CN118348894A

CN118348894A - Control method of polyhedron controller, polyhedron controller, vehicle computer and vehicle

Info

Publication number: CN118348894A
Application number: CN202410732078.6A
Authority: CN
Inventors: 王骁
Original assignee: Zhejiang Geely Holding Group Co Ltd; Radar New Energy Vehicle Zhejiang Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Radar New Energy Vehicle Zhejiang Co Ltd
Priority date: 2024-06-06
Filing date: 2024-06-06
Publication date: 2024-07-16
Anticipated expiration: 2044-06-06
Also published as: CN118348894B

Abstract

The present application provides a control method for a polyhedron controller, a polyhedron controller, a vehicle computer and a vehicle. The control method for the polyhedron controller includes: obtaining the current position of the polyhedron controller in the vehicle. Determining device information of devices controllable by the polyhedron controller based on the current position. Determining the controlled device currently to be controlled by the polyhedron controller from the device information based on the control rules of the polyhedron controller. The present application obtains the current position of the polyhedron controller in the vehicle, first determines the current controllable device based on the current position, and then determines the controlled device to be controlled among the controllable devices based on the control rules of the polyhedron controller. In this way, the currently controlled device to be controlled can be accurately determined without adding unnecessary user operations, thereby achieving a balance between simplicity and accuracy in the control process of the polyhedron controller in the vehicle scenario.

Description

Control method of polyhedral controller, vehicle machine and vehicle

Technical Field

The application relates to the technical field of intelligent control, in particular to a control method of a polyhedral controller, the polyhedral controller, a vehicle machine and a vehicle.

Background

As a simple and easy-to-control controller, polyhedral controllers such as magic cube controllers are gradually applied to more and more intelligent control scenes to control equipment in the scenes. The polyhedral controller can detect the position and the posture of the polyhedral controller, determine a moving track according to the change of the position and the posture of the polyhedral controller, determine the operation track of the user according to the moving track, further determine the operation intention of the user and send out a control instruction.

However, in a vehicle application scenario, there are multiple identical or similar devices that need to be controlled, such as individual windows, individual air conditioning areas, etc. If different actions are set to correspond to the control of the vehicle windows at different positions, the preset actions to be set are too complicated and redundant, so that the memory and control of a user are not facilitated, and the control error is easy to occur.

Disclosure of Invention

The application provides a control method of a polyhedral controller, the polyhedral controller, a vehicle machine and a vehicle, so that the simplicity and the accuracy of the control process of the polyhedral controller are considered in a vehicle application scene.

The application provides a control method of a polyhedral controller, which comprises the following steps: obtaining a current position of the polyhedral controller in the vehicle; determining equipment information of equipment controllable by the polyhedral controller according to the current position; and determining the controlled equipment to be controlled currently by the polyhedral controller from the equipment information according to the control rule of the polyhedral controller.

In some embodiments, the vehicle includes three or more distance detection devices, and the setting positions of the distance detection devices do not overlap each other, to obtain the current position of the polyhedral controller in the vehicle, including: acquiring the distance between the polyhedral controller and each distance detection device; and determining the current position of the polyhedral controller according to the distance between the polyhedral controller and each distance detection device.

In some embodiments, the polyhedral controller comprises a signal transmitting means and the distance detecting means comprises a signal receiving means; acquiring the distance between the polyhedral controller and each distance detection device, comprising: the control signal transmitting device transmits a detection signal and determines the transmitting time; determining the receiving time when each signal receiving device receives the detection signal; determining a time difference between each of the receive times and the transmit times; and determining the distance between the polyhedral controller and each distance detection device according to the time difference between each receiving time and each transmitting time.

In some embodiments, the vehicle includes three or more distance detection devices, and the positions of the sensors do not overlap each other; obtaining a current position of the polyhedral controller in the vehicle, comprising: acquiring the distance between the polyhedral controller and each distance detection device; determining the position of the polyhedral controller in the vehicle as an actual measurement position according to the distance between the polyhedral controller and each distance detection device; obtaining motion information of the polyhedral controller in the vehicle, wherein the motion information comprises at least one of a motion direction, a motion speed and a motion acceleration of the polyhedron; and determining the current position according to the measured position and the motion information.

In some embodiments, obtaining the distance between the polyhedral controller and each distance detection device comprises: acquiring the distance between the polyhedral controller and each distance detection device at the previous moment; determining a position of the polyhedral controller in the vehicle as an actual measurement position based on a distance between the polyhedral controller and each distance detecting device, comprising: determining the position of the polyhedral controller in the vehicle as a history actual measurement position according to the distance between the polyhedral controller and each distance detection device at the previous moment; determining a current position based on the measured position and the motion information, comprising: predicting the position of the polyhedral controller according to the motion information and the historical actual measured position to serve as a predicted position; the current location is determined based on the predicted location.

In some embodiments, predicting the position of the polyhedral controller based on the motion information and the historical measured position includes: establishing a prediction model according to the motion information; and predicting the position of the polyhedral controller at the current moment according to the historical actual measurement position and the prediction model.

In some embodiments, after establishing the prediction model according to the motion information, the method further comprises: obtaining an actual measurement position of the polyhedral controller and a predicted position of the polyhedral controller at the same time; and optimizing the prediction model according to the error between the predicted position and the actually measured position at the same time and the Kalman gain.

In some embodiments, obtaining the measured position of the polyhedral controller and the predicted position of the polyhedral controller at the same time comprises: obtaining an actual measurement position group of the polyhedral controller, wherein the actual measurement position group comprises all actual measurement positions of the polyhedral controller at a plurality of moments; obtaining a predicted position group of the polyhedral controller, wherein the predicted position group comprises the predicted positions of the polyhedral controller at a plurality of moments; and performing time synchronization on the actually measured position group and the predicted position group to determine the actually measured position and the predicted position of the polyhedral controller at the same time.

In some embodiments, determining the current location from the predicted location includes: obtaining an actual measurement position of the polyhedral controller at the current moment, and taking the actual measurement position as the current actual measurement position; and determining the current position according to the current measured position and the current predicted position.

In some embodiments, the current measured position is a current measured position area, the predicted position is a predicted position area, and determining the current position based on the current measured position and the current predicted position includes: and determining the superposition area of the current actually measured position area and the predicted position area as the current position.

In some embodiments, obtaining motion information of a polyhedral controller within a vehicle includes: obtaining the current operation track of the polyhedral controller; and determining the motion information of the polyhedral controller in the vehicle according to the operation track.

In some embodiments, obtaining a current operational trajectory of a polyhedral controller includes: acquiring first motion trail data of the polyhedral controller and second motion trail data of a vehicle electrically connected with the polyhedral controller; and determining the operation track of the polyhedral controller according to the first motion track data and the second motion track data.

In some embodiments, determining an operation trajectory of the polyhedral controller based on the first motion trajectory data and the second motion trajectory data includes: performing time synchronization on the first motion track data and the second motion track data, recording the first motion track data with the time synchronization as first synchronization track data, and recording the second motion data with the time synchronization as second synchronization track data; and determining the operation track of the polyhedral controller according to the first synchronous track data and the second synchronous track data.

In some embodiments, time synchronizing the first motion profile data and the second motion profile data includes: noise reduction processing is carried out on the first motion track data and the second motion track data, the first motion track data subjected to the noise reduction processing is recorded as first middle track data, and the second motion track data subjected to the pretreatment is recorded as second middle track data; calculating to obtain delay time length between the first intermediate track data and the second intermediate track data through a set algorithm; the first intermediate track data and the second intermediate track data are calibrated according to the delay time length so as to synchronize the first intermediate track data and the second intermediate track data.

In some embodiments, calculating, by the setting algorithm, a delay duration between the first intermediate trajectory data and the second intermediate trajectory data includes: obtaining delay time lengths of the first intermediate track data and the second intermediate track data through at least one of a first setting algorithm and a second setting algorithm; the first setting algorithm is a linear algorithm, and the second setting algorithm is a nonlinear algorithm.

In some embodiments, obtaining the delay time between the first intermediate track data and the second intermediate track data by the first setting algorithm and the second setting algorithm includes: obtaining delay time lengths of the first intermediate track data and the second intermediate track data through a first setting algorithm, and recording the delay time lengths as first delay time lengths; judging whether the first delay time length meets the stability requirement; if the first delay time length meets the stability requirement, determining that the first delay time length is the delay time length of the first middle track data and the second middle track data; and if the first delay time length does not meet the stability requirement, obtaining the delay time length between the first middle track data and the second middle track data through a second setting algorithm.

