CN113428273B - Vehicle attitude sensing control method and system, vehicle and electronic equipment - Google Patents

Vehicle attitude sensing control method and system, vehicle and electronic equipment Download PDF

Info

Publication number
CN113428273B
CN113428273B CN202110983958.7A CN202110983958A CN113428273B CN 113428273 B CN113428273 B CN 113428273B CN 202110983958 A CN202110983958 A CN 202110983958A CN 113428273 B CN113428273 B CN 113428273B
Authority
CN
China
Prior art keywords
vehicle
shutdown
attitude data
attitude
real time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110983958.7A
Other languages
Chinese (zh)
Other versions
CN113428273A (en
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ninebot Changzhou Technology Co Ltd
Original Assignee
Ninebot Changzhou Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ninebot Changzhou Technology Co Ltd filed Critical Ninebot Changzhou Technology Co Ltd
Priority to CN202110983958.7A priority Critical patent/CN113428273B/en
Publication of CN113428273A publication Critical patent/CN113428273A/en
Application granted granted Critical
Publication of CN113428273B publication Critical patent/CN113428273B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors

Abstract

The present disclosure provides a vehicle control method and system, a vehicle and an electronic device, which relate to the technical field of vehicles, wherein the method comprises the following steps: the method comprises the steps of acquiring attitude data of a vehicle in real time through an attitude detection device arranged in the vehicle, responding to preset conditions, calibrating the shutdown state of the vehicle, acquiring shutdown attitude data of the vehicle, and controlling the vehicle to be automatically started and/or shut down according to the attitude data acquired in real time and the shutdown attitude data. Therefore, after the vehicle shutdown gesture is calibrated, a user only needs to rely on intuition and habit to use the vehicle, the vehicle can acquire the current gesture of the vehicle body in real time through the gesture sensor, and the user requirement is analyzed and judged, so that the vehicle is automatically controlled to be started and/or shut down, the user can use the vehicle conveniently, and the user experience is improved.

