Off-road terrain identification method, off-road terrain hotspot identification method and related devices

Abstract

This application discloses a method for identifying off-road terrain, a method for identifying off-road terrain hotspots, and related devices, relating to the fields of vehicle networking and intelligent connected vehicle technology. The method first determines that the vehicle's driving condition is off-road, accurately distinguishing it from non-off-road conditions such as urban areas and highways, avoiding the inclusion of geographical locations in non-off-road scenarios in the statistics, thus ensuring the validity of subsequent geographical locations from the source. Then, the positioning module is activated to locate the vehicle's geographical location, replacing the traditional method relying on user subjective sharing and offline on-site exploration. Simultaneously, leveraging the ubiquity of vehicle-mounted terminals, it enables the collection of location data from multiple vehicles over a wide area, solving the problem of limited coverage of off-road terrain in existing technologies. Finally, the geographical location is sent to the server, summarizing the geographical locations uploaded by multiple vehicles, providing massive and effective basic data for subsequent cluster analysis and hotspot identification on the server side.

Description

Technical Field

[0001] This application relates to the field of vehicle networking and intelligent connected vehicle technology, and in particular to off-road terrain recognition methods, off-road terrain hotspot recognition methods, and related devices. Background Technology

[0002] With the rapid development of the automotive industry and vehicle-to-everything (V2X) technology, off-road vehicles are becoming increasingly popular, and users' demand for exploring off-road scenarios is growing. Currently, the discovery of off-road terrain mainly relies on user subjective sharing, on-site exploration, or third-party map annotation, which suffers from problems such as low efficiency, data lag, limited coverage, and insufficient accuracy, making it difficult to meet the needs of large-scale, precise off-road terrain identification and application.

[0003] Therefore, how to automatically identify off-road terrain has become a technical pain point that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of the above problems, this application provides a method for identifying off-road terrain, a method for identifying off-road terrain hotspots, and related devices to achieve the purpose of automatically identifying off-road terrain. The specific solution is as follows:

[0005] The first aspect of this application provides a method for identifying off-road terrain, applied to an in-vehicle terminal, comprising:

[0006] The vehicle's operating condition is determined to be off-road.

[0007] The positioning module is activated to determine the geographical location of the vehicle.

[0008] Send the aforementioned geographical location to the server.

[0009] In one possible implementation, determining the vehicle's driving condition as an off-road condition includes:

[0010] Obtain the driving mode of the vehicle;

[0011] Obtain the status of the differential lock of the vehicle;

[0012] Obtain the maximum difference in wheel speeds among the four wheels of the vehicle;

[0013] Obtain the acceleration of the vehicle;

[0014] If, under the first condition, the number of times the acceleration is greater than or equal to the first preset threshold is greater than or equal to a preset number and the duration under the first condition is greater than or equal to a preset duration, the driving condition is determined to be an off-road condition. The first condition is that the driving mode is a four-wheel drive low-speed mode or a four-wheel drive high-speed mode, or the differential lock is in a locked state, or the maximum difference is greater than or equal to the second preset threshold.

[0015] In one possible implementation, determining the vehicle's driving condition as an off-road condition includes:

[0016] Obtain the navigation road type of the current road determined by the navigation system;

[0017] Obtain the driving mode of the vehicle;

[0018] Obtain the status of the differential lock of the vehicle;

[0019] Obtain the maximum difference in wheel speeds among the four wheels of the vehicle;

[0020] If the navigation road type is an unknown road and the number of times the acceleration is greater than or equal to the first preset threshold under the first condition is greater than or equal to the preset number, the driving condition is determined to be an off-road condition; the first condition is that the driving mode is four-wheel drive low speed mode or four-wheel drive high speed mode or the differential lock is in a locked state or the maximum difference is greater than or equal to the second preset threshold.

[0021] In one possible implementation, after the step of activating the positioning module to locate the geographical location of the vehicle, the method further includes:

[0022] Obtain the terrain features, vehicle settings, and overall vehicle operating parameters at the specified geographical location.

[0023] A second aspect of this application provides a method for identifying hotspots in off-road terrain, applied to a server, including:

[0024] Obtain the geographical location of each vehicle, wherein the method for obtaining the geographical location is as described in the first aspect or any implementation thereof for the off-road terrain identification method described above;

[0025] Cluster multiple geographical locations to obtain multiple off-road locations and their respective heat values.

[0026] In one possible implementation, the step of clustering multiple geographical regions to obtain multiple off-road locations and their respective heat values ​​includes:

[0027] Multiple off-road zones are obtained by using the aforementioned geographical locations as centers and a preset distance as a radius;

[0028] Multiple off-road regions are clustered to obtain multiple off-road clusters;

[0029] For each off-road cluster, the geographical location of the center point corresponding to the off-road cluster is determined as the off-road location, and the number of off-road areas in the off-road cluster is determined as the heat value.

[0030] In one possible implementation, the off-road clusters with different heat values ​​have different colors.

[0031] A third aspect of this application provides an off-road terrain identification device, applied to an in-vehicle terminal, comprising:

[0032] The first determining module is used to determine that the vehicle's driving condition is an off-road condition;

[0033] A location acquisition module is used to activate the positioning module to locate the geographical location of the vehicle;

[0034] The sending module is used to send the geographical location to the server.

[0035] The fourth aspect of this application provides a hotspot identification device for off-road terrain, applied to a server, comprising:

[0036] The location data acquisition module is used to acquire the geographical location of each vehicle, and the method for acquiring the geographical location is as described in the first aspect or any implementation thereof for the off-road field identification method.

[0037] A clustering module is used to cluster multiple geographical locations to obtain multiple off-road locations and their respective heat values.

[0038] The fourth aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the off-road terrain identification method of the first aspect or any implementation thereof, or cause the electronic device to implement the off-road terrain hotspot identification method of the second aspect or any implementation thereof.

[0039] A fifth aspect of this application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0040] The memory is used to store computer programs;

[0041] The processor is configured to execute the computer program to enable the electronic device to implement the off-road terrain identification method of the first aspect or any implementation thereof, or to enable the electronic device to implement the off-road terrain hotspot identification method of the second aspect or any implementation thereof.

[0042] The sixth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the off-road terrain identification method of the first aspect or any implementation thereof, or enable the electronic device to implement the off-road terrain hotspot identification method of the second aspect or any implementation thereof.

