CN112947757A - Control method of vehicle-mounted interaction system, storage medium and vehicle-mounted electronic equipment - Google Patents
Control method of vehicle-mounted interaction system, storage medium and vehicle-mounted electronic equipment Download PDFInfo
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Abstract
The application provides a control method of a vehicle-mounted interaction system, a storage medium and vehicle-mounted electronic equipment, wherein the method comprises the following steps: responding to a starting signal of the interactive scene, and outputting a video picture of the interactive scene to a display component, wherein the video picture comprises at least one operated object; acquiring an operation signal, and controlling at least one operated object in a video picture to execute an action according to the operation signal; and acquiring the real-time position of the palm, generating a feedback wave emission signal according to the real-time position of the palm, and sending the feedback wave signal to a feedback wave generator so as to control the feedback wave generator to emit the feedback wave signal to the palm. In the scheme, after the operation signal sent by the operator is detected, the feedback information that the operation signal is executed is sensed by the operator in a mode of transmitting the feedback wave to the palm of the operator, and the operator can immediately execute the next control after immediately sensing the feedback information, so that the interaction effect and the interaction efficiency of the vehicle-mounted interaction system are improved.
Description
Technical Field
The application relates to the technical field of automobile intelligent control, in particular to a control method of a vehicle-mounted interaction system, a storage medium and vehicle-mounted electronic equipment.
Background
With the new and mature electromotion, networking, intellectualization and sharing of automobiles, the processing capacity of the vehicle-mounted processing unit is higher and higher, and more application programs suitable for human-computer interaction, such as electronic games, can be supported.
At present, the interaction mode of the passenger and the vehicle-mounted processing unit is difficult to popularize, mainly because the interaction operation experience is poor. Taking a vehicle-mounted game as an example, the current vehicle-mounted game is more a transplantation work based on the current mobile phone game or host game, and the input mode of the current vehicle-mounted game mainly comprises a touch central control screen, an external game handle and the like. In any mode, the output operation is only performed on the single side of the passenger, and then whether the input operation is responded is judged by visually observing whether the display picture of the display screen changes, so that the influence on the time when the passenger performs the next operation is generated, and the interaction effect and the interaction efficiency between the passenger and the vehicle-mounted processing unit are reduced.
Disclosure of Invention
The embodiment of the application aims to provide a control method of a vehicle-mounted interaction system, a storage medium and vehicle-mounted electronic equipment so as to solve the technical problems of poor interaction effect and low interaction efficiency in the interaction process of the existing passenger and a vehicle-mounted processing unit.
Therefore, some embodiments of the present application provide a control method for a vehicle-mounted interaction system, including the following steps:
responding to a starting signal of an interactive scene, and outputting a video picture of the interactive scene to a display component, wherein the video picture comprises at least one operated object;
acquiring an operation signal, and controlling at least one operated object in the video picture to execute an action according to the operation signal;
the method comprises the steps of obtaining the real-time position of a palm, generating a feedback wave emission signal according to the real-time position of the palm, and sending the feedback wave signal to a feedback wave generator so as to control the feedback wave generator to emit the feedback wave signal to the direction of the palm.
In some embodiments of the present application, the method for controlling a vehicle-mounted interaction system, acquiring an operation signal, and controlling at least one operated object in the video image to perform an action according to the operation signal includes:
acquiring a gesture recognition signal, and acquiring the operation signal according to the gesture recognition signal; or acquiring a voice recognition signal, and obtaining the operation signal according to the voice recognition signal.
In some embodiments of the present application, the method for controlling a vehicle-mounted interaction system, acquiring an operation signal, and controlling at least one operated object in the video image to perform an action according to the operation signal further includes:
and acquiring an action signal of a preset vehicle component, and obtaining the operation signal according to the action signal of the preset vehicle component.
In some embodiments of the present application, the control method of a vehicle-mounted interaction system further includes the following steps:
selecting a scene matching component from vehicle components according to the interactive scene, and obtaining a matching action to be executed by the scene matching component;
and sending a scene matching control signal to the scene matching component so as to control the scene matching component to execute the matching action.