In some embodiments, determining whether the first delay period meets the stability requirement comprises: recording a first delay time length into a delay time length record table, wherein a plurality of historical delay time lengths are recorded in the delay time length record table; determining variances of a first delay time length and all historical delay time lengths in a delay time length record table; if the variance is smaller than or equal to the variance threshold, determining that the first delay duration meets the stability requirement; if the variance is greater than the variance threshold, determining that the first delay duration does not meet the stability requirement.

In some embodiments, the first setting algorithm comprises a cross-correlation function algorithm; determining delay time lengths of the first intermediate track data and the second intermediate track data through a first setting algorithm, wherein the delay time lengths comprise: calculating a cross-correlation function of the first intermediate track data and the second intermediate track data, wherein a dependent variable of the cross-correlation function is a duration; the length of time that maximizes the function value of the cross-correlation function is determined as the delay length.

In some embodiments, determining the length of time that maximizes the function value of the cross-correlation function as the delay length includes: assigning values to the cross-correlation function for a plurality of times, and comparing the function values of the cross-correlation function corresponding to the assignments for a plurality of times to determine the time length for maximizing the function value of the cross-correlation function, and recording the time length as the calibration time length; and if the calibration time length is a boundary value in multiple assignments, expanding the assignment range until the time length which enables the function value of the cross correlation function to be maximum and is a non-boundary value is obtained, and determining the time length as the delay time length.

In some embodiments, the second setting algorithm comprises a dynamic time warping algorithm; calculating the delay time length of the first intermediate track data and the second intermediate track data through a second setting algorithm, wherein the delay time length comprises the following steps: constructing an accumulated distance matrix of the first intermediate track data and the second intermediate track data; searching an optimal path between the starting point data and the end point data in the accumulated distance matrix so as to minimize the accumulated distance along the optimal path; the delay period is determined from the best path of the cumulative distance matrix.

In some embodiments, performing noise reduction processing on the first motion profile data and the second motion profile data includes: and respectively carrying out filtering processing, amplitude normalization processing and differential calculation on the first motion trail data and the second motion trail data.

In some embodiments, after calibrating the first intermediate trajectory data and the second intermediate trajectory data according to the delay time length, further comprising: and filtering the first intermediate track data and the second intermediate track data.

In some embodiments, determining the operational trajectory of the polyhedral controller from the first and second synchronization trajectory data comprises: and calculating the vector difference between the first synchronous track data and the second synchronous track data as the operation track of the polyhedral controller.

In some embodiments, the interior of the vehicle includes a plurality of sub-regions, determining device information for the polyhedral controller controllable devices based on the current location, comprising: determining a subarea where the polyhedral controller is currently located according to the current position; the device which is electrically connected with the polyhedral controller and is in the same subarea with the polyhedral controller is used as the controllable device.

In some embodiments, determining device information for a polyhedral controller controllable device based on a current location includes: acquiring the current distance between each device electrically connected with the polyhedral controller and the polyhedral controller; and using the equipment with the current distance from the polyhedral controller being smaller than or equal to a preset distance threshold as controllable equipment.

In some embodiments, determining, from the device information, a controlled device to be currently controlled by the polyhedral controller according to a control rule of the polyhedral controller includes: in the case where the control rule includes a configuration relationship between the control surface of the polyhedral controller and the equipment, determining the control surface facing the set direction as a target control surface according to the current position surface direction of the polyhedral controller; according to the configuration relation between the control surface and the equipment, determining the equipment corresponding to the target control surface as controlled equipment; or under the condition that the control rule comprises the configuration relation between the operation track and the equipment, determining the equipment corresponding to the current operation track as the controlled equipment according to the configuration relation between the operation track and different equipment.

In some embodiments, after determining the controlled device to be currently controlled by the polyhedral controller from the device information according to the control rule of the polyhedral controller, the method further includes: and determining a control instruction according to the operation track of the polyhedral controller so as to control the controlled equipment.

In some embodiments, after determining the control instruction according to the motion trajectory of the polyhedral controller, the method further includes: judging whether the current controlled equipment can execute the control instruction or not; and updating the controlled device under the condition that the controlled device cannot execute the control instruction.

In some embodiments, updating the controlled device includes: among the devices electrically connected to the polyhedral controller, the device which is closest to the current position of the polyhedral controller and which can execute the control instruction is determined as a new controlled device.

The application provides a polyhedral controller, which comprises a processor, wherein the processor is configured to execute the control method.

The application provides a vehicle machine, which comprises a processor, wherein the processor is configured to execute the control method.

The application provides a vehicle, which comprises the polyhedral controller or the vehicle machine.

By adopting the control method of the polyhedral controller provided by the embodiment of the application, the current position of the polyhedral controller in the vehicle is obtained, the current controllable equipment is determined according to the current position, and then the controlled equipment to be controlled is determined in the controllable equipment according to the control rule of the polyhedral controller. Therefore, the controlled equipment to be controlled can be accurately determined without adding redundant user operation, and the simplicity and the accuracy of the control process of the polyhedral controller are considered in a vehicle scene.

Drawings

FIG. 1 is a flow chart of a method of controlling a polyhedral controller provided by one embodiment of the present application;

FIG. 2 is a schematic diagram of a system environment of a control method of a polyhedral controller according to one embodiment of the present application;

FIG. 3 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 4 is a schematic diagram of a system environment of a control method of a polyhedral controller according to another embodiment of the present application;

FIG. 5 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 6 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 7 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 8 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 9 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 10 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

FIG. 11 is a flow chart of a method of controlling a polyhedral controller according to another embodiment of the present application;

Fig. 12 is a flowchart of a control method of a polyhedral controller according to another embodiment of the present application.

Reference numerals

10: A polyhedral controller; 11: a first gesture sensing module; 12: a first wireless transmission module; 13: a signal transmitting device;

20: a vehicle machine; 22: a second wireless transmission module; 23: a data processing module; 24: a control module; 25: distance detection means; 251: a signal receiving device; 26: and a positioning algorithm module.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings.

Referring to fig. 1, an embodiment of the present application provides a control method of a polyhedral controller, including steps S101 to S103.

Step S101, a current position of the polyhedral controller in the vehicle is obtained.

The polyhedral controller is a cube having a plurality of control surfaces, and may be, for example, a magic cube controller having six control surfaces.

Step S102, determining equipment information of equipment controllable by the polyhedral controller according to the current position.

Step S103, according to the control rule of the polyhedral controller, determining the controlled device to be controlled currently by the polyhedral controller from the device information.

By adopting the control method of the polyhedral controller provided by the embodiment of the application, the current position of the polyhedral controller in the vehicle is obtained, the current controllable equipment is determined according to the current position, and then the controlled equipment to be controlled is determined in the controllable equipment according to the control rule of the polyhedral controller. Therefore, the controlled equipment to be controlled can be accurately determined without adding redundant user operation, and the simplicity and the accuracy of the control process of the polyhedral controller are considered in a vehicle scene. The method realizes the noninductive identification and switching of the controlled equipment, and is beneficial to optimizing the use experience of users.

In some embodiments, the interior of the vehicle includes a plurality of sub-regions, and determining the device information of the polyhedral controller controllable device based on the current position includes: determining a subarea where the polyhedral controller is currently located according to the current position; the device which is electrically connected with the polyhedral controller and is in the same subarea with the polyhedral controller is used as the controllable device. Wherein the sub-areas may be divided according to seats in the vehicle, such as into a left front area, a right front area, a left rear area and a right rear area, respectively corresponding to devices in the vehicle. For example, if the polyhedral controller is electrically connected to each window, and the subregion where the current polyhedral controller is located is the left front region, then the windows located at the left front position belong to controllable devices, and other windows do not belong to controllable devices. In other embodiments, the sub-regions may be divided in other manners, for example, the user may divide the sub-regions according to the actual control requirement of the device, so as to better meet the personalized requirement.