Description

Vehicle attitude sensing control method and system, vehicle and electronic equipment
Technical Field
The disclosure relates to the technical field of robot technology and startup and shutdown of various devices, in particular to a vehicle posture sensing control method and system, a vehicle and electronic equipment.
Background
With the popularization of the existing digital economy and intelligent equipment, people are used to a mobile phone to solve the travel of daily life, and are not used to any mechanical key, remote control and the like. Most of the vehicle on/off modes on the market at present need to use specific actions, such as one-key starting, key turning and the like.
In the traditional design, a user needs to perform corresponding operation to control the power on or off of the vehicle and lock the vehicle, so that long time is needed, and the operation of vehicles of different models and different manufacturers is possibly different, which affects the user experience.
Disclosure of Invention
The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the vehicle attitude sensing control method and system, the vehicle and the electronic device are provided, after the vehicle shutdown attitude is calibrated based on the automatic startup and/or automatic shutdown mode of attitude sensing, a user does not need to have redundant specific operation, the vehicle only needs to be used by means of intuition and habit, the vehicle can acquire the current vehicle body attitude in real time through the attitude sensor and analyze and judge the user demand, the vehicle is automatically controlled to be started and/or shut down, the vehicle is convenient for the user to use, and the user experience is improved.
According to an aspect of the present disclosure, there is provided a vehicle attitude sensing control method, including: the method comprises the steps of acquiring attitude data of a vehicle in real time through an attitude detection device arranged in the vehicle, responding to preset conditions, calibrating the shutdown state of the vehicle, acquiring shutdown attitude data of the vehicle, and controlling the vehicle to be automatically started and/or shut down according to the attitude data acquired in real time and the shutdown attitude data.
In some embodiments, the calibrating the shutdown state of the vehicle in response to the preset condition to obtain the shutdown attitude data of the vehicle includes: responding to a control instruction, performing initial calibration on the shutdown state of the vehicle, and acquiring shutdown attitude data of the vehicle; or responding to the condition that the self-calibration starting condition is met, self-calibrating the shutdown state of the vehicle, and updating the shutdown attitude data of the vehicle.
In some embodiments, the initially calibrating the shutdown state of the vehicle in response to the control instruction and acquiring the shutdown attitude data of the vehicle include: responding to a user or a manufacturer to trigger a combined key of the vehicle or sending a control instruction for calibrating a shutdown gesture through a control terminal interacting with the vehicle; timing a first preset time length according to the control instruction; and under the condition that the change of the attitude data of the vehicle does not exceed a preset range within the first preset time, acquiring shutdown attitude data according to the attitude data measured in real time within the first preset time.
In some embodiments, the self-calibrating the shutdown state of the vehicle in response to the self-calibration start condition being met, updating the shutdown attitude data of the vehicle, including in response to a predetermined period being met; detecting the starting and/or shutdown state of the vehicle, and timing a second preset time length under the condition that the vehicle is in the shutdown state; and under the condition that the change of the attitude data of the vehicle does not exceed the preset range within the second preset time, obtaining self-calibrated shutdown attitude data according to the attitude data measured in real time within the second preset time so as to update the shutdown attitude data.
In some embodiments, the sending a control command to calibrate the power-off state in response to adjusting the attitude of the vehicle to the expected power-off state includes: and adjusting the vehicle attitude to an expected shutdown state, and sending a control instruction for calibrating the shutdown attitude by triggering a combined key of the vehicle or by a control terminal interacting with the vehicle.
In some embodiments, said detecting a power on and/or power off state of said vehicle comprises: and detecting the starting and/or shutdown state of the vehicle by comparing the attitude data of the vehicle with the shutdown attitude data acquired in real time.
In some embodiments, the detecting the power on and/or power off state of the vehicle further comprises: detecting whether a user exists in a certain range of a vehicle through an image acquisition device arranged on the vehicle; and/or detecting whether a user is seated on the vehicle seat cushion through a pressure sensor arranged at the position of the vehicle seat cushion; and/or detecting whether the vehicle temple is put down through a Hall sensor or an angle sensor or a travel switch arranged at the position of the vehicle temple.
In some embodiments, the acquiring, in real time, the attitude data of the vehicle by the attitude detection device built in the vehicle includes: a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground and/or a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are/is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle.
In some embodiments, the controlling the vehicle to automatically turn on and/or automatically turn off according to the attitude data acquired in real time and the shutdown attitude data includes: under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple and the vehicle is stably parked towards the side of the temple; and controlling the vehicle to be started so as to enable the vehicle to be in a starting state under the condition that the first characteristic value is larger than the first preset characteristic value.
In some embodiments, the controlling the vehicle to automatically turn on and/or automatically turn off according to the attitude data obtained in real time and the shutdown attitude data further includes:
under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple and the vehicle is stably parked towards the side of the temple; controlling the vehicle to be shut down so that the vehicle is in a shut-down state when the first characteristic value is smaller than or equal to the first preset characteristic value; or under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground and a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle; the shutdown attitude data reflects the state that the vehicle inclines to the side of the side support to be stably parked towards the side support and reflects the state that the handlebar is placed to reach and exceed the locking position of the faucet lock; and controlling the vehicle to be shut down so as to enable the vehicle to be in a shut-down state under the condition that the first characteristic value is smaller than or equal to the first preset characteristic value and the second characteristic value is larger than or equal to the second preset characteristic value.
In some embodiments, the controlling the vehicle to automatically turn on and/or automatically turn off according to the attitude data obtained in real time and the shutdown attitude data further includes: acquiring authentication information of a vehicle through an authentication detection device arranged in the vehicle; and controlling the vehicle to be automatically started and/or automatically shut down according to the attitude data, the shutdown attitude data and the authentication information which are acquired in real time.
According to a second aspect of the present disclosure, there is provided a vehicle attitude sensing control system, the system comprising: the attitude detection unit is used for acquiring attitude data of the vehicle in real time through an attitude detection device built in the vehicle; the calibration processing unit is used for responding to a preset condition, calibrating the shutdown state of the vehicle and acquiring shutdown attitude data of the vehicle; and the control unit is used for controlling the vehicle to be automatically started and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data.
According to a third aspect of the present disclosure, there is provided a vehicle characterized by comprising: a vehicle attitude sensing control system as in the second aspect.
According to a fourth aspect of the present disclosure, there is provided an electronic apparatus, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the method comprises the steps of acquiring attitude data of a vehicle in real time through an attitude detection device arranged in the vehicle, responding to preset conditions, calibrating the shutdown state of the vehicle, acquiring shutdown attitude data of the vehicle, and controlling the vehicle to be automatically started and/or shut down according to the attitude data acquired in real time and the shutdown attitude data. Therefore, after the vehicle shutdown gesture is calibrated, a user only needs to rely on intuition and habit to use the vehicle, the vehicle can acquire the current gesture of the vehicle body in real time through the gesture sensor, and the user requirement is analyzed and judged, so that the vehicle is automatically controlled to be started and/or shut down, the user can use the vehicle conveniently, and the user experience is improved.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flowchart of a vehicle attitude sensing control method according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating sub-steps of a vehicle attitude sensing control method S2 according to an embodiment of the disclosure;
FIG. 3 is a flowchart illustrating sub-steps of another vehicle attitude sensing control method S2 according to an embodiment of the present disclosure;
FIG. 4 is a block diagram of a vehicle attitude sensing control system according to an embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device for implementing a vehicle attitude sensing control method according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.
A vehicle attitude sensing control method and system, a vehicle, and an electronic device of the embodiments of the present disclosure are described below with reference to the drawings.