In some embodiments of the present application, the control method of a vehicle-mounted interaction system further includes the following steps:
selecting a scene change matching component from the scene matching components according to the operation signal, and a transformation action to be executed by the scene change matching component;
sending a scene change control signal to the scene change coordination component to control the scene change coordination component to perform the transformation action.
Some embodiments of the present application provide a storage medium, where the storage medium stores program information, and a computer reads the program information and executes the control method of the vehicle-mounted interaction system according to any one of the above aspects.
Some embodiments of the present application further provide a vehicle-mounted electronic device, which includes at least one processor and at least one memory, where the at least one processor is connected to the at least one memory in a communication manner, and program information is stored in the at least one memory, and the at least one processor reads the program information and then executes the control method of the vehicle-mounted interaction system according to any one of the above aspects.
In some embodiments of the present application, the vehicle-mounted electronic device further includes:
the display component comprises a vehicle-mounted central control screen and/or a vehicle front windshield glass provided with an optical waveguide transparent screen, and the vehicle-mounted central control screen and/or the optical waveguide transparent screen are connected with the processor and used for receiving and displaying a video picture sent by the processor;
the camera is used for recognizing the real-time position and the gesture of the palm of the operator and sending the real-time position and the gesture recognition signal of the palm to the processor;
and the feedback wave generator is used for receiving the feedback wave transmitting signal sent by the processor and transmitting the feedback wave signal to the palm direction according to the control of the feedback wave transmitting signal.
In some embodiments of the present application, the vehicle-mounted electronic device further includes:
a microphone for recognizing a voice of an operator and transmitting a voice recognition signal to the processor; alternatively, the first and second electrodes may be,
presetting a vehicle component, wherein the output end of the vehicle component is connected with the processor; the preset vehicle component generates a motion signal under the operation of an operator and sends the motion signal to the processor.
In some embodiments of the present application, the vehicle-mounted electronic device further includes:
the scene matching component is used for receiving the scene matching control signal sent by the processor and executing matching action according to the scene matching signal;
a part of the scene matching parts is used as a scene change matching part; the scene change matching component is used for receiving a scene change control signal sent by the processor and executing a change action according to the scene change control signal.
Compared with the prior art, the technical scheme provided by the application at least has the following beneficial effects: when the vehicle-mounted interactive system works in an interactive scene, the vehicle-mounted interactive system can control at least one operated object in a video picture of the interactive scene to perform an action after responding to an operation signal sent by an operator, and can also acquire the position of a palm in real time, so that the feedback wave generator is controlled to send a feedback wave signal to the palm direction while the operated object is controlled to perform the action, the palm of the operator feels feedback information that the operation signal is already performed, the operator can clearly know that the operation signal sent by the operator is responded after receiving the feedback information, and the next step of control can be performed at the moment.
Drawings
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Fig. 1 is a flowchart illustrating a control method of a vehicle-mounted interactive system according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating a control method of a vehicle-mounted interactive system according to another embodiment of the present application;
FIG. 3 is a flowchart illustrating a control method of a vehicle-mounted interactive system according to another embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a hardware structure connection of the vehicle-mounted electronic device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a connection of a hardware structure of an in-vehicle electronic device according to another embodiment of the present application.
Detailed Description
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only used for convenience of description of the present application, and do not indicate or imply that the device or component being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. In addition, the schemes provided in the following embodiments of the present application may be combined with each other without conflicting with each other.