In some embodiments, determining device information for a polyhedral controller controllable device based on a current location includes: acquiring the current distance between each device electrically connected with the polyhedral controller and the polyhedral controller; and using the equipment with the current distance from the polyhedral controller being smaller than or equal to a preset distance threshold as controllable equipment. The method is equivalent to determining a range of a preset distance threshold near the current position of the polyhedral controller as a target area, and taking equipment in the area as controllable equipment. The area division is not needed in advance, and the flexibility is high. In practical application, considering that the positions of all the devices in the vehicle are often fixed, after the positions of all the devices electrically connected with the polyhedral controller are determined in advance, the current distance between each device and the polyhedral controller can be determined according to the current position of the polyhedral controller, and then the devices with the current distance less than or equal to a preset distance threshold are determined.

In some embodiments, determining, from the device information, a controlled device to be currently controlled by the polyhedral controller according to a control rule of the polyhedral controller includes: in the case where the control rule includes a configuration relationship between the control surface of the polyhedral controller and the equipment, determining the control surface facing the set direction as a target control surface according to the current position surface direction of the polyhedral controller; and determining the equipment corresponding to the target control surface as controlled equipment according to the configuration relation between the control surface and the equipment. Or under the condition that the control rule comprises the configuration relation between the operation track and the equipment, determining the equipment corresponding to the current operation track as the controlled equipment according to the configuration relation between the operation track and different equipment. In some embodiments, different control planes of the polyhedral controller correspond to different devices, control planes facing the set direction are different, and corresponding controlled devices are different. For example, the setting direction is the upper direction, and the device corresponding to the control surface facing upwards at present is used as the controlled device, so that the current control intention of the user can be met. In some embodiments, the devices controlled by the different operation tracks may be different. For example, the window switch is controlled by rotating the polygon controller left and right, and the air conditioner switch is controlled by sliding the polygon controller. In this case, the controlled device is determined according to the configuration relationship between the operation locus and the different devices. Therefore, the controlled equipment to be controlled at present can be accurately determined, and the accuracy of the control process of the polyhedral controller is ensured.

In some embodiments, after determining the controlled device to be currently controlled by the polyhedral controller from the device information according to the control rule of the polyhedral controller, the method further includes: and determining a control instruction according to the operation track of the polyhedral controller so as to control the controlled equipment. The corresponding relation between the polyhedral operation track and the control instruction of each device is preset and stored, and in practical application, the current control instruction can be determined according to the operation track of the current polyhedral controller and the current controlled device, so that the controlled device is controlled.

In some embodiments, after determining the control instruction according to the motion trajectory of the polyhedral controller, the method further includes: and judging whether the current controlled equipment can execute the control instruction or not. And updating the controlled device under the condition that the controlled device cannot execute the control instruction. Here, it is further considered that the current state of the device varies during actual use, resulting in a case where the user's actual control intention cannot be accurately recognized according to general logic. For example, the currently determined controlled device is a window located at the rear right position, the control command is to control the window to be closed, and the window actually located at the rear right position is already in a closed state, then the current controlled device is considered to be unable to execute the control command, at this time, the actual control intention of the user is considered not to control the window located at the rear right position to be closed, so that the controlled device is updated to meet the actual control requirement of the user.

In some embodiments, updating the controlled device includes: among the devices electrically connected to the polyhedral controller, the device which is closest to the current position of the polyhedral controller and which can execute the control instruction is determined as a new controlled device. And determining the state of the equipment capable of executing the control instruction according to the current control instruction, and taking the equipment closest to the current position of the polyhedral controller as a new controlled equipment in the equipment with the state capable of executing the control instruction. For example, the current control command is to control the window to be closed, the original controlled device is the window located at the right rear position, and the window is already in a closed state, so that the control command cannot be executed, and the controlled device is updated at this time. Among the respective windows of the vehicle, it is determined that the window whose state is not completely closed and which is closest to the current position of the polyhedral controller is a new controlled device.

As shown in fig. 2, an embodiment of the present application provides a system environment to make an example of an application of a control method of a polyhedral controller. The polygon controller 10 is electrically connected to the car body 20. The polyhedral controller 10 includes a first posture sensing module 11 and a first wireless transmission module 12. The first gesture sensing module 11 is configured to monitor a motion condition of the polyhedral controller 10, and is electrically connected to the first wireless transmission module 12. The vehicle 20 includes a second wireless transmission module 22, a data processing module 23, a control module 24, and a distance detection device 25. The second wireless transmission module 22 is electrically connected with the first wireless transmission module 12 to realize data transmission between the polyhedral controller 10 and the vehicle 20; the second wireless transmission module 22 is electrically connected with the data processing module 23, and the control module 24 and the distance detection device 25 are electrically connected with the data processing module 23. The data processing module 23 is configured to determine a current position of the polyhedral controller 10 in the vehicle according to the distance information monitored by the distance detecting device 25, determine device information of a controllable device of the polyhedral controller according to the current position, and determine a controlled device to be controlled currently by the polyhedral controller from the device information according to a control rule of the polyhedral controller. The control module 24 is used to control the controlled device.

In some embodiments, a separate positioning algorithm module 26 may also be provided to obtain the current position of the polyhedral controller 10 in the vehicle.

In some embodiments, the vehicle includes three or more distance detecting devices, and the arrangement positions of the distance detecting devices do not overlap each other. The distance detection device can be a sensing device such as a radar sensor, an infrared sensor and the like, and is used for monitoring the real-time distance between the polyhedral controller and the distance detection device. Preferably, the three distance sensing devices are not located on the same straight line.

On the basis of the vehicle provided with the distance detection device, as shown in fig. 3, the application provides another control method of the polyhedral controller, which comprises steps S301 to S305.

Step S301, the distances between the polyhedral controller and the respective distance detecting devices are acquired.

Step S302, determining the current position of the polyhedral controller according to the distance between the polyhedral controller and each distance detection device.

Specifically, all positions that are inside the vehicle and that have a distance to the distance detecting device equal to the distance between the detected polyhedral controller and the distance detecting device are determined corresponding to each distance detecting device, a plurality of position groups of the same number as the distance detecting devices are obtained, and the intersection of all position groups is determined as the current position of the polyhedral controller. More specifically, the sphere is determined with the position of the distance detection device as the center of the sphere and the distance between the distance detection device and the polyhedral controller as the radius. Corresponding to the plurality of distance detection devices, a plurality of spheres are obtained, and the positions, which are intersected and positioned in the vehicle, of all spheres are the current positions of the polyhedral controller.

Step S303, a current position in the polyhedral controller vehicle is obtained.

Step S304, determining the equipment information of the equipment controllable by the polyhedral controller according to the current position.

Step S305, determining a controlled device to be controlled by the polyhedral controller from the device information according to the control rule of the polyhedral controller.

Therefore, the current position of the polyhedral controller is determined through the distance detection device arranged in the vehicle, the real-time performance and the accuracy of position acquisition are guaranteed, and the controllable equipment and the controlled equipment are accurately determined.

Further, as shown in connection with fig. 4, the polyhedral controller 10 further comprises a signal transmitting means 13, and the distance detecting means 25 comprises a signal receiving means 251. The signal transmitting means 13 and the signal receiving means 251 are electrically connected, and the signal receiving means 251 are electrically connected with the data processing module 23.

In the case where the signal transmitting means 13 and the signal receiving means 251 are provided, acquiring the distances between the polyhedral controller and the respective distance detecting means includes: the control signal transmitting device transmits a detection signal and determines the transmitting time; determining the receiving time when each signal receiving device receives the detection signal; a time difference between each receive time and the transmit time is determined. And determining the distance between the polyhedral controller and each distance detection device according to the time difference between each receiving time and each transmitting time. Here, the distance between the signal transmitting device and the signal receiving device, that is, the distance between the polyhedral controller and the distance detecting device can be determined according to the time difference between the receiving time and the transmitting time and the propagation speed of the transmitted signal in the air. Illustratively, the signal transmitting device may be an Ultra-Wideband (UWB) tag, the signal receiving device may be an UWB anchor node, after the UWB tag is controlled to transmit the UWB signal, a time difference between a time when the UWB signal is received by each UWB anchor node and a time when the UWB signal is transmitted by the UWB tag is determined, and a distance between the UWB tag and each UWB anchor node is calculated according to a propagation speed of the UWB signal and the time difference, thereby obtaining a distance between the polyhedral controller and each UWB anchor node, and further determining a current position of the polyhedral controller in the vehicle.