Aiming at the introduction in the background art, most of the vehicle startup and/or shutdown modes in the market at present need to take longer time by means of some specific actions, such as one-key startup, key turning and the like, and the vehicle operations of different manufacturers of different models may be different, so that the user experience is influenced, the use of the vehicle by the user is facilitated, and the user experience is improved.
Based on this, the embodiment of the present disclosure provides a vehicle attitude sensing control method and system, after a vehicle shutdown attitude is calibrated, a user does not need to perform a specific operation, and only needs to use the vehicle by intuition and habit, the vehicle can acquire a current vehicle body attitude in real time through an attitude sensor and analyze and judge a user demand, so as to automatically control the vehicle to be powered on and/or powered off.
Specifically, fig. 1 is a flowchart of a vehicle attitude sensing control method according to an embodiment of the present disclosure.
As shown in fig. 1, a vehicle posture sensing control method provided by the embodiment of the present disclosure includes, but is not limited to, the following steps:
s1: and acquiring the attitude data of the vehicle in real time through an attitude detection device arranged in the vehicle.
It should be noted that, the vehicle in the embodiment of the present disclosure may be, for example, but is not limited to: electric bicycles, motorcycles, bicycles, balance cars, electric scooters, electric unicycles, electric tricycles, and the like.
The attitude detecting device in the embodiments of the present disclosure may be, for example, but not limited to, a motion sensor such as a gyroscope (three-axis/six-axis gyroscope), an acceleration sensor (three-axis accelerometer), and a three-axis electronic compass.
In the embodiment of the disclosure, the attitude detection device performs detection, further performs temperature compensation, obtains attitude data such as a three-dimensional attitude, an azimuth and the like through an embedded low-power-consumption arm (advanced RISC machine) processor, and further outputs zero-drift three-dimensional attitude azimuth data expressed by a quaternion, an euler angle and the like in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology.
In the embodiment of the present disclosure, by providing a vehicle-mounted attitude detection device, the attitude data of the vehicle can be acquired in real time, for example: the attitude data of the vehicle such as the static state or the running state, the deflection direction of the handlebar, the inclination degree of the vehicle body and the like can be reflected.
S2: and responding to a preset condition, calibrating the shutdown state of the vehicle, and acquiring shutdown attitude data of the vehicle.
The preset condition may be a control instruction sent by a user to operate the vehicle at any time when the user needs to calibrate the shutdown state of the vehicle or operate the mobile terminal bound to the vehicle, a control instruction sent by a manufacturer to calibrate the shutdown posture of the vehicle before the vehicle leaves a factory, an automatic starting condition that the vehicle self-calibration meets a preset period, and the like.
It can be understood that the attitude data of the vehicle is acquired in real time through the attitude detection device, the shutdown state of the vehicle is calibrated in response to the preset condition, the shutdown attitude data of the vehicle is acquired, and the shutdown attitude data can be stored to realize the calibration of the shutdown state of the vehicle.
It can be understood that the shutdown state of the vehicle is calibrated, and the obtained shutdown attitude data can be used as the attitude data obtained in real time to judge whether the vehicle is in the shutdown state.
S3: and controlling the vehicle to automatically start and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data.
In the embodiment of the disclosure, after the shutdown attitude of the vehicle is calibrated, the shutdown attitude data of the vehicle in the shutdown state is acquired, further, under the condition that the attitude data of the vehicle is acquired in real time by the attitude sensor, comparison is performed according to the attitude data and the shutdown attitude data acquired in real time, and under the condition that the attitude data acquired in real time is the shutdown attitude data, the vehicle is controlled to execute the shutdown action so as to enable the vehicle to be in the shutdown state. And when the attitude data acquired in real time is not shutdown attitude data or is other specific conditions, the shutdown action is not executed on the vehicle.
In an exemplary embodiment, if the vehicle is in a power-on state, the attitude data of the vehicle acquired in real time is power-off attitude data, and at this time, the vehicle is controlled to execute a power-off action so that the vehicle is in a power-off state.
Specifically, the automatic start-up and/or automatic shut-down of the vehicle is controlled by a start-up and/or shut-down circuit additionally arranged in the vehicle.
According to the vehicle attitude sensing control method provided by the embodiment of the disclosure, the attitude data of the vehicle is acquired in real time through the built-in attitude detection device of the vehicle, the shutdown state of the vehicle is calibrated in response to the preset condition, the shutdown attitude data of the vehicle is acquired, and the vehicle is controlled to be automatically started and/or shut down according to the attitude data acquired in real time and the shutdown attitude data. Therefore, after the vehicle shutdown gesture is calibrated, a user only needs to rely on intuition and habit to use the vehicle, the vehicle can acquire the current gesture of the vehicle body in real time through the gesture sensor, and the user requirement is analyzed and judged, so that the vehicle is automatically controlled to be started and/or shut down, the user can use the vehicle conveniently, and the user experience is improved.
In some embodiments, calibrating the shutdown state of the vehicle in response to a preset condition, and acquiring shutdown attitude data of the vehicle includes: responding to a control instruction, performing initial calibration on the shutdown state of the vehicle, and acquiring shutdown attitude data of the vehicle; or responding to the condition that the self-calibration starting condition is met, self-calibrating the shutdown state of the vehicle, and updating the shutdown attitude data of the vehicle.
The method comprises the following steps that initial calibration is carried out on the shutdown state of a vehicle, the shutdown state of the vehicle needs to be initially calibrated for a vehicle newly produced by a manufacturer, and the initial calibration can be carried out at the manufacturer; after the user purchases the vehicle, the user carries out initial calibration on the shutdown state of the vehicle by himself; the vehicle can also be provided with a related control program, so that the previous shutdown state data can be cleared by one key, and the initial calibration of the shutdown state of the vehicle can be carried out again.
The method can automatically calibrate the shutdown state of the vehicle, can automatically calibrate the shutdown state of the vehicle for the vehicle, and is controlled by the vehicle.
It can be understood that the shutdown state of the vehicle is automatically controlled to perform self-calibration, the shutdown attitude data of the vehicle is updated, and the shutdown state of the vehicle is self-calibrated in response to meeting the self-calibration condition on the premise that the shutdown attitude data of the vehicle exists, so that the shutdown attitude data of the vehicle is updated.
The self-calibration starting condition is met, and the self-calibration starting condition can be preset time, a preset period and the like.
Illustratively, the shutdown state of the vehicle is self-calibrated in response to reaching the preset time; alternatively, the off state of the vehicle is self-calibrated in response to reaching a predetermined period.
In some embodiments, as shown in fig. 2, S2 in this disclosed embodiment further includes:
s21: and sending a control instruction for calibrating the shutdown state in response to the fact that a user or a manufacturer triggers a combined key of the vehicle or a control terminal interacting with the vehicle.
The control command can be sent by a user or a vehicle manufacturer.
It can be understood that, under the condition that the control instruction is sent by the user, the shutdown state of the vehicle can be the vehicle posture set by the user, the user can set the shutdown state of the vehicle according to the habit of driving the vehicle by himself or expecting to set the vehicle, the vehicle posture is adjusted to the posture which accords with the driving habit or expecting to set the vehicle in the shutdown state, then, the control instruction is sent, the shutdown posture of the vehicle is initially calibrated, the shutdown posture data of the vehicle is obtained, for subsequent use of the vehicle, the vehicle can be automatically controlled to be started and/or shut down according to the shutdown posture data, and the use experience of the user is improved.
Under the condition that the control instruction is sent by a vehicle manufacturer, the vehicle is in a shutdown state, the vehicle manufacturer can adjust the vehicle posture to the vehicle posture in the shutdown state according to the driving habits of most users at present, or can set the vehicle posture in the shutdown state with the unique use style, then the control instruction is sent, the shutdown posture of the vehicle is initially calibrated, the shutdown posture data of the vehicle is obtained, after a subsequent user purchases the vehicle, in the vehicle using process, the vehicle can be automatically controlled to be started and/or shut down according to the shutdown posture data, and the use experience of the user is improved.
S22: and timing the first preset time length according to the control instruction.
It can be understood that, in the process of calibrating the shutdown attitude of the vehicle, the attitude detection device acquires the attitude data of the vehicle in real time, because the shutdown attitude data of the vehicle in the shutdown state needs to be acquired, whether the vehicle is in the shutdown state needs to be judged, and whether the vehicle is in the shutdown state can be judged according to the attitude data acquired in real time within the first preset time by timing the first preset time.