Some embodiments of the present application provide a control method of a vehicle-mounted interaction system, which may be applied in a vehicle-mounted processing unit having a processing function in a vehicle, as shown in fig. 1, and includes the following steps:
s101: and responding to a starting signal of the interactive scene, and outputting a video picture of the interactive scene to a display component, wherein the video picture comprises at least one operated object. This step can be implemented by the passenger as an operator operating the vehicle-mounted processing unit, for example, starting a vehicle-mounted game mode (the description in the following embodiments of the present application mostly takes a vehicle-mounted game as an example), the vehicle-mounted processing unit can enter a corresponding interactive scene according to the started specific game application program and display a game interface on a display component, where the display component may be a central control display screen of a vehicle or a light guide transparent display screen installed on a front windshield of the vehicle. For example, when the operator selects a fruit cutting game, the display unit displays a fruit cutting game interface, and various types of dropped fruits are displayed on the interface, each of which is an object to be operated. When the operator selects a racing game, the display unit displays a game interface of a racing scene, and the steering wheel, the accelerator, the brake, and the like of the racing car are operated on the interface.
S102: acquiring an operation signal, and controlling at least one operated object in the video picture to execute an action according to the operation signal. The operation signal is generated by the operator, and may be determined by using a gesture, a voice, or the like, for example, in a game scene of cutting fruits, when it is recognized that the operator swings both hands left and right, it may be determined that the fruit is cut, and in a game scene of racing, when it is recognized that the voice signal includes a voice such as "accelerate", "turn left by 45 °, or the like, it may be possible to control the accelerator and the steering wheel of the racing car to perform corresponding operations. In this step, the operation instruction corresponding to the gesture or the voice signal is stored in advance, so that the operated object can be accurately operated when the gesture or the voice is recognized. These correspondences can be displayed to prompt the operator when the game is started.
S103: the method comprises the steps of obtaining the real-time position of a palm, generating a feedback wave emission signal according to the real-time position of the palm, and sending the feedback wave signal to a feedback wave generator so as to control the feedback wave generator to emit the feedback wave signal to the direction of the palm. In this step, the real-time position of the palm can be acquired by the vehicle-mounted camera. The method comprises the steps of accurately defining a coordinate point of each position in a shooting area through a mode of establishing a space coordinate system for the shooting area of the vehicle-mounted camera, and sending a coordinate position contained in the area where the palm is located to a vehicle-mounted processing unit after the position of the palm is detected. The signal emission area of the feedback wave generator also corresponds to the shooting area of the camera, the space coordinate systems corresponding to the signal emission area and the shooting area of the camera can be considered to be coincident, and after the position coordinates of the palm shot by the camera are determined, the feedback wave generator can be controlled to emit feedback waves towards the palm area. The feedback wave generator can be selected as an ultrasonic generator, the feedback wave is low-frequency ultrasonic wave, and the palm can feel slight vibration touch after the low-frequency ultrasonic wave is transmitted to the palm.
According to the scheme in the embodiment of the application, when the vehicle-mounted interactive system works in an interactive scene, the vehicle-mounted interactive system can control at least one operated object in a video image of the interactive scene to perform an action after responding to an operation signal sent by an operator, and can also acquire the position of a palm in real time, so that the feedback wave generator is controlled to send a feedback wave signal to the palm direction while the operated object is controlled to perform the action, the palm of the operator feels feedback information that the operation signal is already performed, the operator can clearly know that the operation signal sent by the operator is responded after receiving the feedback information, and the next step of control can be performed at the moment.
In some embodiments of the present application, as shown in fig. 2, step S102 may include steps of obtaining an operation signal by way of S1021, S1022, or S1023, and then performing step S1024: and controlling at least one operated object in the video picture to execute actions according to the operation signal. Specifically, the method comprises the following steps:
s1021: and acquiring a gesture recognition signal, and obtaining the operation signal according to the gesture recognition signal. In the step, the moving track of the palm of the operator can be detected through the existing camera on the vehicle, so that a gesture recognition signal is obtained. As mentioned above, the gesture recognition signal and the operation signal have a corresponding relationship, for example, sliding left to cut fruit to the left, sliding up represents cutting fruit upwards, OK gesture represents confirmation, etc. In this step, the planar coordinate system displayed during scene display is associated with the spatial coordinate system of the camera detection area, so that the palm of the operator can be displayed corresponding to one position in the display component at any position in the camera detection area. The game control is carried out in a mode of recognizing the gesture/action of the camera in the car, the operation difficulty of playing the game in the cabin is reduced, and more excellent feedback experience can be provided when the gesture is used for playing the game.