In other embodiments, it may also be provided that the polyhedral controller includes a signal receiving device, the distance detecting device includes a signal transmitting device, and the distance between the polyhedral controller and each of the distance detecting devices is determined according to a time difference between the signal transmitting time and the receiving time.

On the basis of the vehicle provided with the distance detection device, as shown in fig. 5, the application provides another control method of the polyhedral controller, which comprises steps S501 to S507.

In step S501, the distances between the polyhedral controller and the respective distance detecting devices are acquired.

Step S502, determining the position of the polyhedral controller in the vehicle as the actual measurement position according to the distance between the polyhedral controller and each distance detecting device.

Step S503, obtaining motion information of the polyhedral controller in the vehicle.

The motion information includes at least one of a motion direction, a motion speed, and a motion acceleration of the polyhedral controller. Specifically, the above-described motion information is determined by a first posture sensing module provided inside the polyhedral controller. In some embodiments, the first gesture sensing module disposed inside the polyhedral controller may detect an acceleration and an angular velocity of the polyhedral controller, the motion velocity of the polyhedral controller may be obtained by integrating the acceleration and the angular velocity, and the motion direction of the polyhedral controller may be determined by analyzing the motion velocity or the motion track of the polyhedral controller. In the process of integrating the acceleration and the angular velocity to obtain the movement speed of the polyhedral controller, attitude operation is adopted to reduce the influence of integral drift.

Step S504, determining the current position according to the actually measured position and the motion information.

Here, the actually measured position is determined by monitoring the obtained data by the distance detecting device, and the motion information is determined according to the obtained data monitored by the first posture sensing module inside the polyhedral controller. After two sets of data are acquired, filtering and denoising preprocessing are performed first, and time synchronization is performed on the two sets of data so as to perform subsequent processing and further determine the current position of the polyhedral controller.

Step S505, determining device information of the controllable device of the polyhedral controller according to the current position.

Step S506, determining the controlled device to be controlled by the polyhedral controller from the device information according to the control rule of the polyhedral controller.

Therefore, the current position of the polyhedral controller is determined by combining the actually measured position and the movement condition of the polyhedral controller in the vehicle, so that the accuracy of position detection is improved, and the accuracy of the process of determining the controllable equipment and the controlled equipment is ensured. Specifically, in some cases, the position determined based on the distance between the polyhedral controller and each distance detecting means is not a single position point but a position area. Under the condition, the current position of the polyhedral controller is determined by combining the motion information of the polyhedral controller in the vehicle on the basis of the actually measured position, so that the range of the position area is reduced, and the technical effect of improving the accuracy of the current position is realized.

The process of determining the current position according to the actually measured position and the motion information may be determining the current position according to the historical actually measured position and the motion information at the historical moment. The process is further described with reference to fig. 6, and the control method of the polyhedral controller includes steps S601 to S607.

Step S601, obtaining the distance between the polyhedral controller and each distance detection device at the previous moment.

Step S602, determining the position of the polyhedral controller in the vehicle as a history actual measurement position according to the distance between the polyhedral controller and each distance detecting device at the previous time.

Step S603, obtaining motion information of the polyhedral controller in the vehicle.

The motion information includes at least one of a motion direction, a motion speed, and a motion acceleration of the polyhedron.

Step S604, predicting the position of the polyhedral controller as a predicted position based on the motion information and the historic measured position.

Step S605 determines the current position from the predicted position.

Step S606, determining device information of the controllable device of the polyhedral controller according to the current position.

Step S607, determining the controlled device to be controlled by the polyhedral controller from the device information according to the control rule of the polyhedral controller.

In some embodiments, predicting the position of the polyhedral controller based on the motion information and the historical measured position includes: establishing a prediction model according to the motion information; and predicting the position of the polyhedral controller at the current moment according to the historical actual measurement position and the prediction model. Optionally, an extended kalman filter is used to build a prediction model to describe the change of position over time, so that at each point in time, the position of the next point in time can be determined from the current position and the prediction model. And predicting the position of the polyhedral controller at the current moment by using the history actual measurement model and the prediction model to obtain a predicted position.

Further, in some embodiments, after the prediction model is built according to the motion information, the control method of the polyhedral controller further includes: and obtaining the actual measurement position of the polyhedral controller and the predicted position of the polyhedral controller at the same time. The prediction model is optimized according to the error between the predicted position and the measured position at the same time and the Kalman gain. Therefore, the prediction result and the actual measurement position of the prediction model at the same time can be continuously compared to realize continuous optimization of the prediction model, so that the prediction position output by the prediction model gradually accords with the actual position of the polyhedral controller, and the accuracy of position detection is improved.

The method for obtaining the actual measurement position of the polyhedral controller and the predicted position of the polyhedral controller at the same time comprises the following steps: obtaining an actual measurement position group of the polyhedral controller, wherein the actual measurement position group comprises all actual measurement positions of the polyhedral controller at a plurality of moments; a set of predicted positions of the polyhedral controller is obtained, the set of predicted positions including each predicted position of the polyhedral controller at a plurality of times. And performing time synchronization on the actually measured position group and the predicted position group to determine the actually measured position and the predicted position of the polyhedral controller at the same time. Therefore, the corresponding relation between the predicted position and the actually measured position in time can be accurately determined, so that the optimization process of the prediction model is facilitated, and the accuracy of the predicted position is gradually improved.

In some embodiments, determining the current location from the predicted location includes: the predicted position is determined as the current position. The prediction position output by the prediction model is directly used as the current position, and the current position is determined according to the historical actual measurement position and the motion information of the polyhedral controller, so that the current position of the polyhedral controller can be accurately reflected.

In some embodiments, determining the current location from the predicted location includes: and obtaining the actual measurement position of the polyhedral controller at the current moment to serve as the current actual measurement position. And determining the current position according to the current measured position and the current predicted position. And the current position is determined by combining the current measured position obtained by actual measurement at the current moment and the predicted position output by the prediction model, so that the accuracy of the finally determined current position is guaranteed.

In some embodiments, the current measured position is a current measured position area and the predicted position is a predicted position area. Determining the current position according to the current measured position and the current predicted position, including: and determining the superposition area of the current actually measured position area and the predicted position area as the current position. In this way, the area meeting the current actual measurement position and the current prediction position is taken as the current position, which is equivalent to the reduction of the area of the current actual measurement position according to the prediction condition, so as to improve the accuracy of the finally determined current position.

In other embodiments, if the current measured position and the current predicted position do not coincide, the current measured position may be used as the current position. Or taking the midpoint position of the connecting line of the current measured position and the current predicted position as the current position.

In some embodiments, obtaining motion information of the polyhedral controller within the vehicle comprises: and obtaining the current operation track of the polyhedral controller, and determining the motion information of the polyhedral controller in the vehicle according to the operation track. By analyzing the operation locus of the polyhedral controller, the movement direction of the polyhedral controller in the vehicle can be directly determined. By combining time analysis of the operation track of the polyhedral controller, any one or all of the movement speed and the movement acceleration of the polyhedral controller in the vehicle can be determined. Therefore, the motion information in the vehicle can be accurately determined through the operation track, so that the accuracy of the predicted position is ensured.

Referring to fig. 7, another method for accurately acquiring an operation track of a polyhedral controller according to an embodiment of the present application includes step S701 and step S702.

Step S701, obtaining first movement trace data of a polyhedral controller and second movement trace data of a vehicle electrically connected to the polyhedral controller.

Step S702, determining an operation track of the polyhedral controller according to the first motion track data and the second motion track data.

Namely, the first gesture sensing module 11 detects and acquires first motion track data and transmits the first motion track data to the control device, the second gesture sensing module detects and acquires second motion track data and transmits the second motion track data to the control device, and the control device performs further analysis and calculation according to the first motion track data and the second motion track data.

In connection with fig. 2, the control device here may be a vehicle machine 20, more specifically a data processing module 23 in the vehicle machine 20. After the first gesture sensing module 11 detects and acquires the first motion trail data, the first motion trail data is transmitted to the data processing module 23 through the first wireless transmission module 12 and the second wireless transmission module 22; after the second motion trail data is detected and acquired by the second gesture sensing module, the second motion trail data is directly transmitted to the data processing module 23 of the vehicle 20. In this way, the data processing module 23 of the vehicle can acquire the first motion trail data and the second motion trail data without increasing hardware cost.