[0043] By employing the above technical solution, this application provides a method for identifying off-road terrain. This method first determines that the vehicle's driving condition is off-road, accurately distinguishing it from non-off-road conditions such as urban areas and highways, thus avoiding the inclusion of geographical locations in non-off-road scenarios in the statistics and ensuring the validity of subsequent geographical locations from the source. Subsequently, the positioning module is activated to locate the vehicle's geographical location, replacing the traditional method of relying on user subjective sharing and offline on-site exploration, significantly improving the efficiency of off-road terrain discovery. Simultaneously, leveraging the ubiquity of vehicle-mounted terminals, it enables the collection of location data from multiple vehicles over a wide area, solving the problem of limited coverage of off-road terrain in existing technologies. Finally, the geographical location is sent to the server, aggregating the geographical locations uploaded by multiple vehicles, providing massive and effective basic data for subsequent cluster analysis and hotspot identification on the server side. Attached Figure Description

[0044] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0045] Figure 1 A schematic diagram of a system architecture is provided for this application;

[0046] Figure 2 A flowchart illustrating a method for identifying off-road terrain provided in an embodiment of this application;

[0047] Figure 3 This application provides a flowchart illustrating a method for identifying hotspots in off-road terrain.

[0048] Figure 4 A clustering diagram provided for an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of the structure of an off-road terrain identification device provided in an embodiment of this application;

[0050] Figure 6 This is a schematic diagram of the structure of a hotspot identification device for off-road terrain provided in an embodiment of this application;

[0051] Figure 7 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0052] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0053] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0054] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0055] This application strictly adheres to user privacy protection regulations throughout the entire process of collecting, transmitting, and storing all vehicle driving data (such as driving mode, differential lock status, maximum difference in wheel speed of the vehicle's four wheels, acceleration, current road navigation type), geographical location and terrain features at that location, vehicle settings, and overall vehicle operating parameters. All data collection activities have obtained the vehicle user's explicit authorization and informed consent in advance, and compliant data collection is only completed within the scope permitted by the user. Unauthorized collection of user driving information, geographical location, and other private data is strictly prohibited, fully protecting user driving privacy and data security. All collected data is used only for off-road terrain identification, working condition analysis, and related technical research applications, and will not be disclosed to the outside world or used for other unrelated purposes.

[0056] This application can be applied to fields such as vehicle networking big data analysis, intelligent connected vehicle cloud services, vehicle performance development and testing calibration, off-road ecosystem operation and outdoor travel services. The following will introduce several application scenarios that have been implemented in products, taking the off-road hotspot recognition system as an example.

[0057] First, let's introduce the application scenarios of this application.

[0058] This application can be applied, but is not limited to, to applications that have off-road terrain recognition methods or off-road terrain hotspot recognition functions, or to cloud services provided by cloud-side servers, which will be described in detail below:

[0059] See Figure 1 , Figure 1 A schematic diagram of a system architecture is shown. The system may include multiple vehicles and a server 200. The server 200 can provide the methods provided in the embodiments of this application to one or more terminals.

[0060] Each vehicle includes: an on-board terminal 100, a positioning module 101, a sensor system 103, a power control module 104, and a communication module 105.

[0061] The vehicle terminal 100 can be an ECU (Electronic Control Unit).

[0062] The vehicle-mounted terminal 100 is used to perform the off-road terrain identification method, and the server 200 is used to perform the off-road terrain hotspot identification method. The vehicle-mounted terminal 100 and the server 200 can establish a communication connection through a wireless network.

[0063] The vehicle terminal 100 can be equipped with applications for off-road course query, intelligent route book generation, vehicle data collection, or off-road ecosystem services. These applications and web pages can provide an interface. The vehicle terminal 100 can receive relevant parameters entered by the user on the off-road course query, parameter setting, and route viewing interface, and send the parameters to the server 200. The server 200 can obtain the processing result, such as the off-road location, based on the received parameters, and return the processing result to the vehicle terminal 100.

[0064] It should be understood that in some optional implementations, the vehicle terminal 100 can also complete the action of obtaining the processing result based on the received parameters on its own, without the need for the server to cooperate. This application embodiment is not limited to this.

[0065] The positioning module can be a GPS (Global Positioning System) or BeiDou positioning module, and its core function is to collect the vehicle's geographical location. For example, the geographical location can be the vehicle's latitude and longitude coordinates.

[0066] The sensor system 103 includes: wheel speed sensor, inertial measurement unit, atmospheric pressure sensor, differential lock status sensor, engine or motor related sensors, and navigation module.

[0067] The wheel speed sensors are installed on all four wheels of the vehicle to collect the rotational speed of each wheel.

[0068] An inertial measurement unit (IMU) integrates an accelerometer and a gyroscope to collect data on vehicle acceleration, body roll angle, and calculate road slope.

[0069] Atmospheric pressure sensors are used to collect external air pressure and convert it into altitude.

[0070] The differential lock status sensor is used to collect the locking status of the differential lock.

[0071] Engine or motor related sensors include: a water temperature sensor for collecting engine water temperature, a speed sensor for collecting engine or motor speed, a torque sensor for collecting output torque, and a power sensor for collecting output power.

[0072] The navigation module has built-in map data to obtain the current road type, which helps to filter off-road scenarios and avoids non-off-road data from being mixed in.

[0073] The power control module 104 includes a four-wheel drive control unit for switching between driving modes such as four-wheel drive high speed (4H) mode and four-wheel drive low speed (4L) mode.

[0074] The vehicle-mounted terminal 100, acting as the core for data aggregation and transmission, receives parameters collected by the sensor system 103, receives the geographical location determined by the positioning module, and simultaneously acquires user-set vehicle settings such as drive mode and battery level. It is understandable that after receiving the aforementioned data, the vehicle-mounted terminal 100 can execute off-road terrain recognition methods.

[0075] The communication module 105 is responsible for transmitting the collected geographical location, parameters collected by the sensor system, and other data to the server 200, realizing the aggregation of multi-vehicle data and providing support for cluster analysis and heat statistics.

[0076] Server 200 includes a bus, a processor, a communication interface, and memory. The processor, memory, and communication interface communicate with each other via the bus.