S1022, acquiring a voice recognition signal, and obtaining the operation signal according to the voice recognition signal. The step can be realized by an existing microphone on the vehicle, and the operation command contained in the voice can be obtained by analyzing the voice sent by the operator, so that the operation signal can be obtained. The microphone can receive user voice instructions, and the user voice instructions can be used alone for controlling the operated object or can be combined with gesture instructions for controlling the operated object together. The man-machine interaction is carried out in a voice control mode, so that the operation of a user is more convenient.
S1023: and acquiring an action signal of a preset vehicle component, and obtaining the operation signal according to the action signal of the preset vehicle component. The preset vehicle component may be a steering wheel, for example, when a racing game is performed, an actual steering wheel of the vehicle may be uniformly associated with the steering wheel in a game scene through setting, an accelerator pedal of the vehicle and an accelerator pedal of the game scene may be uniformly set, and a brake pedal of the vehicle and a brake pedal of the game scene may be uniformly set.
The scheme calls the existing parts of the vehicle, assists in realizing human-computer interaction, can further enhance interaction effect, and improves user experience in the interaction process with the vehicle-mounted equipment.
As shown in fig. 3, a control method of a vehicle-mounted interaction system in some embodiments of the present application may further include the following steps:
s104: and selecting a scene matching component from the vehicle components according to the interactive scene, and obtaining a matching action to be executed by the scene matching component. Scene matching components may include audio, air conditioning, seats, mood lights, steering wheels, and the like.
S105: and sending a scene matching control signal to the scene matching component so as to control the scene matching component to execute the matching action. For example, when in a racing game scene, a stereo plays dynamic music in the game scene, an atmosphere light flickers to enhance an immersive effect, a motor in a seat vibrates to simulate a real driving state of a vehicle, an air conditioner blows outward to simulate a blowing effect when driving, and the like.
According to the scheme in the embodiment, corresponding immersion experience can be provided for an operator through real environments corresponding to simulated interactive scenes such as an atmosphere lamp, seat vibration, steering wheel vibration, vehicle-mounted air conditioner and/or in-vehicle sound playing.
The control method of the vehicle-mounted interaction system in some embodiments, as shown in fig. 3, may further include the following steps:
s106: and selecting a scene change matching component from the scene change matching components according to the operation signal, and the scene change matching component should execute the change action.
S107: sending a scene change control signal to the scene change coordination component to control the scene change coordination component to perform the transformation action.
For example, in a racing scene, when the operation signal corresponds to the vehicle acceleration running, the scene change matching component can be selected as an atmosphere lamp, a seat motor and an air conditioner, the flickering frequency of the atmosphere lamp is increased during acceleration, the vibration amplitude and the vibration frequency of the seat motor are increased, the air conditioner air outlet rate is increased, and the like. Obviously, the operator can experience a true immersive experience by performing the transformation action on the control scene transformation counterpart. In some embodiments, the feedback wave generator may also be synchronously controlled, and the intensity or frequency of the feedback wave signal may be adjusted according to changes in the operating signal. For example, in a cut fruit game scenario, the feedback wave signal is stronger when the cut fruit scores higher.
In the above embodiment, for various interactive scenes, the required scene matching component and the scene transformation matching component are all pre-stored in the system, the operation signal, the scene transformation and the control signal of the component all have a corresponding relationship, and after the determined operation signal is detected in the determined interactive scene, the corresponding component can be accurately controlled to execute actions, so that the space in the vehicle is maximally consistent with the interactive scene, and the user experience is improved.
Some embodiments of the present application further provide a storage medium, where program information is stored in the storage medium, and a computer reads the program information and then executes the control method of the vehicle-mounted interaction system according to any of the above schemes.