In other embodiments, the polyhedral controller includes a processor as the control means. In this case, the processor is electrically connected to the first posture sensing module 11 and the first wireless transmission module 12, and the second posture sensing module and the second wireless transmission module 22. The second gesture sensing module detects and acquires second motion track data and transmits the second motion track data to the processing device of the polyhedral controller 10 through the second wireless transmission module 22 and the first wireless transmission module 12; after the first motion trajectory data is detected and acquired by the first gesture sensing module 11, the first motion trajectory data is directly transmitted to the processing device of the polyhedral controller 10. In this way, it is possible to obtain the first motion trajectory data and the second motion trajectory data without increasing hardware cost.

In other embodiments, an independent control device may be provided and electrically connected to the first wireless transmission module 12 of the polyhedral controller 10 and the second wireless transmission module 22 of the vehicle 20, and the first motion track data is acquired by the first gesture sensing module 11 and then transmitted to the control device by the first wireless transmission module 12; after the second motion trail data is detected and acquired by the second gesture sensing module, the second motion trail data is transmitted to the control device by the second wireless transmission module 22. In this way, the control device independent of the polyhedral controller 10 and the vehicle machine 20 can be selected according to the actual calculation force requirement, so that the actual requirement can be better met; and the possible interference to the running process of the polyhedral controller 10 and the vehicle body 20 is avoided to the greatest extent, and the running process of the polyhedral controller and the vehicle body is prevented from being interfered.

After receiving the first motion trajectory data and the second motion trajectory data, the control device determines an operation trajectory of the polyhedral controller 10 according to the first motion trajectory data and the second motion trajectory data.

By adopting the control method of the polyhedral controller, which is provided by the embodiment of the application, under the condition that equipment in a vehicle is controlled by the polyhedral controller, the operation track of the polyhedral controller is determined according to the first motion track data of the polyhedral controller and the second motion track data of the vehicle, so that the command to be operated for controlling the vehicle is determined according to the operation track, the situation that the motion condition of the vehicle is misjudged as the operation track of the polyhedral controller is avoided, the situation that the command to be operated is misjudged is effectively avoided, and the accuracy of the polyhedral controller on the vehicle control process is further improved.

In some embodiments, determining the instruction to be operated according to the operation track includes: and obtaining a mapping relation between the operation track and the operation instruction, and determining the instruction to be operated corresponding to the current operation track according to the mapping relation between the operation track and the instruction to be operated. The mapping relation between the operation track and the instruction to be operated is preset for the control device to call in the implementation process. Thus, the instruction to be operated can be determined more simply and accurately. More specifically, the mapping relationship between the operation locus and the operation instruction may be a mapping relationship between feature points of the operation locus and the instruction to be operated. Therefore, the method is beneficial to avoiding that smaller operation track deviation influences judgment of the to-be-operated instruction.

In some embodiments, determining the instruction to be operated according to the operation track includes: determining interaction actions corresponding to the operation track according to the operation track; and determining the instruction to be operated according to the current interaction action and the mapping relation between the interaction action and the instruction to be operated. When different users use the polyhedral controller, even if the same instruction to be operated is tried to be sent, certain deviation exists in the operation track, and the operation track cannot be completely consistent. Therefore, a mapping relation between the interaction action and the instruction to be operated is established. In the actual application process, the operation track is analyzed to determine the currently performed interaction action, and then the instruction to be operated is determined according to the mapping relation between the interaction action and the instruction to be operated. The method comprises the steps of analyzing an operation track to determine the currently performed interaction action, for example, determining characteristic points in the operation track, and determining the corresponding interaction action according to the characteristic points; the degree of similarity between the operation track and the preset interaction action can also be determined in other modes so as to determine the most similar interaction as the interaction action corresponding to the current operation track. Therefore, the accuracy of judging the instruction to be operated is improved, and misjudgment is reduced.

Referring to fig. 8, another method for controlling a polyhedral controller according to an embodiment of the present application includes steps S801 to S803.

Step S801, first movement locus data of a polyhedral controller and second movement locus data of a vehicle electrically connected to the polyhedral controller are obtained.

Step S802, time synchronization is performed on the first motion track data and the second motion track data, the first motion track data with the time synchronization completed is recorded as first synchronization track data, and the second motion data with the time synchronization completed is recorded as second synchronization track data.

Step S803 determines an operation locus of the polyhedral controller based on the first synchronization locus data and the second synchronization locus data.

Here, determining the operation locus of the polyhedral controller based on the first synchronization locus data and the second synchronization locus data includes: and calculating the vector difference between the first synchronous track data and the second synchronous track data as the operation track of the polyhedral controller. Specifically, the first synchronous track data and the second synchronous track data are provided with a plurality of position points, vector differences among the same position points after time synchronization is completed are calculated, and a plurality of vector differences are obtained to form an operation track of the polyhedral controller. For example, at a certain time, the position point in the first synchronous track data is (x 1, y1, z 1), the position point in the second synchronous track data is (x 2, y2, z 2), and the vector difference between the two position points is calculated as (x 1-x 2, y 1-y 2, z 1-z 2). Thus, the operation track of the polyhedral controller can be obtained by carrying out multiple groups of calculation.

Here, the above-described step of time-synchronizing the first motion profile data and the second motion profile data will be described in further detail. As shown in fig. 9, step S802 specifically includes steps S901 to S903.

In step S901, noise reduction processing is performed on the first motion trajectory data and the second motion trajectory data, the first motion trajectory data after the noise reduction processing is denoted as first intermediate trajectory data, and the second motion trajectory data after the preprocessing is denoted as second intermediate trajectory data.

Here, performing noise reduction processing on the first motion trajectory data and the second motion trajectory data includes: and respectively carrying out filtering processing, amplitude normalization processing and differential calculation on the first motion trail data and the second motion trail data. The method can remove noise and interference in the track data through filtering, is favorable for extracting effective information in the data, improves the signal-to-noise ratio of the data, and enables the data to be easier to process and analyze. The data can be converted into a unified range through amplitude normalization processing, and dimension difference between two groups of data is eliminated, so that the data has comparability in numerical value, and the subsequent calculation process is facilitated. The differential calculation is specifically to subtract the value of the last moment from the value of the last moment in the track data to obtain a difference value, calculate the difference values of a plurality of times to obtain a plurality of groups of difference values, and form new track data, namely the first intermediate track data or the second intermediate track data. Therefore, the method is beneficial to eliminating long-term trend influence in the data, reflecting the change in a short term, and improving the accuracy of the time calibration process of the two groups of track data.

In step S902, a delay time length between the first intermediate track data and the second intermediate track data is calculated by a setting algorithm.

Step S903, the first intermediate track data and the second intermediate track data are calibrated according to the delay time length so as to synchronize the first intermediate track data and the second intermediate track data.

Further, after calibrating the first intermediate track data and the second intermediate track data according to the delay time length, the control method further includes: and filtering the first intermediate track data and the second intermediate track data. Here, after the first intermediate track data and the second intermediate track data are completed, the two sets of data are subjected to the filter processing, and the first intermediate track data after the completion of the filter processing is denoted as first synchronous track data, and the second intermediate track data after the completion of the filter processing is denoted as second synchronous track data. Thus, noise possibly introduced in the synchronization process is eliminated, and accuracy of the finally acquired first synchronization track data and second synchronization track data is guaranteed.

In some embodiments, obtaining the delay time between the first intermediate trajectory data and the second intermediate trajectory data by a set algorithm includes: the delay time length of the first intermediate track data and the second intermediate track data is obtained through at least one of the first setting algorithm and the second setting algorithm. Wherein the first setting algorithm is a linear algorithm and the second setting algorithm is a nonlinear algorithm. In comparison, the linear algorithm can be realized through smaller calculation force, which is beneficial to saving the calculation force; and the nonlinear algorithm can improve the accuracy of the calculation result. In practical application, a linear algorithm or a nonlinear algorithm can be selected according to the current calculation force condition and accuracy requirement to calculate the delay time length of the first intermediate track data and the second intermediate track data.