Under the condition that the control instruction is sent by the user or the vehicle manufacturer, the attitude of the vehicle is adjusted in advance before the user or the vehicle manufacturer sends the control instruction, conceivably, the vehicle is in a shutdown state, at the moment, the user or the vehicle manufacturer sends the control instruction, the attitude data in a longer time does not need to be acquired to judge whether the vehicle is in the shutdown state, the vehicle can be judged to be in the shutdown state only by acquiring the attitude data in a shorter time, and a large error cannot occur.
Based on this, the first preset time period may be 15s, 14s, 13s, 12s, 11s, 10s, 9s, 8s, 7s, 6s, 5s, 4s, and the like, and particularly may be between 10s and 5s, at this time, a user or a manufacturer does not need to wait for a long time for initial calibration of a vehicle, may quickly complete the initial calibration, and may also obtain attitude data for a sufficiently long time, and perform statistical analysis to obtain shutdown attitude data.
After the control instruction is received, timing of a first preset time length is carried out, and therefore the posture of the vehicle is monitored within the first preset time length range. The time of the first preset duration is reserved, the time can be reserved for a user to determine whether the shutdown gesture of the vehicle needs to be calibrated, and the situation that the user only triggers a control instruction for calibrating the shutdown gesture by mistake is avoided, and the shutdown gesture of the vehicle is directly calibrated.
S23: and under the condition that the change of the attitude data of the vehicle does not exceed the preset range within the first preset time, acquiring shutdown attitude data according to the attitude data measured in real time within the first preset time.
It can be understood that the attitude sensor acquires the attitude data of the vehicle in real time, and the vehicle is parked stably under the condition that the accuracy of the sensor measurement is high, but the vehicle vibrates due to the surrounding environment, for example: wind blowing toward a vehicle, a vehicle traveling on the roadside, a person passing by, and the like all cause a change in the posture of the vehicle to some extent. Although a noticeable change in attitude may not be visually perceptible, in the disclosed embodiment, the attitude data measured by the attitude sensor calibrated for the vehicle may be found to change.
In consideration of the occurrence of such situations, in the embodiment of the disclosure, when the vehicle shutdown gesture is calibrated, within the first preset time period, the gesture data detected by the gesture sensor is set to a certain preset range, so that the accuracy of calibrating the vehicle shutdown gesture can be improved.
Specifically, the setting of the preset range is related to the attitude data measured by the attitude sensor, different attitude sensors are selected, and different preset ranges are set.
Within the first preset time, the attitude detection device acquires the attitude data of the vehicle in real time, and whether the vehicle is in a shutdown state or not can be analyzed by monitoring the change of the attitude data acquired in real time.
In the embodiment of the present disclosure, the attitude data of the vehicle does not change beyond a preset range, for example: the change fluctuation value of the attitude data of the vehicle does not exceed a certain preset size, or the change of the attitude data does not exceed the preset range of the shutdown state set by the factory of the vehicle, and the like.
It can be understood that, within the first preset time period, the change of the attitude data acquired in real time does not exceed the preset range, for example: the change fluctuation value of the attitude data does not exceed a certain preset value, the vehicle can be judged to be in a shutdown state, and then shutdown attitude data can be obtained according to the attitude data obtained in real time within a first preset time length.
In other embodiments, as shown in fig. 3, S2 in this disclosed embodiment further includes:
s210: in response to the predetermined period being met.
It is understood that the user inevitably causes some wear to the vehicle during use of the vehicle. For example: after the vehicle is used for a long time, when the vehicle is parked towards the side of the side support, a user may still sit on the vehicle, and the inclined angle of the vehicle towards the side support is increased to a certain extent, and if the inclined angle of the vehicle towards the side support is the calibrated shutdown posture, the inclined angle may cause the data to come in and go out with the initially calibrated shutdown posture, and the problems that the subsequent vehicle cannot be normally started and/or shut down and the like may exist, so that the use of the user is seriously influenced.
Based on this, in the embodiment of the present disclosure, in response to that the predetermined period is met, in the normal use process of the vehicle, the shutdown state of the vehicle can be self-calibrated to update the shutdown posture data of the vehicle, so that the situation that the vehicle cannot be automatically started and/or automatically shut down due to the fact that the shutdown posture data comes in and goes out with the requirements of an actual user is avoided.
The predetermined period may be once per month, once per quarter, once per half year, once per three years, or once per five years, and may be specifically set according to needs, and this is not specifically limited by the embodiments of the present disclosure.
S220: and detecting the starting and/or shutdown state of the vehicle, and timing a second preset time length under the condition that the vehicle is in the shutdown state.
It should be noted that, in a predetermined period, detecting the power-on and/or power-off state of the vehicle is the power-on and/or power-off state of the vehicle obtained based on the power-off posture data calibrated at the first time or the last time, after reaching the predetermined period, for example, once every quarter, after entering a new quarter, detecting the power-on and/or power-off state of the vehicle, and in the case that the vehicle is in the power-off state, self-calibrating the power-off posture of the vehicle, namely, automatically calibrating the power-off posture of the vehicle itself, and based on this, timing for a second preset time period is required to detect whether the vehicle is in the power-off state.
It can be understood that the second preset duration is not short enough, and a certain time is needed to detect that the vehicle is stably in a shutdown state, so that the measured shutdown attitude data is more accurate. For example, the second preset time period may be: under the conditions of 5min, 10min, 15min, 20min, 25min or 30min and the second preset time of 10min, the collected shutdown attitude data is enough and can also be used as evidence that the vehicle is stably in the shutdown state, so that the shutdown attitude of the vehicle in the shutdown state can be reflected.
S230: and under the condition that the change of the attitude data of the vehicle does not exceed the preset range within the second preset time length, acquiring self-calibrated shutdown attitude data according to the attitude data measured in real time within the second preset time length so as to update the shutdown attitude data.
It can also be understood that the attitude sensor acquires the attitude data of the vehicle in real time, and in the case that the accuracy of the sensor measurement is high, the vehicle is already parked smoothly, but the vehicle vibrates due to the surrounding environment, for example: wind blowing toward a vehicle, a vehicle traveling on the roadside, a person passing by, and the like all cause a change in the posture of the vehicle to some extent. Although a noticeable change in attitude may not be visually perceptible, in the disclosed embodiment, the attitude data measured by the attitude sensor calibrated for the vehicle may be found to change.
In consideration of the occurrence of such situations, in the embodiment of the disclosure, when the vehicle shutdown gesture is calibrated automatically, the gesture data detected by the gesture sensor is set within a certain preset range within the second preset duration, so that the accuracy of calibrating the vehicle shutdown gesture can be improved.
In the embodiment of the present disclosure, the attitude data of the vehicle does not change beyond a preset range, for example: the change fluctuation value of the attitude data of the vehicle does not exceed a certain preset size, or the change of the attitude data does not exceed the preset range of the shutdown state set by the factory of the vehicle, and the like.
Specifically, the setting of the preset range is related to the attitude data measured by the attitude sensor, different attitude sensors are selected, and different preset ranges are set.
After the attitude data measured in real time within the second preset time period is obtained, the attitude data is analyzed to obtain the self-calibrated shutdown attitude data, specifically, the self-calibrated shutdown attitude data may be obtained by averaging the attitude data measured in real time within the second preset time period, or by taking a median, or after performing corresponding calculation processing, so as to replace the shutdown attitude data calibrated at the previous time, thereby updating the shutdown attitude data.
In some embodiments, in response to a user or a manufacturer adjusting a vehicle attitude to a desired shutdown state, sending a control command to calibrate the shutdown state includes: and adjusting the posture of the vehicle to be in an expected shutdown state, and sending a control instruction for calibrating the shutdown posture by triggering a combined key of the vehicle or by a control terminal interacting with the vehicle.
In the embodiment of the disclosure, after the user or the vehicle manufacturer adjusts the posture of the vehicle to the expected shutdown state, the user or the manufacturer may send a control instruction for calibrating the shutdown posture by triggering a combination key of the vehicle or by using a control terminal interacting with the vehicle.