[0077] The memory can be used to store software code related to the off-road terrain hotspot identification method, and the processor can execute the steps of the chip's off-road terrain hotspot identification method, or schedule other units to achieve the corresponding functions.

[0078] Reference Figure 2 , Figure 2 This is a flowchart illustrating a method for identifying off-road terrain provided in an embodiment of this application, as shown below. Figure 2 As shown in the figure, an off-road terrain identification method is provided in this application embodiment. This method can be applied to a vehicle terminal and may include steps S201 to S203. These steps are described in detail below.

[0079] The off-road terrain identification method provided in this application is mainly applied to vehicle-mounted terminals. It relies on various sensors, navigation systems, and drive control systems of the vehicle itself to accurately determine driving conditions. Location positioning and data uploading are only performed when the vehicle is in actual off-road conditions. This method abandons the outdated methods of relying on manual on-site exploration, user-generated information sharing, and third-party map annotations to obtain off-road terrain information. It achieves fully automated, highly accurate, and large-scale intelligent identification of off-road terrain. The overall execution process consists of three core steps, which are detailed below:

[0080] Step S201: Determine that the vehicle's driving condition is off-road condition.

[0081] For example, a vehicle refers to a motor vehicle that has off-road capability and can be equipped with a positioning module, sensor system and vehicle terminal, especially hybrid and pure electric off-road vehicles, such as four-wheel drive off-road passenger vehicles, off-road SUVs (Sport Utility Vehicles), off-road pickup trucks, etc.

[0082] Driving conditions refer to the overall operating state of a vehicle during driving, which is determined by at least one of the following parameters: driving mode, differential lock status, maximum difference in wheel speed among the four wheels, acceleration, and navigation road type.

[0083] Driving conditions include, but are not limited to: urban driving conditions, highway driving conditions, suburban or national highway driving conditions, mountain road driving conditions, ordinary unpaved road driving conditions, and off-road driving conditions.

[0084] Urban driving conditions refer to the overall operating state of a vehicle when driving on paved urban roads; specifically, the navigation road type is not an unknown road, the acceleration is gentle and the absolute value is small, the maximum difference in wheel speed among the four wheels is extremely small (no obvious wheel slippage), the driving mode is two-wheel drive mode, and the differential lock is in the unlocked state.

[0085] High-speed driving conditions refer to the overall operating state of a vehicle when driving on closed paved roads such as highways; specifically, the navigation road type is not an unknown road, the acceleration changes very little, the maximum difference in wheel speeds of the four wheels is close to zero, the driving mode is two-wheel drive mode, and the differential lock is in the unlocked state.

[0086] The suburban or national highway driving condition refers to the overall operating state of a vehicle when driving on suburban roads or paved national and provincial highways; specifically, the navigation road type is not an unknown road, the acceleration changes smoothly, the maximum difference in the four wheel speeds is small (no slippage), the driving mode is two-wheel drive mode, and the differential lock is in the unlocked state.

[0087] Mountain road driving conditions refer to the overall operating state of a vehicle when driving on paved mountain roads; specifically, the navigation road type is not an unknown road, the acceleration varies to some extent but is relatively regular, the maximum difference in wheel speed is small, the driving mode is two-wheel drive mode, and the differential lock is in the unlocked state.

[0088] The normal unpaved road driving condition refers to the overall operating state of a vehicle when it is traveling normally on a simple unpaved road (dirt road, gravel road); specifically, the navigation road type can be an unknown road or a known road, the maximum difference in the four wheel speeds is small (no obvious slippage), the driving mode is two-wheel drive mode, the differential lock is in the unlocked state, and the acceleration is smooth.

[0089] Off-road conditions refer to the overall operating state of a vehicle when driving on complex unpaved roads; specifically, the navigation road type is mostly unknown roads, the first condition is "the driving mode is four-wheel drive high-speed mode (4H) or four-wheel drive low-speed mode (4L), or the differential lock is in the locked state, or the maximum difference in the four wheel speeds is greater than or equal to the second preset threshold", and the number of times the acceleration is greater than or equal to the first preset threshold reaches the preset number of times, and the duration of the first condition reaches the preset duration.

[0090] Step S202: Activate the positioning module to locate the geographical location of the vehicle.

[0091] After the vehicle terminal accurately determines that the vehicle is currently in off-road condition, it automatically triggers the activation of the vehicle's built-in positioning module, eliminating the need for manual activation of the positioning function.

[0092] Geographic location refers to the current spatial position of a vehicle, expressed in latitude and longitude coordinates. It is the core data representing the location of an off-road course. For example, 39°54′N, 116°23′E can accurately correspond to the specific location of an off-road course, providing a basis for subsequent server-side clustering analysis.

[0093] By relying on the positioning module to collect real-time geographical location information in off-road scenarios, this system completely changes the inefficient traditional method of collecting off-road site information, which relies on manual on-site surveys and verbal sharing and marking by car enthusiasts. It achieves automated real-time collection of off-road location information, and by relying on the synchronous collection of information from a large number of off-road vehicles equipped with this system, it can significantly expand the scope of off-road site information collection and fill the data gaps in remote and niche off-road sites.

[0094] Step S203: Send the geographical location to the server.

[0095] After the vehicle-mounted terminal completes the off-road condition determination and geolocation data collection, it sends the collected geolocation data to the server in a stable and orderly manner through the vehicle network communication link for unified aggregation and storage.

[0096] This step further improves the entire off-road terrain identification logic, forming a complete technical process of precise screening on the vehicle end, real-time positioning, and unified aggregation in the cloud.

[0097] This application provides a method for identifying off-road terrain. First, the method determines that the vehicle's driving condition is off-road, accurately distinguishing it from non-off-road conditions such as urban areas and highways. This avoids including geographical locations in non-off-road scenarios in the statistics, ensuring the validity of subsequent geographical locations from the outset. Next, the positioning module is activated to locate the vehicle's geographical location, replacing the traditional method of relying on user subjective sharing and offline on-site exploration. This significantly improves the efficiency of off-road terrain discovery. Furthermore, leveraging the ubiquity of vehicle-mounted terminals, it enables the collection of location data from multiple vehicles over a wide area, solving the problem of limited off-road terrain coverage in existing technologies. Finally, the geographical location is sent to the server, aggregating the geographical locations uploaded by multiple vehicles. This provides a massive and effective foundation of data for subsequent cluster analysis and hotspot identification on the server side.