In some embodiments, the first setting algorithm comprises a cross-correlation function algorithm. Determining delay time lengths of the first intermediate track data and the second intermediate track data through a first setting algorithm, wherein the delay time lengths comprise: calculating a cross-correlation function of the first intermediate track data and the second intermediate track data, wherein a dependent variable of the cross-correlation function is a duration; the length of time that maximizes the function value of the cross-correlation function is determined as the delay length. And after calculating the cross-correlation function of the first intermediate track data and the second intermediate track data, assigning a plurality of times to the cross-correlation function until the time length with the maximum function value of the cross-correlation function is determined. In the multiple assignment process, subsequent assignment can be performed according to the change trend of the function value obtained by current assignment, so that the function value gradually approaches to the maximum value which can be obtained. Or the assignment range can be determined first, a plurality of time lengths in the assignment range are assigned to the cross-correlation function algorithm, a plurality of function values are obtained, and the time length corresponding to the maximum function value in the plurality of function values is used as the delay time length. Wherein the assignment range may be 1ms to 20ms. In addition, the time delay time length is calculated by using the cross-correlation function algorithm, so that the method is lower in calculation force compared with other linear algorithms, and is more beneficial to saving calculation force.

Further, determining a time length that maximizes the function value of the cross-correlation function as the delay time length includes: assigning values to the cross-correlation function for a plurality of times, and comparing the function values of the cross-correlation function corresponding to the assignments for a plurality of times to determine the time length for maximizing the function value of the cross-correlation function, and recording the time length as the calibration time length; and if the calibration time length is a boundary value in multiple assignments, expanding the assignment range until the time length which enables the function value of the cross correlation function to be maximum and is a non-boundary value is obtained, and determining the time length as the delay time length. In the calculation process, after the time length for maximizing the function value of the cross-correlation function in the current calculation range is obtained, whether the time length is the maximum value or the minimum value in assignment is judged. If the duration is the boundary value in the assignment, the change trend of the function value is the ascending trend when approaching the boundary value, and the function value is likely to continuously ascend beyond the current assignment range, and the actual maximum function value is beyond the current assignment range. Therefore, the stability check is required to be performed by expanding the value range, thereby ensuring the accuracy of the result.

In some embodiments, the second setting algorithm comprises a dynamic time warping algorithm. Calculating the delay time length of the first intermediate track data and the second intermediate track data through a second setting algorithm, wherein the delay time length comprises the following steps: constructing an accumulated distance matrix of the first intermediate track data and the second intermediate track data; the best path between the start point data and the end point data in the cumulative distance matrix is found to minimize the cumulative distance along the best path. The delay period is determined from the best path of the cumulative distance matrix. After knowing the two sets of data, the specific manner of constructing the two cumulative distance matrices is not described here in detail. The first intermediate track data and the second intermediate track data both include two parameters of time and a position point where the time is located, and after the cumulative distance matrix is constructed, each element (i, j) in the matrix represents a total distance between an i-th point in the first intermediate track data and a j-th point in the second intermediate track data. The start point data is data in an accumulated distance matrix corresponding to the start data of the first intermediate track data and the start data of the second intermediate track data, and the end point data is data in an accumulated distance matrix corresponding to the final data of the first intermediate track data and the final data of the second intermediate track data. The starting point data is generally positioned at the left lower corner of the cumulative distance matrix, the end point data is generally positioned at the right upper corner of the cumulative distance matrix, and when searching the optimal path between the starting point data of the right upper corner and the end point data of the left lower corner in the cumulative distance matrix, namely searching the optimal path between the starting point data of the right upper corner and the end point data of the left lower corner in the cumulative distance matrix, the starting point data of the right upper corner and the end point data of the left lower corner can be searched from the right upper corner of the cumulative distance matrix, and the end point data of the left lower corner and the end point data of the right upper corner are connected. In other embodiments, the manner of constructing the cumulative distance matrix may be different, and it may also occur that the start point data and the end point data are located at the upper left corner and the lower right corner of the cumulative distance matrix, respectively, or other situations, which will not be described in detail. After the optimal path is determined, data alignment is realized according to the optimal path, so that the two data are matched in time, and the time difference between the two groups of data is determined, namely the delay time length. Specifically, the optimal path may reflect a time correspondence of the two sets of data, and a time difference between the two sets of times may be determined as a delay duration according to an offset condition of the data in the time correspondence. Thus, accurate calculation of the delay time can be completed through the second setting algorithm. And compared with other nonlinear algorithms, the dynamic time warping algorithm is more suitable for the signal type of wireless transmission of vehicles.

In some embodiments, the delay period may be calculated in conjunction with a first setting algorithm and a second setting algorithm. Here, with reference to fig. 10, a description will be given of a process of obtaining delay time periods of the first intermediate track data and the second intermediate track data by the first setting algorithm and the second setting algorithm, that is, the above-described step S902 further includes steps S1001 to S1004.

In step S1001, delay time lengths of the first intermediate track data and the second intermediate track data are obtained through the first setting algorithm and are recorded as a first delay time length.

Step S1002, determining whether the first delay period meets the stability requirement.

If the first delay period meets the stability requirement, step S1003 is executed; if the first delay period does not meet the stability requirement, step S1004 is performed.

In step S1003, the first delay period is determined as the delay periods of the first intermediate track data and the second intermediate track data.

Step S1004, obtaining a delay time between the first intermediate track data and the second intermediate track data through a second setting algorithm.

In this way, the first delay period between the first intermediate track data and the second intermediate track data is first evaluated by the linear algorithm, and then the stability of the first delay period is evaluated. If the first delay time length is stable, directly determining the first delay time length as a final calculation result; and if the first delay time length is unstable, calculating the delay time length by using a nonlinear algorithm. Therefore, the calculation process can be automatically adjusted according to the stable condition of the first delay time in the calculation process, and the nonlinear algorithm is adopted only under the condition that the first delay time is unstable, so that the linear algorithm is adopted under most conditions to save calculation resources, and the nonlinear algorithm is adopted under the small conditions to ensure the delay calibration and synchronization accuracy, so that the balance of calculation force saving and calculation accuracy is realized.

In some embodiments, determining whether the first delay period meets the stability requirement comprises: judging whether the first time delay time length is within a set time length range. If the first delay time length is within the set time length range, determining that the first delay time length meets the stability requirement; if the first delay time length does not belong to the set range, determining that the first delay time length does not meet the stability requirement. The set duration range may be set according to an empirical value to determine whether the current first delay duration is too long or too short.

In some embodiments, determining whether the first delay period meets the stability requirement comprises: recording a first delay time length into a delay time length record table, wherein a plurality of historical delay time lengths are recorded in the delay time length record table; the variance of the first delay duration and all the historical delay durations in the delay duration record table is determined. If the variance is smaller than or equal to the variance threshold, determining that the first delay duration meets the stability requirement; if the variance is greater than the variance threshold, determining that the first delay duration does not meet the stability requirement. The method comprises the steps of determining variances of a first delay time and all historical delay time in a delay time record table, and specifically comprises the steps of calculating an average value of the first delay time and all the historical delay time, and calculating the variances according to the average value and the first delay time. In this way, by judging the variance, it can be accurately judged whether the first delay time length calculated at present is stable, if the value is unstable, it is indicated that the first delay time length calculated by the first setting algorithm at present is likely to be inaccurate, so that the calculation result needs to be recalculated by the second setting algorithm to ensure the accuracy of the calculation result. The historical time length recorded in the time delay time length recording table comprises part or all of the time delay time length calculated by the first setting algorithm and the second setting algorithm, and the calculated new time delay time length is recorded into the time delay time length recording table in real time. In some embodiments, the variance threshold has a value in the range of 1ms to 10ms. More specifically, it may be 1ms, 2ms, 5ms, 8ms, 10ms, or the like.

Further, after determining that the first delay period is the delay period of the first intermediate track data and the second intermediate track data, step S1001 is performed again, and the subsequent process is continued, so as to continuously update the delay period. And the time delay time generated in the process is recorded in the time delay time record table.

Referring to fig. 11, in step S902, a complete description is made of a process of time synchronizing the first motion trajectory data and the second motion trajectory data according to the embodiment of the present application. Step S902 includes steps S1101 to S1106.

Step S1101, performing noise reduction processing on the first motion trajectory data and the second motion trajectory data, and recording the noise-reduced first motion trajectory data as first intermediate trajectory data and the preprocessed second motion trajectory data as second intermediate trajectory data.