Some embodiments of the present application provide a vehicle-mounted electronic device, as shown in fig. 4, including at least one processor 101 and at least one memory 102, where at least one memory 102 stores program instructions, and after reading the program instructions, at least one processor 101 executes a control method of a vehicle-mounted interaction system according to any one of the above aspects. The above-mentioned in-vehicle electronic device may further include: an input device 103 and an output device 104. The processor 101, memory 102, input device 103, and output device 104 may be connected by a bus or other means. The system can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
In some embodiments of the present application, as shown in fig. 5, the vehicle-mounted electronic device may further include:
a display component 105, where the display component 105 includes an on-vehicle central control screen and/or a vehicle windshield provided with an optical waveguide transparent screen, and the on-vehicle central control screen and/or the optical waveguide transparent screen are connected to the processor 101, and receive and display a video picture sent by the processor 101; when the display signal is provided through the processor 101, and the front window glass of the vehicle is transparently displayed through the optical waveguide to show the game picture, the whole cabin in the vehicle can be changed into a game space, and a surrounding game experience is provided. The camera 106 is configured to recognize a real-time position and a gesture of the palm of the operator, and send a real-time position and a gesture recognition signal of the palm to the processor 101. And the feedback wave generator 107 is configured to receive a feedback wave transmitting signal sent by the processor 101, and transmit the feedback wave signal to the palm direction according to the control of the feedback wave transmitting signal. By adopting the scheme in the embodiment, the current position of the palm of the operator can be obtained through the camera 106, and the feedback wave generator 107 (taking the ultrasonic wave generator as an example) emits low-frequency ultrasonic waves to the corresponding direction, so that the palm can feel vibration feedback, for example, when cutting fruits, sound waves are emitted to the palm at the same time, when cutting fruits, feedback is felt, and the degree of vibration force can also be correspondingly adjusted according to different types of the fruits during cutting.
The in-vehicle electronic device in some embodiments may further include a microphone 108 for recognizing a voice of an operator and transmitting a voice recognition signal to the processor 101; alternatively, a vehicle component 109 is preset, the output of which is connected to the processor 101; the preset vehicle component 109 generates a motion signal under operation of an operator and sends the motion signal to the processor 101. The preset vehicle component 109 may be a steering wheel, an accelerator pedal, a brake pedal, or the like, and an action signal thereof is detected and transmitted to the processor 101 through the preset vehicle component 109. In some embodiments, the above apparatus may further include a scene matching component 110, configured to receive a scene matching control signal sent by the processor 101, and perform a matching action according to the scene matching signal; a part of the scene matching unit 110 is used as a scene change matching unit; the scene change matching component is configured to receive a scene change control signal sent by the processor 101, and execute a change action according to the scene change control signal. The scene matching component 110 may include a stereo, an air conditioner, a seat, an atmosphere lamp, a steering wheel, and the like.
In a concrete implementation scheme of this application, can become whole passenger cabin front window into the display screen through optical waveguide transparent display glass, produce long-range vibrations feedback through supersonic generator, all more pluralism on input and output, abundant perception accessory in make full use of intelligence cockpit provides more portably, accords with the operation mode of car machine system more and more has the output of feeling of immersing, lets the on-vehicle recreation can provide the gaming experience of far-exceeding cell-phone recreation. For example, when the user is playing the fruit cutting game, the whole front window can show the game picture, so that the user can have visual experience of more immersion, the fruit is cut by recognizing the current gesture through the camera, and the operation is simple. When cutting fruit, the camera identifies the current palm position, and meanwhile, the ultrasonic generator sends sound waves with corresponding frequency and intensity to the palm according to the fruit type, and the palm feels corresponding vibration feedback. Simultaneously, the sound effect and the atmosphere lamp flicker are matched, and the whole game mode has immersion feeling.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A control method of a vehicle-mounted interaction system is characterized by comprising the following steps:
responding to a starting signal of an interactive scene, and outputting a video picture of the interactive scene to a display component, wherein the video picture comprises at least one operated object;
acquiring an operation signal, and controlling at least one operated object in the video picture to execute an action according to the operation signal;
the method comprises the steps of obtaining the real-time position of a palm, generating a feedback wave emission signal according to the real-time position of the palm, and sending the feedback wave signal to a feedback wave generator so as to control the feedback wave generator to emit the feedback wave signal to the direction of the palm.