[0098] Existing technologies for off-road terrain identification do not clearly define the specific monitoring parameters corresponding to off-road conditions, nor do they establish standardized and rigorous condition judgment logic. They rely solely on subjective judgments based on a single driving state or a rough driving environment, which easily leads to the misclassification of non-off-road driving states such as urban roads, paved mountain roads, and ordinary gravel roads as off-road conditions. This results in a large amount of invalid and mixed geographic location data being uploaded to the server, severely reducing the accuracy of subsequent off-road terrain clustering analysis and hotspot identification results, and failing to meet the actual needs of intelligent and automated off-road terrain identification. Based on the above-mentioned obvious defects of existing technologies, this application proposes a novel off-road terrain identification method. The step S201 for determining driving conditions has multiple feasible implementation methods. The embodiments of this application only list typical implementation methods for illustration, but are not limited thereto.

[0099] The first implementation method clearly defines the four core parameters to be collected (driving mode, differential lock status, maximum difference in wheel speed among the four wheels, and acceleration), and sets a judgment logic of "first condition + number of times "acceleration ≥ first preset threshold" ≥ preset number + duration of the first condition ≥ preset duration" to achieve accurate identification of off-road conditions and ensure the validity of subsequent geolocation from the source. See steps A1 to A5 for details.

[0100] Step A1: Obtain the driving mode of the vehicle.

[0101] The vehicle terminal establishes a real-time communication connection with the vehicle's four-wheel drive control module, collects and identifies the current driving mode of the vehicle in real time, accurately distinguishes the three mainstream driving modes: two-wheel drive normal driving mode, four-wheel drive high-speed driving mode, and four-wheel drive low-speed driving mode, and fully obtains the vehicle's power drive setting status. The collected driving mode data is cached and stored as the basis for subsequent working condition judgment.

[0102] Step A2: Obtain the status of the differential lock of the vehicle.

[0103] A differential lock is a device in a vehicle's transmission system used to lock the differential, allowing the left and right or front and rear wheels to rotate at the same speed, improving the vehicle's ability to get out of trouble in complex terrain, and is a core component of off-road vehicles.

[0104] The state of a differential lock refers to its current working state, which mainly includes the locked state (the differential is locked and the wheels rotate synchronously) and the unlocked state (the differential is working normally and the wheels can rotate asynchronously).

[0105] Step A3: Obtain the maximum difference in wheel speeds of the four wheels of the vehicle.

[0106] The wheel speed of a vehicle refers to the rotational speed of each of its four wheels, which is collected by wheel speed sensors installed on each of the four wheels. The unit is usually km / h or r / min, and it is used to reflect the rotational state of the wheels.

[0107] The maximum difference in wheel speed among the four wheels refers to the difference between the maximum and minimum wheel speeds. The formula is "maximum difference = maximum wheel speed - minimum wheel speed". It is used to determine whether the wheels are slipping. The larger the maximum difference, the more severe the slippage.

[0108] Step A4: Obtain the acceleration of the vehicle.

[0109] For example, the acceleration can be longitudinal acceleration or triaxial acceleration.

[0110] Longitudinal acceleration refers to the acceleration generated by a vehicle along its own driving axis from the front to the rear. It is used to reflect the dynamic changes of the vehicle during driving, such as bumps, hill climbs, and getting out of trouble. It is a core parameter characterizing off-road conditions.

[0111] Triaxial acceleration includes: lateral acceleration, longitudinal acceleration, and vertical acceleration.

[0112] Lateral acceleration refers to the acceleration along the left and right sides of a vehicle, mainly generated by turning, sideslip, and body roll. It can reflect the degree of lateral slippage and roll of the vehicle when driving on curves, mountain roads, or off-road surfaces, and is often used to judge the stability of the vehicle when driving on curves and body roll.

[0113] Lateral acceleration is primarily used to identify off-road sections in mountainous areas and those with continuous curves, but it is not used as the primary criterion.

[0114] Vertical acceleration refers to the acceleration along the vertical direction of a vehicle. It can reflect the bumps and undulations of the road surface, the impact of potholes, the bumps and bounces during off-road driving, and the traversing of uneven terrain. It is the most intuitive parameter for judging the intensity of bumps on bad roads and unpaved roads.

[0115] Vertical acceleration is used to identify the degree of bumpiness on gravel roads, dirt roads, and potholed off-road surfaces. The greater the bumpiness, the more violent the vertical acceleration fluctuation, which can further improve the recognition accuracy of unpaved off-road scenarios.

[0116] Step A5: If the number of times the acceleration is greater than or equal to the first preset threshold under the first condition is greater than or equal to the preset number and the duration under the first condition is greater than or equal to the preset duration, the driving condition is determined to be an off-road condition. The first condition is that the driving mode is four-wheel drive low speed mode or four-wheel drive high speed mode, or the differential lock is in a locked state, or the maximum difference is greater than or equal to the second preset threshold.

[0117] The first preset threshold is a preset acceleration judgment threshold, which is set by those skilled in the art based on the performance of off-road vehicles and the acceleration characteristics of common off-road scenarios (e.g., 0.8 m / s²), and is used to distinguish between "severe acceleration under off-road conditions" and "gentle acceleration under non-off-road conditions".

[0118] The preset number of times is the minimum number of times (e.g., 3 times / minute) that the preset acceleration is greater than or equal to the first preset threshold. This is used to avoid misjudgment caused by single acceleration fluctuations (e.g., occasional bumps) and to ensure the rigor of the judgment.

[0119] The preset duration refers to the minimum duration (e.g., 10 seconds) during which the vehicle is in the first condition. This is used to avoid misjudgments caused by the instantaneous fulfillment of the first condition (e.g., accidentally activating the four-wheel drive mode) and to ensure that the vehicle is indeed in a continuous off-road related state.

[0120] The second preset threshold refers to the preset critical value for determining the maximum difference in wheel speeds of the four wheels. It is set by those skilled in the art based on the accuracy of the wheel speed sensors of the off-road vehicle and the slippage characteristics of common off-road scenarios (such as 30km / h) to distinguish between "wheel slippage under off-road conditions" and "normal wheel speed difference under non-off-road conditions".