In an exemplary embodiment, when the user or the manufacturer calibrates the vehicle shutdown status, the vehicle status may be adjusted to an expected shutdown status, for example: the position, the vehicle temple that the handlebar turned to tap lock locking put down, the vehicle is to the temple side steady, vehicle handlebar tap lock and/or car machine lock and carry out the lock etc. after the vehicle gesture adjustment is the anticipated shutdown gesture of user or manufacturer, user or manufacturer can be through the combination button that triggers the vehicle, for example: the front brake and whistle keys are pressed simultaneously, or the rear brake and whistle keys are pressed simultaneously, and the like, it is conceivable that a control instruction for calibrating the shutdown attitude can be sent in a mode of combining any two or three or more keys in the case that the vehicle has multiple keys.
In an exemplary embodiment, when the user or the manufacturer calibrates the vehicle shutdown status, the vehicle status may be adjusted to an expected shutdown status, for example: the position, the vehicle temple that handlebar steering spindle lock locking put down, the vehicle is to the temple side steady, vehicle handlebar spindle lock and/or car machine lock and carry out the lock etc. after the vehicle gesture adjustment is the anticipated shutdown gesture of user or manufacturer, user or manufacturer can be through the control terminal with vehicle interaction, for example: a control terminal, a mobile phone terminal and the like developed by a manufacturer for realizing automatic calibration of a vehicle send a control instruction for calibrating a shutdown attitude.
Under the condition that the control terminal is a mobile phone terminal, a vehicle manufacturer can develop application software interacting with a controller of a vehicle, and a user can install corresponding application software on the mobile phone terminal and then send a corresponding control instruction through the application software.
In an exemplary embodiment, when a user or a manufacturer sends a control instruction for calibrating a shutdown gesture through a mobile phone terminal, timing a first preset time according to the control instruction may be displayed in application software of the mobile phone terminal of the user, or the application software of the mobile phone terminal may further provide related voice prompt information, for example: timing information such as '5 th second', 'shutdown attitude calibration is started', 'shutdown attitude calibration is completed', and the like, so that a user can visually know the progress of shutdown attitude calibration, and user experience is improved.
In an exemplary embodiment, when a user or a manufacturer sends a control instruction for calibrating a shutdown gesture by triggering a combination key of a vehicle, timing a first preset time period according to the control instruction, and displaying related information on a display interface of the vehicle, for example: timing information "5 th second" etc. can also be through built-in voice broadcast device, the relevant information of voice broadcast, for example: timing information such as '5 th second', 'shutdown attitude calibration is started', 'shutdown attitude calibration is completed', and the like, so that a user can visually know the progress of shutdown attitude calibration, and user experience is improved.
It should be noted that, when a user or a manufacturer sends a control instruction for calibrating a shutdown gesture by triggering a combination key of a vehicle, a combination key switch of the vehicle is triggered, and a combination key that is not used by the user at ordinary times is preferentially set, so that the user can be prevented from mistakenly triggering the combination key and entering a shutdown gesture calibration program under the condition that the shutdown gesture calibration is not needed, which brings inconvenience to the user.
In some embodiments, detecting the power on and/or power off status of the vehicle comprises: and detecting the starting and/or shutdown state of the vehicle by comparing the attitude data and the shutdown attitude data of the vehicle acquired in real time.
In the embodiment of the disclosure, the attitude data of the vehicle in the shutdown state is acquired, calibrated to be the shutdown attitude data of the vehicle, and stored to complete the initial calibration and the self-calibration. Further, the starting state and/or the shutdown state of the vehicle are detected, the attitude data acquired in real time by the attitude detection device is compared with the shutdown attitude data, and the vehicle is determined to be in the shutdown state at the moment when the attitude data acquired in real time is the shutdown attitude data, or the vehicle is determined to be in the starting state at the moment when the attitude data acquired in real time is not the shutdown attitude data or is other preset attitude data.
In some embodiments, in the embodiments of the present disclosure, detecting a power-on and/or power-off state of a vehicle further includes: detecting whether a user exists in a certain range of the vehicle through an image acquisition device arranged on the vehicle; and/or detecting whether a user is seated on the vehicle seat cushion through a pressure sensor arranged at the position of the vehicle seat cushion; and/or detecting whether the vehicle temple is put down through a Hall sensor or an angle sensor or a travel switch arranged at the position of the vehicle temple.
The image acquisition device can be a camera and the like to acquire a video image.
In the embodiment of the disclosure, the image acquisition device arranged on the vehicle can acquire video images around the vehicle, so as to further analyze whether a user exists in a certain range of the vehicle, so as to further determine whether the vehicle is in a shutdown state.
In the embodiment of the disclosure, whether a user sits on the vehicle seat cushion is obtained through the pressure sensor arranged at the position of the vehicle seat cushion, and then whether the user uses the vehicle is further analyzed, so as to further determine whether the user sits on the vehicle seat cushion, and it can be understood that when the pressure sensor detects that the pressure is smaller than a certain value, the vehicle can be judged in a shutdown state at the moment in an auxiliary manner.
In the embodiment of the disclosure, the state of the vehicle temple is acquired through the hall sensor or the angle sensor or the travel switch arranged at the position of the vehicle temple, specifically, the state of the vehicle temple is acquired through putting down the temple, so that the vehicle inclines to the temple side to enable the vehicle body to be stably parked when a user does not use the vehicle, and the state of the vehicle temple is acquired through the hall sensor or the angle sensor or the travel switch arranged at the position of the vehicle temple, so that whether the vehicle temple is put down or not can be assisted to judge.
In some embodiments, the obtaining attitude data of the vehicle in real time by the attitude detection device built in the vehicle in the embodiments of the present disclosure includes: a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground and/or a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are/is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle.
Wherein, the angle that the vehicle leaned on to the temple side can be reflected to the first eigenvalue of contained angle between vehicle automobile body place plane and the ground, and the second eigenvalue of contained angle can reflect between vehicle handlebar and the automobile body whether the handlebar is put to the position of tap lock locking.
In the exemplary embodiment, a method of acquiring the first characteristic value and/or the second characteristic value in the embodiment of the present disclosure is described by taking an example in which an acceleration sensor is provided in a vehicle.
The acceleration sensor arranged in the vehicle is used for measuring the acceleration components of three axes of the space, if the vehicle is in a static state, the composition of the three axis components is equal to the gravity acceleration, the first characteristic value can be obtained based on the projection of the three axis components, the handlebar placing direction is obtained according to the acceleration component of one axis, and the second characteristic value is obtained.
Note that, in the case where a gyroscope is built in the vehicle, the measured angular velocity is; in addition, under the condition that the gyroscope and the acceleration sensor are simultaneously arranged in the vehicle, the first angle and the second angle are comprehensively obtained by combining the measurement results of the gyroscope and the acceleration sensor, so that the measurement result is more accurate.
In some embodiments, in the embodiments of the present disclosure, controlling the vehicle to automatically start and/or automatically shut down according to the attitude data obtained in real time and the shutdown attitude data includes:
under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple to a state where the vehicle stably parks to the side of the temple; and controlling the vehicle to start under the condition that the first characteristic value is greater than the first preset characteristic value so as to enable the vehicle to be in a starting state.
Based on this, when the first characteristic value of the included angle between the plane where the vehicle body is located and the ground is larger than the first preset characteristic value, the vehicle is in the non-power-off state, and the intention of the user at this time can be reflected that the vehicle needs to be powered on and is in the power-on state.
It should be noted that the value of the first preset characteristic value may be set as needed, and may be set according to the type of a vehicle, such as a large, medium, or small vehicle; and setting according to the height of the vehicle body and a target user.
In the embodiment of the disclosure, under the condition that the first characteristic value is greater than the first preset characteristic value, the vehicle is not in a state of being stably parked towards the side of the side support, and the intention of a user at the moment can be reflected that the user drives the vehicle and needs to start the vehicle in a starting state, so that the vehicle is controlled to start so as to be in the starting state, the user can start the riding vehicle by means of the vehicle power through intuition and habit without excessive operation, and the operation is efficient and rapid.