2. The method for controlling the vehicle-mounted interaction system according to claim 1, wherein the step of acquiring an operation signal and controlling at least one operated object in the video picture to perform an action according to the operation signal comprises:
acquiring a gesture recognition signal, and acquiring the operation signal according to the gesture recognition signal; or acquiring a voice recognition signal, and obtaining the operation signal according to the voice recognition signal.
3. The method for controlling the vehicle-mounted interaction system according to claim 1, wherein the step of acquiring an operation signal and controlling at least one operated object in the video picture to perform an action according to the operation signal further comprises:
and acquiring an action signal of a preset vehicle component, and obtaining the operation signal according to the action signal of the preset vehicle component.
4. The control method of the vehicle-mounted interaction system according to any one of claims 1 to 3, characterized by further comprising the steps of:
selecting a scene matching component from vehicle components according to the interactive scene, and obtaining a matching action to be executed by the scene matching component;
and sending a scene matching control signal to the scene matching component so as to control the scene matching component to execute the matching action.
5. The control method of the vehicle-mounted interaction system according to claim 4, further comprising the steps of:
selecting a scene change matching component from the scene matching components according to the operation signal, and a transformation action to be executed by the scene change matching component;
sending a scene change control signal to the scene change coordination component to control the scene change coordination component to perform the transformation action.
6. A storage medium, wherein program information is stored in the storage medium, and a computer reads the program information and executes the control method of the vehicle-mounted interactive system according to any one of claims 1 to 5.
7. An in-vehicle electronic device, comprising at least one processor and at least one memory, wherein the at least one processor is connected to the at least one memory in a communication manner, the at least one memory stores program information, and the at least one processor reads the program information to execute the control method of the in-vehicle interactive system according to any one of claims 1 to 5.
8. The in-vehicle electronic apparatus according to claim 7, characterized by further comprising:
the display component comprises a vehicle-mounted central control screen and/or a vehicle front windshield glass provided with an optical waveguide transparent screen, and the vehicle-mounted central control screen and/or the optical waveguide transparent screen are connected with the processor and used for receiving and displaying a video picture sent by the processor;
the camera is used for recognizing the real-time position and the gesture of the palm of the operator and sending the real-time position and the gesture recognition signal of the palm to the processor;
and the feedback wave generator is used for receiving the feedback wave transmitting signal sent by the processor and transmitting the feedback wave signal to the palm direction according to the control of the feedback wave transmitting signal.
9. The in-vehicle electronic apparatus according to claim 7, characterized by further comprising:
a microphone for recognizing a voice of an operator and transmitting a voice recognition signal to the processor; alternatively, the first and second electrodes may be,
presetting a vehicle component, wherein the output end of the vehicle component is connected with the processor; the preset vehicle component generates a motion signal under the operation of an operator and sends the motion signal to the processor.
10. The in-vehicle electronic apparatus according to any one of claims 7 to 9, characterized by further comprising:
the scene matching component is used for receiving the scene matching control signal sent by the processor and executing matching action according to the scene matching signal;
a part of the scene matching parts is used as a scene change matching part; the scene change matching component is used for receiving a scene change control signal sent by the processor and executing a change action according to the scene change control signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110239685.5A CN112947757A (en) | 2021-03-04 | 2021-03-04 | Control method of vehicle-mounted interaction system, storage medium and vehicle-mounted electronic equipment |
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| CN202110239685.5A CN112947757A (en) | 2021-03-04 | 2021-03-04 | Control method of vehicle-mounted interaction system, storage medium and vehicle-mounted electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023098631A1 (en) * | 2021-12-03 | 2023-06-08 | 长城汽车股份有限公司 | Vehicle control method and apparatus, electronic device, vehicle, storage medium, and computer program product |
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Application publication date: 20210611 |