[0121] This application first determines whether the vehicle meets a first condition, namely, whether the driving mode is 4H or 4L, whether the differential lock is locked, and whether the maximum difference in wheel speeds of the four wheels is greater than or equal to a second preset threshold. If any of these conditions are met, the vehicle is determined to be under the first condition. If the vehicle is under the first condition, the on-board terminal counts in real time the number of times the acceleration is greater than or equal to the first preset threshold and times the duration of the vehicle being under the first condition. When the count is greater than or equal to a preset number and the duration is greater than or equal to a preset duration, the on-board terminal determines that the current driving condition of the vehicle is an off-road condition and triggers the start of the positioning module. If none of the above conditions are met, it is determined to be a non-off-road condition, and subsequent steps are not triggered to avoid invalid data collection.

[0122] The second method of implementing step S201 includes the following steps B1 to B5.

[0123] The second implementation combines "scene attributes (navigation road type)" with "vehicle status parameters (such as driving mode, differential lock status, etc.)" to form a dual judgment logic of "scene pre-setting + parameter verification." This not only limits the geographical scene of the off-road condition (unknown road) but also verifies the actual operating status of the vehicle through the first condition and acceleration, avoiding misjudgments caused by a single parameter or a single scene, making the condition judgment more rigorous and reliable. See steps B1 to B5 for details.

[0124] Step B1: Obtain the navigation road type of the current road determined by the navigation system.

[0125] The current road refers to the road or area that the vehicle is currently traveling on.

[0126] Navigation road type refers to the result of the vehicle navigation system classifying and identifying the attributes of the road the vehicle is currently traveling on based on map data and positioning information. It mainly includes two categories: non-unknown roads and unknown roads, which can serve as an important basis for distinguishing between off-road scenarios and regular road scenarios.

[0127] Among them, "unknown roads" are standardized, well-established roads that have been fully included and registered in the navigation electronic map database, and have clear road grades, road names, road numbers, and standardized traffic attributes. These include urban main roads, urban secondary roads, expressways, national and provincial trunk roads, and paved mountain roads. The navigation system can accurately identify the specific type, traffic rules, and geographical information of such roads. These roads are all standardized paved surfaces and basically do not have conditions for professional off-road driving.

[0128] Unknown roads are simple, unmarked paths or non-road areas in the wild that have not yet been entered into the navigation electronic map database, lack unified road numbers, official road planning information, and standardized road signs. These include dirt roads, gravel roads, muddy and potholed sections, mountain gullies, riverbank trails, forest paths, and other off-road terrain. Navigation systems can only pinpoint the approximate geographical location of these areas and cannot identify their specific road grade or accessibility. These are also the main areas where vehicles engage in off-road driving.

[0129] Step B2: Obtain the driving mode of the vehicle.

[0130] Driving mode refers to the vehicle driving control mode that the driver actively selects based on road conditions or that is automatically adjusted by the vehicle's electronic control unit (ECU). It is used to change power output, drive type and driving characteristics, and mainly includes two-wheel drive mode, four-wheel drive high-speed mode, four-wheel drive low-speed mode, etc.

[0131] Step B3: Obtain the status of the differential lock of the vehicle.

[0132] The differential lock is a core component in the transmission system of off-road vehicles. Its function is to lock the vehicle's differential structure, forcing the left and right wheels or the front and rear wheels to rotate at the same speed, effectively improving the vehicle's ability to get out of trouble and pass through in scenarios such as slipping, getting stuck, and steep slopes.

[0133] Differential locks have two states: locked and unlocked. The unlocked state is the normal state for daily driving, where the differential works normally and the wheels can generate a reasonable speed difference, suitable for smooth driving in the city and on highways. The locked state is the off-road working state, where the differential function is locked and the wheel speeds are kept consistent, which is mostly used for getting out of trouble in complex and harsh terrain.

[0134] Step B4: Obtain the maximum difference in wheel speeds of the four wheels of the vehicle.

[0135] Step B5: If the navigation road type is an unknown road and the number of times the acceleration is greater than or equal to the first preset threshold under the first condition is greater than or equal to the preset number, determine that the driving condition is an off-road condition; the first condition is that the driving mode is four-wheel drive low speed mode or four-wheel drive high speed mode or the differential lock is in a locked state or the maximum difference is greater than or equal to the second preset threshold.

[0136] This application first performs a preliminary judgment, comparing whether the navigation road type is an unknown road. If it is not an unknown road, it is directly determined to be a non-off-road condition, and no further verification is performed. If it is an unknown road, it proceeds to the next step of parameter verification. It verifies whether the vehicle meets the first condition, namely, whether the driving mode is 4H mode or 4L mode, whether the differential lock is locked, and whether the maximum difference in the four wheel speeds is greater than or equal to the second preset threshold. As long as any one of these conditions is met, the vehicle is determined to be under the first condition. If the vehicle is under the first condition, the vehicle terminal collects acceleration data in real time through the IMU's acceleration sensor and counts the number of times the acceleration is greater than or equal to the first preset threshold. When the count is greater than or equal to the preset number, the vehicle terminal determines that the current driving condition of the vehicle is an off-road condition and triggers the start of the positioning module. If any of the above conditions are not met, it is determined to be a non-off-road condition, and no subsequent steps are triggered to avoid invalid data collection.

[0137] It is understandable that relying solely on geographical location can only determine the location where off-roading occurs, but cannot reflect the difficulty of the off-road course, environmental characteristics, and the actual working status of the vehicle at that course. Based on this, this application also includes the following steps: obtaining the terrain features, vehicle setup status, and overall vehicle operating parameters at the geographical location.

[0138] Among them, terrain features refer to the surface morphology and environmental attributes corresponding to the vehicle's geographical location. They are obtained by combining positioning information with map or sensor data and are used to characterize the environmental conditions and driving difficulty of the off-road site.

[0139] For example, terrain features include, but are not limited to: altitude, slope, lateral angle, road surface type (gravel, mud, or dirt), degree of terrain undulation, and gully density.

[0140] For example, the topographic features of a geographical location can be formed by combining the slope and tilt angle data collected in real time by the inertial measurement unit (IMU) and the elevation data collected by the atmospheric pressure sensor.

[0141] Among them, vehicle setting status refers to working mode parameters that are actively selected by the driver or set by the vehicle system, reflecting the user's off-road intentions and the vehicle's preset working status.