In some embodiments, controlling the vehicle to automatically start and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data further comprises:
under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple to a state where the vehicle stably parks to the side of the temple; under the condition that the first characteristic value is smaller than or equal to a first preset characteristic value, controlling the vehicle to shut down so as to enable the vehicle to be in a shutdown state; or under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body of the vehicle is located and the ground and a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle; the shutdown attitude data reflects the state that the vehicle inclines to the side of the side support to be stably parked and reflects the state that the handlebar is placed to reach and exceed the locking position of the faucet lock; and controlling the vehicle to be shut down so as to enable the vehicle to be in a shut-down state under the condition that the first characteristic value is smaller than or equal to a first preset characteristic value and the second characteristic value is larger than or equal to a second preset characteristic value.
In some embodiments, controlling the vehicle to automatically start and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data further comprises: acquiring authentication information of the vehicle through an authentication detection device arranged in the vehicle; and controlling the automatic start-up and/or automatic shut-down of the vehicle according to the attitude data, the shutdown attitude data and the authentication information which are acquired in real time.
It will be appreciated that the authentication detection means may be provided inside the vehicle, for example but not limited to: the power module supplies electric energy to the authentication detection device and is used for the authentication detection device to obtain the authentication information of the vehicle. And the mobile authentication device can be a device or a device outside the vehicle body device and is convenient for a user to carry.
In the embodiment of the present disclosure, the mobile authentication device may be, for example and without limitation: a mobile phone terminal, a bluetooth key, a PKE (passive key entry, hands-free passive keyless entry system) key, and the like.
It can be understood that the authentication detection device built in the vehicle and the mobile authentication device are in a matching relationship, and only a specific mobile authentication device can be detected through the authentication of the authentication detection device. For convenience of understanding, the authentication detection device may be analogous to a switch lock, and the mobile authentication device may be analogous to a key, having a matching mobile authentication device for a particular authentication detection device.
Further, the authentication detection device obtains the authentication information of the vehicle as authentication passing information under the condition that the mobile authentication equipment passes the authentication detection of the authentication detection device, and the authentication detection device obtains the authentication information of the vehicle as authentication failing information under the condition that the mobile authentication equipment does not pass the authentication detection of the authentication detection device or does not exist the mobile authentication equipment.
In an exemplary embodiment, the authentication detection apparatus may obtain the authentication information of the vehicle, where the authentication information may be information of a mobile authentication device having an opening authority, which is previously entered in the authentication detection apparatus, so that when a user uses the mobile authentication device, or the user approaches the authentication detection apparatus to a certain range with the mobile authentication device, the authentication detection apparatus may detect the mobile authentication device to obtain the authentication information of the vehicle.
In some embodiments, acquiring the authentication information of the vehicle through the authentication detection device built in the vehicle includes: detecting the relative distance between the mobile authentication equipment and the vehicle through an authentication detection device arranged in the vehicle; acquiring authentication failure information of the vehicle under the condition that the relative distance is greater than the preset distance; and acquiring the authentication passing information of the vehicle under the condition that the relative distance is less than or equal to the preset distance.
In the embodiment of the disclosure, the authentication detection device is arranged in the vehicle, the relative distance between the mobile authentication device and the vehicle is detected through the authentication detection device, and the authentication failure information of the vehicle is acquired under the condition that the relative distance is greater than the preset distance; and acquiring the authentication passing information of the vehicle under the condition that the relative distance is less than or equal to the preset distance. Through such a mode, only need the user to carry the mobile authentication equipment and be close to the vehicle, just can realize carrying out the authentication to the vehicle automatically, and need not the user contact vehicle, it is convenient and intelligent more high-efficient.
In order to realize the above embodiment, the present disclosure further provides a vehicle attitude sensing control system.
Fig. 4 is a structural diagram of a vehicle attitude sensing control system according to an embodiment of the present disclosure.
As shown in fig. 4, the vehicle attitude sensing control system 10 includes: an attitude detection unit 11, a calibration processing unit 12, and a control unit 13.
And the attitude detection unit 11 is used for acquiring attitude data of the vehicle in real time through an attitude detection device built in the vehicle.
The calibration processing unit 12 is configured to calibrate a shutdown state of the vehicle in response to a preset condition, and acquire shutdown attitude data of the vehicle.
And the control unit 13 is used for controlling the automatic start-up and/or automatic shut-down of the vehicle according to the attitude data acquired in real time and the shutdown attitude data.
With respect to the vehicle attitude sensing control system 10 in the above embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment related to the method, and will not be elaborated herein.
The vehicle attitude sensing control system provided by the embodiment of the disclosure comprises an attitude detection unit 11, a calibration processing unit 12 and a control unit 13, wherein the attitude detection unit 11 is used for acquiring attitude data of a vehicle in real time through an attitude detection device arranged in the vehicle, the calibration processing unit 12 is used for responding to preset conditions, calibrating a shutdown state of the vehicle and acquiring shutdown attitude data of the vehicle, and the control unit is used for controlling the vehicle to be automatically started and/or shut down according to the attitude data acquired in real time and the shutdown attitude data. Therefore, after the vehicle shutdown gesture is calibrated, a user only needs to rely on intuition and habit to use the vehicle, the vehicle can acquire the current gesture of the vehicle body in real time through the gesture sensor, and the user requirement is analyzed and judged, so that the vehicle is automatically controlled to be started and/or shut down, the user can use the vehicle conveniently, and the user experience is improved.
The embodiment of the present disclosure also provides a vehicle, which can be implemented in various ways, for example, an electric bicycle includes a two-wheel structure, a three-wheel structure, a balance car includes a single-wheel structure, a two-wheel structure, a multi-wheel structure, a scooter, etc. Generally, power in a vehicle uses electric energy to provide travel power, and certainly is not limited to using electric energy.
The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.
Fig. 5 is a block diagram of an electronic device for implementing a vehicle attitude sensing control method according to an embodiment of the present disclosure.
Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The calculation unit 501, the ROM502, and the RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, for example, a vehicle attitude sensing control method.
For example, in some embodiments, the vehicle attitude sensing control method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the vehicle attitude sensing control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the vehicle attitude sensing control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the vehicle attitude sensing control method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
Throughout the specification and claims, the term "comprising" is to be interpreted as open-ended, inclusive, meaning that it is "including, but not limited to," unless the context requires otherwise. In the description herein, the terms "some embodiments," "exemplary embodiments," "examples," and the like are intended to indicate that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the disclosure. The schematic representations of the above terms are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be included in any suitable manner in any one or more embodiments or examples.
"plurality" means two or more unless otherwise specified. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A and/or B" includes the following three combinations: a alone, B alone, and a combination of A and B.
As used herein, the term "if" is optionally to be interpreted to mean "when … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. The use of "for" herein means open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.
Additionally, the use of "based on" means open and inclusive, as a process, step, calculation, or other action that is "based on" one or more stated conditions or values may in practice be based on additional conditions or values beyond those stated.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims (13)

