture slided towards this second direction while having four in detecting this touch control unit, control
All vehicle windows decline.
11. control method for vehicle as described in claim the 7th, the 8th, 9 and 10 any one, it is characterised in that:
This control method for vehicle further comprises the steps of:
During vehicle window rises or falls, in this touch control unit, there is this touch-control list of a click if detecting
When tapping gesture of unit, then control the vehicle window corresponding with this touch control unit and stop rising or falling, otherwise,
Control corresponding vehicle window rise to peak or drop to minimum point.
12. control method for vehicle as described in claim the 7th, the 8th, 9 and 10 any one, it is characterised in that
This control method for vehicle further comprises the steps of:
During the regulation of vehicle window, if detect this touch control gesture towards this first direction slide when, it is right to control
The vehicle window answered is followed the slip of this touch control gesture and is risen, if it is sliding towards this second direction to detect this touch control gesture
When dynamic, control corresponding vehicle window and follow the slip of this touch control gesture and decline, if it is temporary to detect this touch control gesture
When stopping sliding, control corresponding vehicle window stop motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175635.XA CN106155291A (en) | 2015-04-14 | 2015-04-14 | Vehicle control system and method for operating thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175635.XA CN106155291A (en) | 2015-04-14 | 2015-04-14 | Vehicle control system and method for operating thereof |
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| CN106155291A true CN106155291A (en) | 2016-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510175635.XA Pending CN106155291A (en) | 2015-04-14 | 2015-04-14 | Vehicle control system and method for operating thereof |
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| CN110295822A (en) * | 2018-03-23 | 2019-10-01 | 宝沃汽车（中国）有限公司 | Control the method and vehicle of window lifting |
| CN110821315A (en) * | 2019-11-30 | 2020-02-21 | 重庆海德世拉索系统（集团）有限公司 | Automobile electric back door opening and closing driving system based on gesture control and control method |
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| CN112227876A (en) * | 2020-10-23 | 2021-01-15 | 广东蓝水花智能电子有限公司 | Microwave inductor-based automatic opening and closing control method, device and system for vertical hinged door |
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| CN113997879A (en) * | 2021-10-25 | 2022-02-01 | 上海弘遥电子研究开发有限公司 | Automobile control unit and control method |
| CN117684841A (en) * | 2024-02-01 | 2024-03-12 | 深圳曦华科技有限公司 | Vehicle window control method, device, computer equipment and storage medium |
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