[0142] For example, vehicle settings include, but are not limited to: driving mode, differential lock status, power mode, off-road mode activation status, battery level, and suspension height setting.

[0143] The off-road mode activation status refers to whether the vehicle is in a dedicated power control mode designed specifically for off-road scenarios, and is an important part of the vehicle's settings. When off-road mode is activated, the vehicle's ECU will automatically optimize power output (increase low-speed torque), adjust suspension stiffness, and optimize traction control to adapt to complex unpaved terrain and improve off-road capability. Its status is divided into two types: activated and deactivated.

[0144] The battery reserve value refers to the minimum remaining battery power threshold preset by the driver.

[0145] Suspension height setting refers to the driver's active adjustment of the vehicle's suspension system height according to terrain requirements; by adjusting the suspension height, the vehicle's minimum ground clearance can be changed to adapt to different off-road terrains.

[0146] For example, by communicating with the four-wheel drive control module, mode switch module, and differential lock sensor, user-defined parameters such as driving mode, differential lock status, power mode, and battery charge value can be read in real time; these parameters directly reflect whether the driver intends to actively engage in off-road driving.

[0147] Among them, the overall vehicle operating parameters refer to the real-time operating status parameters of the power system, transmission system and driving system of the vehicle during off-road driving, which are used to reflect the load, performance and thermal stability of the vehicle under off-road conditions.

[0148] For example, the overall operating parameters of the vehicle include, but are not limited to: engine speed, motor speed, output torque, output power, engine coolant temperature, motor temperature, battery temperature, and vehicle speed.

[0149] For example, real-time operating data, including speed, torque, power, temperature, voltage, and current, can be collected from the power domain control system, motor controller, engine controller, battery management system (BMS), etc. By filtering and calibrating multiple signals, the actual operating status of the vehicle under the current off-road conditions can be obtained, forming the overall operating parameters of the vehicle.

[0150] Terrain features are the core foundation for engineers to develop off-road routes and calibrate parameters, directly determining the rationality of the route and the direction of parameter settings. Engineers need to plan the route of the off-road route based on terrain features. For example, if the terrain is undulating and has many gullies, the off-road route needs to be designed to avoid dangerous areas, and engineers need to adjust calibration parameters accordingly (such as increasing the acceleration threshold and optimizing the wheel speed difference judgment criteria). If the terrain is flat, the off-road route can be simplified to "straight-line travel + basic off-roading," and engineers do not need to excessively adjust calibration parameters, only ensuring that the parameters are suitable for basic off-roading needs. In short, terrain features directly determine the planning direction of the off-road route and the engineer's parameter calibration logic, and are the core basis for route development and parameter optimization.

[0151] Vehicle settings (primarily driving mode, differential lock status, etc.) are crucial for engineers to determine the "reasonableness of the route plan" and the "accuracy of parameter calibration." When creating an off-road route plan, engineers must consider the vehicle's settings and plan a suitable route (avoiding routes that exceed the vehicle's capabilities). Simultaneously, engineers must calibrate corresponding parameters based on the vehicle's settings (e.g., in four-wheel drive mode, increasing the frequency of acceleration statistics to ensure parameters match the settings). If the vehicle's settings are adjusted (e.g., switching to four-wheel drive mode, adjusting battery reserve), engineers must simultaneously optimize the route plan and calibration parameters to prevent mismatches between the route plan and vehicle settings, which could prevent off-road passage.

[0152] Overall vehicle operating parameters are the core basis for engineers to verify the feasibility of the route plan and the rationality of parameter calibration. By analyzing the overall operating parameters, engineers determine whether the route planned in the current route plan exceeds the vehicle's performance range (e.g., a certain section requires high torque output, but the vehicle's operating parameters show insufficient torque), and then adjust the route plan or calibration parameters. At the same time, fluctuations in the overall vehicle operating parameters (e.g., excessively high engine temperature, excessively rapid battery consumption) will allow engineers to optimize the route plan's pace (e.g., reduce continuous uphill sections) and adjust parameter calibration (e.g., lower the acceleration threshold, optimize the wheel speed difference judgment standard). Ultimately, this ensures that the route plan is adapted to the vehicle's performance and the parameter calibration is realistic, guaranteeing that the off-road route plan is feasible and the parameter calibration is accurate, avoiding the problem of "the route plan is feasible, but the vehicle cannot achieve it."

[0153] Existing technologies can only collect geographical locations individually, failing to distinguish between "scattered off-road locations" and "concentrated off-road courses," nor can they quantify the popularity of off-road courses. This application, through cluster analysis, aggregates scattered geographical locations into specific off-road sites and calculates popularity values, accurately identifying truly popular off-road courses and quantifying their popularity through these values. Based on this, this application provides a method for identifying off-road course hotspots.

[0154] like Figure 3 The diagram shown is a flowchart of a method for identifying hotspots in off-road terrain, provided in an embodiment of this application. This method can be applied to a server and includes the following steps S301 to S302.

[0155] Step S301: Obtain the geographical location of each vehicle, wherein the method for obtaining the geographical location is as described in any of the above embodiments of the off-road terrain identification method.

[0156] Step S302: Cluster multiple geographical locations to obtain multiple off-road locations and their respective heat values.

[0157] Off-road locations refer to actual off-road courses with a defined spatial range, formed by the aggregation of multiple geographically close locations after cluster analysis. They are the core output of cluster analysis. Each off-road location corresponds to a real, concentrated location, such as a mountain off-road course or a riverbed off-road course.

[0158] For example, the popularity value is a numerical value used to quantify the popularity of each off-road location. It is calculated by the server based on the number of geographical locations corresponding to the off-road location after clustering. The higher the popularity value, the higher the off-road frequency of the off-road location and the more popular it is with users. It is an important reference for engineers to select calibration or / validation sites and for users to select off-road sites.

[0159] The server can simultaneously receive the geographic locations of massive numbers of vehicles. Through batch clustering and heat statistics, it can achieve synchronous identification of large-scale off-road sites, adapting to the application needs of multiple users and multiple scenarios. At the same time, the off-road locations and heat values ​​obtained from clustering can directly support subsequent applications such as off-road route book generation, vehicle performance calibration site selection, and off-road site recommendation, further expanding the practical value of this application.

[0160] For example, clustering algorithms that cluster multiple geographical regions can be K-means clustering or DBSCAN (Density-Based Spatial Clustering of Applications with Noise) density clustering algorithm.