In step S1102, the delay time lengths of the first intermediate track data and the second intermediate track data are obtained through the first setting algorithm and are recorded as the first delay time length.

Step S1103, determines whether the first delay period meets the stability requirement.

If the first delay time length meets the stability requirement, executing step S1102 and step S1104; if the first delay period does not meet the stability requirement, step S1105 is performed.

In step S1104, the first delay period is determined as the delay periods of the first intermediate track data and the second intermediate track data.

In step S1105, a delay period between the first intermediate track data and the second intermediate track data is obtained by the second setting algorithm.

Step S1106, calibrating the first intermediate track data and the second intermediate track data according to the delay time length, so as to synchronize the first intermediate track data and the second intermediate track data, and recording the first motion track data with time synchronization as the first synchronization track data, and the second motion data with time synchronization as the second synchronization track data.

In conjunction with fig. 12, in step S902, a complete process of time-synchronizing the first motion profile data and the second motion profile data is further described in detail. Step S902 includes steps S1201 to S1212.

Step S1201, performing noise reduction processing on the first motion trajectory data and the second motion trajectory data, and recording the noise-reduced first motion trajectory data as first intermediate trajectory data and the preprocessed second motion trajectory data as second intermediate trajectory data. The track of the polyhedral controller such as the magic cube controller and the motion track signals of the vehicle are preprocessed, including filtering, amplitude normalization and differential calculation, so as to eliminate signal noise.

In step S1202, a cross-correlation function of the first intermediate trajectory data and the second intermediate trajectory data is calculated, wherein a dependent variable of the cross-correlation function is a duration. Namely: the cross-correlation function of the two signals after preprocessing is calculated, and a value is assigned to each possible time delay, which can represent the similarity of the two signals at this delay.

Step S1203, assigning values to the cross-correlation function for a plurality of times, and comparing the function values of the cross-correlation function corresponding to the assigned values for a plurality of times to determine the time length for maximizing the function value of the cross-correlation function, and recording the time length as the calibration time length; and if the calibration time length is a boundary value in multiple assignments, expanding the assignment range until the time length which enables the function value of the cross correlation function to be maximum and is a non-boundary value is obtained, and determining the time length as the delay time length. Namely: the time delay that maximizes the cross-correlation function is found, namely the time difference TD between the two signals. If the maximum value is at the boundary, the search range is enlarged for stability checking.

Step S1204, recording the first delay time length into a delay time length record table, wherein a plurality of historical delay time lengths are recorded in the delay time length record table; the variance of the first delay duration and all the historical delay durations in the delay duration record table is determined. Namely: updating the obtained TD into a time delay record table, calculating average time delay TA, and calculating variances of TD and TA.

Step S1205, determining whether the variance is less than or equal to a variance threshold. Namely: it is determined whether the variance is less than or equal to 1ms.

If the variance is greater than the variance threshold, step S1206 is performed; if the variance is less than or equal to the variance threshold, then step S1202 and step S1206 are performed.

In step S1206, the first delay period is determined as the delay period of the first intermediate track data and the second intermediate track data.

Step S1207, a cumulative distance matrix of the first intermediate trajectory data and the second intermediate trajectory data is constructed. An accumulated distance matrix is constructed, each element (i, j) in the matrix representing the total distance between the i-th point of the first signal time series and the j-th point of the second signal time series.

In step S1208, the best path between the start point data and the end point data in the cumulative distance matrix is found so as to minimize the cumulative distance along the best path. Starting from the upper right corner of the cumulative distance matrix, a path is found down to the left such that the cumulative distance along this path is minimized.

Step S1209, determining a delay period according to the best path of the cumulative distance matrix. Namely: according to the optimal path, the two time sequences are aligned so that they match in time and the time difference TD between the two signals is calculated.

After step S1209 is completed, step S1204 and step S1210 are performed simultaneously.

Step S1210, calibrating the first intermediate track data and the second intermediate track data according to the delay time length to synchronize the first intermediate track data and the second intermediate track data. Namely: setting the calibration time delay TC value to TD, and synchronizing the track signals by TC.

Step S1211, filtering processing is performed on the first intermediate track data and the second intermediate track data. To eliminate noise that may be introduced during synchronization.

In step S1212, the first motion trajectory data with time synchronization completed is referred to as first synchronization trajectory data, and the second motion trajectory data with time synchronization completed is referred to as second synchronization trajectory data.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "first," "second," etc. can include at least one such feature, either explicitly or implicitly. It will be understood that when an element is referred to as being "mounted," "positioned," "secured" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Claims

1. A control method for a polyhedron controller, comprising:

Get the current position of the polyhedron controller in the vehicle;

Determining device information of a device controllable by the polyhedron controller according to the current position;

According to the control rule of the polyhedron controller, the controlled device to be currently controlled by the polyhedron controller is determined from the device information.

2. The control method according to claim 1, characterized in that the vehicle includes more than three distance detection devices, and the setting positions of the distance detection devices do not overlap with each other, and the obtaining of the current position of the polyhedron controller in the vehicle comprises:

Acquiring the distance between the polyhedron controller and each of the distance detection devices;

The current position of the polyhedron controller is determined according to the distance between the polyhedron controller and each of the distance detection devices.

3. The control method according to claim 2, characterized in that the polyhedron controller includes a signal transmitting device, and the distance detecting device includes a signal receiving device;

The obtaining of the distance between the polyhedron controller and each of the distance detection devices comprises:

Controlling the signal transmitting device to transmit a detection signal and determining a transmitting time;

Determining a reception time when each of the signal receiving devices receives the detection signal;

determining a time difference between each reception time and the transmission time;

The distance between the polyhedron controller and each of the distance detection devices is determined according to the time difference between each receiving time and the transmitting time.

4. The control method according to claim 1, characterized in that the vehicle comprises more than three distance detection devices, and the arrangement positions of the sensors do not overlap with each other;

The obtaining of the current position of the polyhedron controller in the vehicle comprises:

Determining the position of the polyhedron controller in the vehicle as the measured position according to the distance between the polyhedron controller and each of the distance detection devices;

Obtaining motion information of the polyhedron controller in the vehicle, wherein the motion information includes at least one of a motion direction, a motion speed, and a motion acceleration of the polyhedron;

The current position is determined according to the measured position and the motion information.

5. The control method according to claim 4, characterized in that the obtaining of the distance between the polyhedron controller and each of the distance detection devices comprises:

Acquire the distance between the polyhedron controller and each of the distance detection devices at the last moment;

Determining the position of the polyhedron controller in the vehicle as the measured position according to the distance between the polyhedron controller and each of the distance detection devices, comprising:

Determine the position of the polyhedron controller in the vehicle as a historical measured position according to the distance between the polyhedron controller and each of the distance detection devices at a previous moment;

The determining the current position according to the measured position and the motion information includes:

Predicting a position of the polyhedron controller according to the motion information and the historical measured position as a predicted position;

The current position is determined according to the predicted position.

6. The control method according to claim 5, characterized in that the predicting the position of the polyhedron controller according to the motion information and the historical measured position comprises:

Establishing a prediction model based on the motion information;

The position of the polyhedron controller at the current moment is predicted based on the historical measured positions and the prediction model.

7. The control method according to claim 6, characterized in that after establishing the prediction model according to the motion information, it also includes:

Obtaining a measured position of the polyhedron controller and a predicted position of the polyhedron controller at the same time;

The prediction model is optimized according to the error between the predicted position and the measured position at the same time and the Kalman gain.

8. The control method according to claim 7, characterized in that obtaining the measured position of the polyhedron controller and the predicted position of the polyhedron controller at the same time comprises:

Obtaining a measured position group of the polyhedron controller, wherein the measured position group includes each measured position of the polyhedron controller at multiple moments;

Obtaining a predicted position group of the polyhedron controller, the predicted position group comprising predicted positions of the polyhedron controller at multiple moments;

The measured position group and the predicted position group are time synchronized to determine the measured position and the predicted position of the polyhedron controller at the same moment.

9. The control method according to claim 5, characterized in that determining the current position according to the predicted position comprises:

Obtaining the measured position of the polyhedron controller at the current moment as the current measured position;

The current position is determined according to the current measured position and the current predicted position.

