Vehicle control method, device and equipment and storage medium

A vehicle control and vehicle technology, which is applied in the field of automatic control, can solve the problems of decreased vehicle comfort, unable to adjust the driving attitude of the vehicle in real time, and untimely vehicle control, and achieves the effect of improving comfort.

Inactive Publication Date: 2020-02-25
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the vehicle needs to obtain sufficient terrain information to judge the road surface type. For example, the vehicle sensor signal is used as input, and the vehicle sensor signal is judged by the characteristic indicators of different road surface types to obtain the road surface type of the current road surface. T...

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  • Vehicle control method, device and equipment and storage medium
  • Vehicle control method, device and equipment and storage medium
  • Vehicle control method, device and equipment and storage medium

Examples

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Embodiment 1

[0028] figure 1 It is a flow chart of the steps of a vehicle control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the vehicle is controlled according to the type of road surface. The method can be executed by a vehicle control device, which can use hardware and / or implemented by software, see figure 1 , the method of the embodiment of the present invention specifically includes the following steps:

[0029] Step 101, acquiring a terrain image in front of the vehicle.

[0030] Among them, the vehicle can be equipped with a vehicle with a visual sensor. The visual sensor can be set at the front of the vehicle to obtain images in front of the vehicle. The visual sensor can be a monocular vehicle camera or a binocular vehicle camera. For the image of the road, the terrain image can reflect the topographic features of the current driving road, and the image format of the terrain image can be specifically RAW-RGB f...

Embodiment 2

[0040] figure 2 It is a flow chart of the steps of a vehicle control method provided by Embodiment 2 of the present invention; this embodiment is based on the embodiment of the above invention, see figure 2 , the flow chart of the steps of the vehicle control method provided by the embodiment of the present invention includes:

[0041] Step 201. Obtain road surface characteristic data of each road surface type as a convolution kernel.

[0042] Wherein, the pavement feature data can be data with characteristics of the pavement type, for example, in the sandy pavement type, the pavement feature data can be the sand texture in the sand image, can be a corrugated contour or a shallow pit-shaped contour, etc., the pavement The feature data can be a collection of multiple feature data; the convolution kernel can be generated according to the road surface feature data. The defined function can be obtained from the weighted average of pixels in the road surface feature data. For ex...

Embodiment 3

[0088] Figure 4 It is a schematic structural diagram of a vehicle control device provided in Embodiment 3 of the present invention. The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method . The device can be implemented by software and / or hardware, specifically including:

[0089] The image acquiring module 301 is configured to acquire terrain images in front of the vehicle.

[0090] The type determining module 302 is configured to determine the road surface type of the terrain image according to a preset road surface type judgment model.

[0091] The vehicle control module 303 is configured to control the driving state of the vehicle according to the type of road surface.

[0092] According to the technical solution of the embodiment of the present invention, the terrain ...

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Abstract

The embodiment of the invention discloses a vehicle control method, device and equipment and a storage medium. The method comprises the following steps of acquiring a terrain image in front of a vehicle running; determining a road surface type of the terrain image according to a preset road surface type judgment model; and controlling the driving state of the vehicle according to the road surfacetype. According to the vehicle control method, the vehicle is controlled to run according to the road surface type of the road in front of the vehicle, the vehicle control accuracy is improved, and the vehicle driving comfort is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automation control, and in particular to a vehicle control method, device, device and storage medium. Background technique [0002] At present, when vehicles on the market are driving on different terrains, they can obtain the topographic information of the current road surface according to the vehicle's built-in sensors. The vehicle can recognize the type of road surface the vehicle is currently driving on based on the acquired terrain information, and control the vehicle according to the type of road surface to improve Vehicle comfort. [0003] In the prior art, the vehicle needs to obtain sufficient terrain information to judge the road surface type. For example, the vehicle sensor signal is used as input, and the vehicle sensor signal is judged by the characteristic indicators of different road surface types to obtain the road surface type of the current road surface. The techni...

Claims

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Application Information

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IPC IPC(8): B60W40/06B60W30/02
CPCB60W30/025B60W40/06
Inventor 谢飞张建王御张苏铁
Owner CHINA FIRST AUTOMOBILE
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