[0161] This application provides a method for identifying hotspots in off-road terrain. The server receives geographic locations transmitted from multiple vehicle terminals. These locations are derived from real off-road conditions determined by the vehicle terminals, and invalid locations from non-off-road conditions have been eliminated. This ensures the authenticity and validity of the geographic locations received by the server from the source, completely solving the problem of insufficient accuracy in off-road terrain identification caused by unfiltered conditions and mixed data in existing technologies. At the same time, by receiving geographic location data from multiple vehicles, it achieves geographic location aggregation of multiple vehicles and a wide area, breaking the limitations of traditional reliance on subjective user sharing and offline field exploration. This significantly improves the coverage of off-road terrain and solves the pain points of low efficiency and limited coverage in off-road terrain discovery in the background technology, providing massive and reliable raw data support for subsequent cluster analysis.

[0162] The server uses a preset clustering algorithm to calculate the spatial distance of the sorted geographical locations. Geographical locations that are close in spatial distance and meet the density standard are grouped together to form specific off-road locations. At the same time, the popularity value of each off-road location is calculated based on the number of geographical locations corresponding to that off-road location.

[0163] This application achieves the transformation from "scattered off-road locations to concentrated off-road sites" through cluster analysis, which solves the shortcomings of existing technologies that can only collect single geographical locations and cannot distinguish between scattered locations and concentrated sites, and accurately identifies real off-road locations; while the calculation of popularity value quantifies the popularity of each off-road location, providing an intuitive reference for subsequent applications, and further solving the problems of existing technologies that lack popularity statistics and cannot meet the selection needs of users and engineers.

[0164] It is understandable that directly clustering massive amounts of scattered geographic locations is susceptible to the influence of isolated locations and location drift, leading to distorted clustering results. This application first divides the off-road area, which can initially regulate the scattered geographic locations, filter isolated and invalid location points, reduce the interference of location drift on the clustering results, and at the same time, the step-by-step clustering method reduces the computing load on the server, ensures the stability of large-scale geographic location data processing, and is suitable for application scenarios with multiple vehicles and a wide range. Based on this, step S302 includes the following steps C1 to C3.

[0165] Step C1: Using the multiple geographical locations as centers and a preset distance as a radius, obtain multiple off-road areas.

[0166] The preset distance refers to a fixed distance, such as 50 meters or 100 meters, set by those skilled in the art based on the typical range of the off-road course and the accuracy of the positioning module. It serves as the radius standard for dividing off-road areas. The value of the preset distance must take into account both the actual size of the off-road course and the positioning accuracy, ensuring that each off-road area can cover a reasonable area around a single off-road location, while avoiding excessive overlap or omission of adjacent off-road areas.

[0167] Step C2: Cluster the multiple off-road regions to obtain multiple off-road clusters.

[0168] Clustering refers to the process by which a server uses a preset clustering algorithm to group and aggregate multiple off-road areas. The core is to group off-road areas that overlap in space or are close to each other into a group to form a concentrated off-road cluster. In essence, it is a further aggregation of "single off-road location range" to achieve the transformation from "scattered off-road areas to concentrated sites".

[0169] like Figure 4 The diagram shown is a clustering illustration provided in an embodiment of this application.

[0170] Figure 4 Each solid black dot in the diagram represents a geographical location. Combined with... Figure 4 It can be seen that some geographical locations overlap and are close to each other, while the isolated geographical locations at the upper left edge do not overlap.

[0171] Figure 4 Each hollow circle in the diagram represents a cross-country area, combined with... Figure 4 It can be seen that some off-road areas overlap and are close to each other.

[0172] like Figure 4 The seven off-road areas on the left side of the middle section are clustered into one off-road cluster; Figure 4 The four off-road areas on the right are clustered into one off-road cluster.

[0173] Step C3: For each off-road cluster, determine the geographical location of the center point corresponding to the off-road cluster as the off-road location and the number of off-road areas in the off-road cluster as the heat value.

[0174] The center point corresponding to the off-road cluster refers to the average coordinate point (or the coordinate point with the highest density) obtained by the server by calculating the coordinates of the center points (i.e., the original geographical locations) of all off-road areas in a single off-road cluster. It is used to accurately characterize the core location of the off-road site corresponding to the off-road cluster and serve as the coordinate benchmark for the off-road location.

[0175] Popularity score is a numerical value used to quantify the popularity of each off-road location. It is directly determined by the number of off-road areas contained in the off-road cluster (the more off-road areas, the higher the popularity score). Essentially, it reflects the actual off-road frequency and coverage of the off-road site and is an important reference for engineers to select calibration / verification sites and for users to select off-road sites.

[0176] The server can set different colors or transparency for each off-road location based on its popularity value, generating an intuitive heat map. The higher the popularity value of an off-road location, the darker the color or the brighter the light, forming a "heat gradient". Based on the heat map, areas with continuously high popularity values ​​between different off-road locations can be identified. These areas are the popular routes actually used by users. By combining the center point coordinates of each off-road location, these popular routes can be connected into lines to reconstruct the popular off-road routes actually used by users, providing data support for route planning in off-road travel guides.

[0177] The above describes a method for identifying off-road terrain and a method for identifying off-road terrain hotspots provided by embodiments of this application. The apparatus for performing the above methods will be described below.

[0178] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an off-road terrain identification device provided in an embodiment of this application. Figure 5 As shown, the off-road terrain identification device includes:

[0179] The first determining module 501 is used to determine that the vehicle's driving condition is an off-road condition.

[0180] Location acquisition module 502 is used to activate the positioning module to locate the geographical location of the vehicle;

[0181] The sending module 503 is used to send the geographical location to the server.

[0182] In one alternative implementation, the first determining module includes:

[0183] The first acquisition unit is used to acquire the driving mode of the vehicle;

[0184] The second acquisition unit is used to acquire the status of the differential lock of the vehicle;

[0185] The third acquisition unit is used to acquire the maximum difference in wheel speeds of the four wheels of the vehicle;

[0186] The fourth acquisition unit is used to acquire the acceleration of the vehicle;

[0187] The first determining unit is configured to determine that the driving condition is an off-road condition if the number of times the acceleration is greater than or equal to the first preset threshold under the first condition is greater than or equal to the preset number of times and the duration under the first condition is greater than or equal to the preset duration. The first condition is that the driving mode is a four-wheel drive low-speed mode or a four-wheel drive high-speed mode, or the differential lock is in a locked state, or the maximum difference is greater than or equal to the second preset threshold.