1. A vehicle attitude sensing control method, characterized in that the method comprises:
acquiring attitude data of the vehicle in real time through an attitude detection device arranged in the vehicle;
responding to the condition that a self-calibration starting condition is met, self-calibrating the shutdown state of the vehicle, and updating shutdown attitude data of the vehicle;
controlling the vehicle to automatically start and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data;
the self-calibration of the shutdown state of the vehicle and the update of the shutdown attitude data of the vehicle include: detecting the starting and/or shutdown state of the vehicle, and timing a second preset time length under the condition that the vehicle is in the shutdown state; and under the condition that the change of the attitude data of the vehicle does not exceed the preset range within the second preset time, obtaining self-calibrated shutdown attitude data according to the attitude data measured in real time within the second preset time so as to update the shutdown attitude data.
2. The method of claim 1, further comprising:
and responding to the control instruction, performing initial calibration on the shutdown state of the vehicle, and acquiring shutdown attitude data of the vehicle.
3. The method of claim 2, wherein the initially calibrating the shutdown state of the vehicle in response to the control command to obtain the shutdown attitude data of the vehicle comprises:
responding to a user or a manufacturer to trigger a combined key of the vehicle or sending a control instruction for calibrating a shutdown gesture through a control terminal interacting with the vehicle;
timing a first preset time length according to the control instruction;
and under the condition that the change of the attitude data of the vehicle does not exceed a preset range within the first preset time, acquiring shutdown attitude data according to the attitude data measured in real time within the first preset time.
4. The method of claim 1, wherein said detecting a power on and/or power off status of the vehicle comprises:
and detecting the starting and/or shutdown state of the vehicle by comparing the attitude data of the vehicle with the shutdown attitude data acquired in real time.
5. The method of claim 4, wherein the detecting the power on and/or power off status of the vehicle further comprises:
detecting whether a user exists in a certain range of a vehicle through an image acquisition device arranged on the vehicle;
and/or detecting whether a user is seated on the vehicle seat cushion through a pressure sensor arranged at the position of the vehicle seat cushion;
and/or detecting whether the vehicle temple is put down through a Hall sensor or an angle sensor or a travel switch arranged at the position of the vehicle temple.
6. The method according to claim 1, wherein the acquiring attitude data of the vehicle in real time by an attitude detection device built in the vehicle comprises:
a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground and/or a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are/is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle.
7. The method according to claim 6, wherein the controlling the vehicle to automatically power on and/or automatically power off according to the attitude data acquired in real time and the power off attitude data comprises:
under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple and the vehicle is stably parked towards the side of the temple;
and controlling the vehicle to be started so as to enable the vehicle to be in a starting state under the condition that the first characteristic value is larger than the first preset characteristic value.
8. The method of claim 6, wherein controlling the vehicle to automatically power on and/or automatically power off according to the attitude data obtained in real time and the power off attitude data further comprises:
under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground is obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in a vehicle; the shutdown attitude data reflects a first preset characteristic value of an included angle between a plane where a vehicle body is located and the ground when the vehicle inclines to the side of the temple and the vehicle is stably parked towards the side of the temple; controlling the vehicle to be shut down so that the vehicle is in a shut-down state when the first characteristic value is smaller than or equal to the first preset characteristic value;
or under the condition that a first characteristic value reflecting an included angle between a plane where a vehicle body is located and the ground and a second characteristic value reflecting an included angle between a vehicle handle bar and the vehicle body are obtained through a gyroscope and/or an acceleration sensor and/or an electronic compass which are arranged in the vehicle; the shutdown attitude data reflects the state that the vehicle inclines to the side of the side support to be stably parked towards the side support and reflects the state that the handlebar is placed to reach and exceed the locking position of the faucet lock; and controlling the vehicle to be shut down so as to enable the vehicle to be in a shut-down state under the condition that the first characteristic value is smaller than or equal to a first preset characteristic value and the second characteristic value is larger than or equal to a second preset characteristic value.
9. The method according to any one of claims 1 to 8, wherein the controlling the vehicle to automatically turn on and/or automatically turn off according to the attitude data acquired in real time and the shutdown attitude data further comprises:
acquiring authentication information of a vehicle through an authentication detection device arranged in the vehicle;
and controlling the vehicle to be automatically started and/or automatically shut down according to the attitude data, the shutdown attitude data and the authentication information which are acquired in real time.
10. A vehicle attitude sensing control system, characterized in that the system comprises:
the attitude detection unit is used for acquiring attitude data of the vehicle in real time through an attitude detection device built in the vehicle;
the calibration processing unit is used for responding to the condition that the self-calibration starting condition is met, self-calibrating the shutdown state of the vehicle and updating the shutdown attitude data of the vehicle, and comprises: in response to a predetermined period being met; detecting the starting and/or shutdown state of the vehicle, and timing a second preset time length under the condition that the vehicle is in the shutdown state;
under the condition that the change of the attitude data of the vehicle does not exceed the preset range within the second preset time length, obtaining self-calibrated shutdown attitude data according to the attitude data measured in real time within the second preset time length so as to update the shutdown attitude data;
and the control unit is used for controlling the vehicle to be automatically started and/or automatically shut down according to the attitude data acquired in real time and the shutdown attitude data.
11. A vehicle, characterized in that the vehicle comprises: the vehicle attitude sensing control system according to claim 10.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 9.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 9.
CN202110983958.7A 2021-08-25 2021-08-25 Vehicle attitude sensing control method and system, vehicle and electronic equipment Active CN113428273B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110983958.7A CN113428273B (en) 2021-08-25 2021-08-25 Vehicle attitude sensing control method and system, vehicle and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110983958.7A CN113428273B (en) 2021-08-25 2021-08-25 Vehicle attitude sensing control method and system, vehicle and electronic equipment