10. The control method according to claim 9, characterized in that the current measured position is a current measured position area, the predicted position is a predicted position area, and determining the current position according to the current measured position and the current predicted position comprises:

An overlapping area between the current measured position area and the predicted position area is determined as the current position.

11. The control method according to claim 4, characterized in that the obtaining of the motion information of the polyhedron controller in the vehicle comprises:

Obtaining a current operation trajectory of the polyhedron controller;

The motion information of the polyhedron controller in the vehicle is determined according to the operation trajectory.

12. The control method according to claim 11, characterized in that the step of obtaining the current operation trajectory of the polyhedron controller comprises:

Obtaining first motion trajectory data of a polyhedron controller and second motion trajectory data of a vehicle electrically connected to the polyhedron controller;

An operation trajectory of the polyhedron controller is determined according to the first motion trajectory data and the second motion trajectory data.

13. The control method according to claim 12, characterized in that the step of determining the operation trajectory of the polyhedron controller according to the first motion trajectory data and the second motion trajectory data comprises:

Performing time synchronization on the first motion trajectory data and the second motion trajectory data, and recording the first motion trajectory data that has completed time synchronization as first synchronization trajectory data, and recording the second motion data that has completed time synchronization as second synchronization trajectory data;

An operation trajectory of the polyhedron controller is determined according to the first synchronization trajectory data and the second synchronization trajectory data.

14. The control method according to claim 13, characterized in that time synchronization of the first motion trajectory data and the second motion trajectory data comprises:

Performing noise reduction processing on the first motion trajectory data and the second motion trajectory data, and recording the first motion trajectory data after the noise reduction processing as first intermediate trajectory data, and recording the pre-processed second motion trajectory data as second intermediate trajectory data;

Obtaining a delay time between the first intermediate trajectory data and the second intermediate trajectory data by calculating through a setting algorithm;

The first intermediate trajectory data and the second intermediate trajectory data are calibrated according to the delay duration to synchronize the first intermediate trajectory data with the second intermediate trajectory data.

15. The control method according to claim 14, characterized in that the delay time between the first intermediate trajectory data and the second intermediate trajectory data is calculated by setting an algorithm, comprising:

Obtaining delay durations of the first intermediate trajectory data and the second intermediate trajectory data by using at least one of a first setting algorithm and a second setting algorithm;

The first setting algorithm is a linear algorithm, and the second setting algorithm is a nonlinear algorithm.

16. The control method according to claim 15, characterized in that obtaining the delay time between the first intermediate trajectory data and the second intermediate trajectory data by using a first setting algorithm and a second setting algorithm comprises:

Obtaining a delay time between the first intermediate trajectory data and the second intermediate trajectory data by using the first setting algorithm, recorded as a first delay time;

Determining whether the first delay duration meets the stability requirement;

If the first delay time meets the stability requirement, determining the first delay time as a delay time between the first intermediate trajectory data and the second intermediate trajectory data;

If the first delay time does not meet the stability requirement, the delay time between the first intermediate trajectory data and the second intermediate trajectory data is obtained by using the second setting algorithm.

17. The control method according to claim 16, characterized in that the determining whether the first delay time meets the stability requirement comprises:

Entering the first delay duration into a delay duration record table, wherein the delay duration record table records a plurality of historical delay durations;

Determine the variance between the first delay duration and all historical delay durations in the delay duration record table;

If the variance is less than or equal to the variance threshold, determining that the first delay duration meets the stability requirement;

If the variance is greater than the variance threshold, it is determined that the first delay duration does not meet the stability requirement.

18. The control method according to any one of claims 15 to 17, characterized in that the first setting algorithm comprises a cross-correlation function algorithm;

Determining the delay time of the first intermediate trajectory data and the second intermediate trajectory data by using a first setting algorithm includes:

calculating a cross-correlation function of the first intermediate trajectory data and the second intermediate trajectory data, wherein a dependent variable of the cross-correlation function is a duration;

The time duration that maximizes the function value of the cross-correlation function is determined as the delay time duration.

19. The control method according to claim 18, characterized in that the step of determining the time duration that makes the function value of the cross-correlation function maximum as the delay time duration comprises:

Assigning values to the cross-correlation function multiple times, and comparing function values of the cross-correlation function corresponding to the multiple assignments, so as to determine a duration for which the function value of the cross-correlation function is maximum, recorded as a calibration duration;

If the calibration duration is a boundary value in multiple assignments, the assignment range is expanded until a duration that maximizes the function value of the cross-correlation function and is a non-boundary value is obtained, which is determined as the delay duration.

20. The control method according to any one of claims 15 to 17, characterized in that the second setting algorithm comprises a dynamic time warping algorithm;

The calculating the delay time of the first intermediate trajectory data and the second intermediate trajectory data by using the second setting algorithm includes:

constructing a cumulative distance matrix of the first intermediate trajectory data and the second intermediate trajectory data;

Finding the best path between the starting point data and the end point data in the cumulative distance matrix so that the cumulative distance along the best path is minimized;

The delay duration is determined according to the optimal path of the cumulative distance matrix.

21. The control method according to claim 14, characterized in that the performing noise reduction processing on the first motion trajectory data and the second motion trajectory data comprises:

The first motion trajectory data and the second motion trajectory data are respectively subjected to filtering processing, amplitude normalization processing and difference calculation.

22. The control method according to claim 14, characterized in that after calibrating the first intermediate trajectory data and the second intermediate trajectory data according to the delay duration, the method further comprises:

The first intermediate trajectory data and the second intermediate trajectory data are filtered.

23. The control method according to claim 13, characterized in that the step of determining the operation trajectory of the polyhedron controller according to the first synchronization trajectory data and the second synchronization trajectory data comprises:

A vector difference between the first synchronization trajectory data and the second synchronization trajectory data is calculated as an operation trajectory of the polyhedron controller.

24. The control method according to any one of claims 1 to 17, characterized in that the interior of the vehicle includes a plurality of sub-areas, and determining the device information of the device controllable by the polyhedron controller according to the current position comprises:

Determine the sub-region where the polyhedron controller is currently located according to the current position;

A device that is electrically connected to the polyhedron controller and is located in the same sub-area as the polyhedron controller is used as the controllable device.

25. The control method according to any one of claims 1 to 17, characterized in that the step of determining device information of a device controllable by the polyhedron controller according to the current position comprises:

Acquire a current distance between each device electrically connected to the polyhedron controller and the polyhedron controller;

A device whose current distance to the polyhedron controller is less than or equal to a preset distance threshold is regarded as the controllable device.

26. The control method according to any one of claims 1 to 17, characterized in that the step of determining the controlled device to be currently controlled by the polyhedron controller from the device information according to the control rule of the polyhedron controller comprises:

In the case where the control rule includes a configuration relationship between a control plane of the polyhedron controller and a device, determining a control plane facing a set direction according to a current plane orientation of the polyhedron controller as a target control plane;

Determine, according to the configuration relationship between the control plane and the device, that the device corresponding to the target control plane is the controlled device; or,

In the case where the control rule includes a configuration relationship between an operation trajectory and a device, the device corresponding to the current operation trajectory is determined as the controlled device according to the configuration relationship between the operation trajectory and different devices.

27. The control method according to claim 26, characterized in that after determining the controlled device to be currently controlled by the polyhedron controller from the device information according to the control rule of the polyhedron controller, it further comprises:

A control instruction is determined according to the operation trajectory of the polyhedron controller to control the controlled device.

28. The control method according to claim 27, characterized in that after determining the control instruction according to the motion trajectory of the polyhedron controller, it also includes:

Determine whether the currently controlled device can execute the control instruction;

When the controlled device cannot execute the control instruction, the controlled device is updated.

29. The control method according to claim 28, characterized in that the updating of the controlled device comprises:

Among the devices electrically connected to the polyhedron controller, a device which is closest to the current position of the polyhedron controller and can execute the control instruction is determined as a new controlled device.

30. A polyhedron controller, comprising a processor, wherein the processor is configured to execute the control method according to any one of claims 1 to 29.

31. A vehicle computer, comprising a processor, wherein the processor is configured to execute the control method according to any one of claims 1 to 29.

32. A vehicle, characterized by comprising the polyhedron controller as claimed in claim 30 or the vehicle computer as claimed in claim 31.