[0188] In one alternative implementation, the first determining module includes:

[0189] The fifth acquisition unit is used to acquire the navigation road type of the current road determined by the navigation system;

[0190] The sixth acquisition unit is used to acquire the driving mode of the vehicle;

[0191] The seventh acquisition unit is used to acquire the status of the differential lock of the vehicle;

[0192] The eighth acquisition unit is used to acquire the maximum difference in wheel speeds of the four wheels of the vehicle;

[0193] The second determining unit is used to determine that the driving condition is an off-road condition if the navigation road type is an unknown road and the number of times the acceleration is greater than or equal to the first preset threshold is greater than or equal to a preset number under the first condition; the first condition is that the driving mode is a four-wheel drive low-speed mode or a four-wheel drive high-speed mode or the differential lock is in a locked state or the maximum difference is greater than or equal to the second preset threshold.

[0194] In one alternative implementation, it also includes:

[0195] The parameter acquisition module is used to acquire the terrain features, vehicle setting status, and overall vehicle operating parameters at the geographical location.

[0196] Please see Figure 6 , Figure 6 This is a schematic diagram of a hotspot identification device for off-road terrain provided in an embodiment of this application. Figure 6 As shown, the off-road terrain hotspot identification device includes:

[0197] The location data acquisition module 601 is used to acquire the geographical location of each vehicle, and the method for acquiring the geographical location is as described in any of the above embodiments for identifying off-road terrain.

[0198] Clustering module 602 is used to cluster multiple geographical locations to obtain multiple off-road locations and heat values ​​corresponding to each of the multiple off-road locations.

[0199] In one alternative implementation, the clustering module includes:

[0200] The ninth acquisition unit is used to obtain multiple off-road areas with multiple geographical locations as centers and a preset distance as a radius;

[0201] Clustering units are used to cluster multiple off-road regions to obtain multiple off-road clusters;

[0202] The third determining unit is used to determine, for each off-road cluster, the geographical location of the center point corresponding to the off-road cluster as the off-road location and the number of off-road areas in the off-road cluster as the heat value.

[0203] This application also provides an electronic device in its embodiments. (See reference...) Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0204] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. When the electronic device is powered on, the RAM 703 also stores various programs and data required for the operation of the electronic device. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0205] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 708 including, for example, memory cards, hard drives, etc.; and communication devices 709. Communication device 709 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0206] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement an off-road terrain identification method, or cause the electronic device to implement an off-road terrain hotspot identification method.

[0207] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement an off-road terrain identification method or an off-road terrain hotspot identification method.

[0208] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0209] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0210] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0211] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A method for identifying off-road terrain, characterized in that, Applications in vehicle-mounted terminals include: The vehicle's operating condition is determined to be off-road. The positioning module is activated to determine the geographical location of the vehicle. Send the aforementioned geographical location to the server.

2. The off-road terrain identification method according to claim 1, characterized in that, The determination that the vehicle's driving condition is an off-road condition includes: Obtain the driving mode of the vehicle; Obtain the status of the differential lock of the vehicle; Obtain the maximum difference in wheel speeds among the four wheels of the vehicle; Obtain the acceleration of the vehicle; If, under the first condition, the number of times the acceleration is greater than or equal to the first preset threshold is greater than or equal to a preset number and the duration under the first condition is greater than or equal to a preset duration, the driving condition is determined to be an off-road condition. The first condition is that the driving mode is a four-wheel drive low-speed mode or a four-wheel drive high-speed mode, or the differential lock is in a locked state, or the maximum difference is greater than or equal to the second preset threshold.

3. The off-road terrain identification method according to claim 1, characterized in that, The determination that the vehicle's driving condition is an off-road condition includes: Obtain the navigation road type of the current road determined by the navigation system; Obtain the driving mode of the vehicle; Obtain the status of the differential lock of the vehicle; Obtain the maximum difference in wheel speeds among the four wheels of the vehicle; If the navigation road type is an unknown road and the number of times the acceleration is greater than or equal to the first preset threshold under the first condition is greater than or equal to the preset number, the driving condition is determined to be an off-road condition; the first condition is that the driving mode is four-wheel drive low speed mode or four-wheel drive high speed mode or the differential lock is in a locked state or the maximum difference is greater than or equal to the second preset threshold.

4. The off-road terrain identification method according to any one of claims 1 to 3, characterized in that, After the step of activating the positioning module to locate the geographical location of the vehicle, the method further includes: Obtain the terrain features, vehicle settings, and overall vehicle operating parameters at the specified geographical location.

5. A method for identifying hotspots in off-road terrain, characterized in that, Applied to servers, including: The geographical location of each vehicle is obtained, and the method for obtaining the geographical location is the off-road terrain identification method as described in any one of claims 1 to 4; Cluster multiple geographical locations to obtain multiple off-road locations and their respective heat values.

6. The off-road terrain hotspot identification method according to claim 5, characterized in that, The step of clustering multiple geographical regions to obtain multiple off-road locations and their respective heat values ​​includes: Multiple off-road zones are obtained by using the aforementioned geographical locations as centers and a preset distance as a radius; Multiple off-road regions are clustered to obtain multiple off-road clusters; For each off-road cluster, the geographical location of the center point corresponding to the off-road cluster is determined as the off-road location, and the number of off-road areas in the off-road cluster is determined as the heat value.

7. The off-road terrain hotspot identification method according to claim 6, characterized in that, The color of the off-road clusters varies depending on their heat value.

8. A computer program product, characterized in that, The device includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the off-road terrain identification method as described in any one of claims 1 to 4, or cause the electronic device to implement the off-road terrain hotspot identification method as described in any one of claims 5 to 7.

9. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program to enable the electronic device to implement the off-road terrain identification method as described in any one of claims 1 to 4, or to enable the electronic device to implement the off-road terrain hotspot identification method as described in any one of claims 5 to 7.

10. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the off-road terrain identification method as described in any one of claims 1 to 4, or enable the electronic device to implement the off-road terrain hotspot identification method as described in any one of claims 5 to 7.

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