Publications (2)

Publication Number Publication Date
CN113428273A CN113428273A (en) 2021-09-24
CN113428273B true CN113428273B (en) 2021-12-28

Family

ID=77797861

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110983958.7A Active CN113428273B (en) 2021-08-25 2021-08-25 Vehicle attitude sensing control method and system, vehicle and electronic equipment

Country Status (1)

Country Link
CN (1) CN113428273B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102196089A (en) * 2010-12-30 2011-09-21 胡利锋 Automobile key integrated mobile phone
CN104536450A (en) * 2014-12-18 2015-04-22 深圳乐行天下科技有限公司 Fast control method for self-balance scooter
CN105630171A (en) * 2015-12-31 2016-06-01 青岛歌尔声学科技有限公司 Smartband and vehicle control method based on same
CN105867208A (en) * 2015-12-15 2016-08-17 乐视致新电子科技（天津）有限公司 Physical device control method and apparatus thereof, and physical device
CN107102581A (en) * 2017-04-06 2017-08-29 上海玺力电子科技有限公司 A kind of intelligent start/stop control system and method
CN109903341A (en) * 2019-01-25 2019-06-18 东南大学 Join dynamic self-calibration method outside a kind of vehicle-mounted vidicon
CN110281780A (en) * 2019-05-09 2019-09-27 广州乐比计算机有限公司 A kind of balance car condition detection method, control method and device
CN112766131A (en) * 2021-01-13 2021-05-07 深圳乐行天下科技有限公司 Electric vehicle unlocking control method and device and electric vehicle
CN113043995A (en) * 2019-12-27 2021-06-29 观致汽车有限公司 Control method and device for vehicle tail gate, vehicle and electronic equipment

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102196089A (en) * 2010-12-30 2011-09-21 胡利锋 Automobile key integrated mobile phone
CN104536450A (en) * 2014-12-18 2015-04-22 深圳乐行天下科技有限公司 Fast control method for self-balance scooter
CN105867208A (en) * 2015-12-15 2016-08-17 乐视致新电子科技（天津）有限公司 Physical device control method and apparatus thereof, and physical device
CN105630171A (en) * 2015-12-31 2016-06-01 青岛歌尔声学科技有限公司 Smartband and vehicle control method based on same
CN107102581A (en) * 2017-04-06 2017-08-29 上海玺力电子科技有限公司 A kind of intelligent start/stop control system and method
CN109903341A (en) * 2019-01-25 2019-06-18 东南大学 Join dynamic self-calibration method outside a kind of vehicle-mounted vidicon
CN110281780A (en) * 2019-05-09 2019-09-27 广州乐比计算机有限公司 A kind of balance car condition detection method, control method and device
CN113043995A (en) * 2019-12-27 2021-06-29 观致汽车有限公司 Control method and device for vehicle tail gate, vehicle and electronic equipment
CN112766131A (en) * 2021-01-13 2021-05-07 深圳乐行天下科技有限公司 Electric vehicle unlocking control method and device and electric vehicle

Also Published As

Publication number Publication date
CN113428273A (en) 2021-09-24

Similar Documents

Publication Publication Date Title
US10529264B2 (en) Power management for a vehicle smart mirror system
JP2018191322A (en) Headset computer capable of enabling and disabling features on the basis of real time image analysis
EP1383099A1 (en) Image navigation device
CN109100537B (en) Motion detection method, apparatus, device, and medium
US10095937B2 (en) Apparatus and method for predicting targets of visual attention
US10216269B2 (en) Apparatus and method for determining intent of user based on gaze information
CN112766131A (en) Electric vehicle unlocking control method and device and electric vehicle
CN113807470A (en) Vehicle driving state determination method and related device
CN113428273B (en) Vehicle attitude sensing control method and system, vehicle and electronic equipment
CN110450788B (en) Driving mode switching method, device, equipment and storage medium
FR2929396A1 (en) Location indication providing system for vehicle in automobile field, has portable object equipped with signal processing unit that processes signal delivered by inertial device for determining trajectories followed by portable object
CN112083804A (en) Guidance interaction method and device for vehicle-mounted key, vehicle and storage medium
EP4126623A1 (en) Remote control of vehicle via smartphone and gesture input
CN112793581A (en) Steering wheel hands-off detection method and system, computer equipment and storage medium
CN113428268B (en) Vehicle control method and system
CN113650712B (en) Electric bicycle control method and device and electric bicycle
CN112158143B (en) Vehicle control method and system and vehicle
CN109144070A (en) Mobile device assists automatic Pilot method, automobile and storage medium
CN211107382U (en) Driver holds steering wheel monitoring system based on camera
CN108725450A (en) Global Navigation Satellite System counts the anti-lock braking system speed meter calibrating obtained
TW201939456A (en) Navigation initiation management method and system between portable device and mobile vehicle capable of being used in a motorcycle for reducing the manufacturing cost of the motorcycle
CN111824170B (en) Method, system, device and electronic equipment for obtaining vehicle performance information
JP2011162090A (en) Vehicle control system
CN114013431A (en) Automatic parking control method and system based on user intention
CN109257501B (en) Mobile terminal, method and device for adjusting brightness of display screen of mobile terminal, mobile terminal and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant