Vehicle control method, device, storage medium and vehicle

Abstract

The present application provides a vehicle control method, device, storage medium, and vehicle. The method includes: obtaining the current rainfall value and current waterlogged area corresponding to a target vehicle; determining a target ground adhesion coefficient value corresponding to the current rainfall value and current waterlogged area based on a preset correspondence between the rainfall value, waterlogged area, and ground adhesion coefficient; determining a target vehicle posture and target sideslip probability for the target vehicle based on the target ground adhesion coefficient value and the target vehicle's current speed, current longitudinal acceleration, and current lateral acceleration, in combination with preset vehicle posture judgment rules and sideslip probability calculation rules; and outputting vehicle control information for the target vehicle corresponding to the target vehicle posture and target sideslip probability. The present application can improve vehicle driving safety in rainy weather.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, storage medium and vehicle. Background Art

[0002] With the rapid development of science and technology and the economy, people's living standards are improving, and the number of cars owned is increasing year by year. Cars have become an indispensable item in many families. Consequently, competition among major automakers is becoming increasingly fierce. To maintain their competitiveness, automakers are constantly adopting various new technologies to improve vehicle quality and driving safety.

[0003] At present, rainy days are still one of the weather conditions with the highest incidence of automobile traffic accidents. In order to improve the driving safety of cars on rainy days, a vehicle control method with high safety is urgently needed. Summary of the Invention

[0004] The present application provides a vehicle control method, device, storage medium and vehicle to solve the problem of poor vehicle driving safety on rainy days.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0006] Get the current rainfall value and current flooded area corresponding to the target vehicle;

[0007] According to the preset corresponding relationship between rainfall value, waterlogging area and ground adhesion coefficient, a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogging area is determined;

[0008] Determine the target vehicle's target body posture and target sideslip probability based on the target ground adhesion coefficient value, the target vehicle's current speed, current longitudinal acceleration, and current lateral acceleration, and in combination with pre-set body posture judgment rules and sideslip probability calculation rules;

[0009] Output vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability; wherein the vehicle control information includes at least one of a control instruction of braking frequency, a control instruction of engine ignition time interval, a control instruction of transmission gear position, a control instruction of wheel driving force, and a control instruction of wheel braking force.

[0010] In one possible implementation, after obtaining the current rainfall value and the current flooded area corresponding to the target vehicle, the vehicle control method further includes:

[0011] Output the control instruction of the frequency of the brake pad rubbing against the brake disc corresponding to the current rainfall value.

[0012] In one possible implementation, after obtaining the current rainfall value and the current flooded area corresponding to the target vehicle, the vehicle control method further includes:

[0013] Output the control instructions for suspension lifting corresponding to the current water accumulation area.

[0014] In one possible implementation, obtaining the current rainfall value and the current flooded area corresponding to the target vehicle includes:

[0015] Obtaining current rainfall data collected by the target vehicle's rain sensor and current road surface video data collected by the target vehicle's camera device;

[0016] Generate the current rainfall value according to the current rainfall data and the pre-set rainfall value calculation rules;

[0017] The current road surface video data is input into the pre-trained waterlogged area recognition model to generate the current waterlogged area.

[0018] In a possible implementation, the correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient includes multiple first combinations, each first combination includes a rainfall value interval and a waterlogged area interval, and each first combination corresponds to a ground adhesion coefficient value;

[0019] Accordingly, according to the preset corresponding relationship between the rainfall value, the waterlogged area and the ground adhesion coefficient, a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area is determined, including:

[0020] Find the first combination corresponding to the current rainfall value and the current flooded area;

[0021] The ground adhesion coefficient value of the first combination corresponding to the current rainfall value and the current waterlogged area is determined as the target ground adhesion coefficient value.

[0022] In one possible implementation, outputting vehicle control information of a target vehicle corresponding to a target vehicle body posture and a target sideslip probability includes:

[0023] According to the preset correspondence between the vehicle body posture, sideslip probability and vehicle parameters, the target vehicle parameter values ​​corresponding to the target vehicle body posture and the target sideslip probability are determined, and a control instruction for adjusting the vehicle parameters to the target vehicle parameter values ​​is output;

[0024] The vehicle parameters include at least one of braking frequency, engine ignition time interval, transmission gear, wheel driving force and wheel braking force.

[0025] In one possible implementation, the correspondence between the vehicle body posture, the sideslip probability, and the vehicle parameters includes multiple second combinations, each second combination includes a vehicle body posture and a sideslip probability interval, and each second combination corresponds to a set of vehicle parameter values, each set of vehicle parameter values ​​includes a numerical value of at least one vehicle parameter;

[0026] Accordingly, according to the preset correspondence between the vehicle body posture, sideslip probability and vehicle parameters, the target vehicle parameter values ​​corresponding to the target vehicle body posture and the target sideslip probability are determined, including:

[0027] Finding a second combination corresponding to the target vehicle body posture and the target sideslip probability;

[0028] A set of vehicle parameter values ​​of the second combination corresponding to the target vehicle body posture and the target sideslip probability is determined as the target vehicle parameter values.

[0029] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0030] An acquisition module is used to obtain the current rainfall value and current flooded area corresponding to the target vehicle;

[0031] The first determination module is used to determine a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient;

[0032] a second determination module, configured to determine a target vehicle posture and a target sideslip probability of the target vehicle based on the target ground adhesion coefficient value and the current vehicle speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle, in combination with pre-set vehicle posture judgment rules and sideslip probability calculation rules;

[0033] An output module is used to output vehicle control information of a target vehicle corresponding to a target vehicle body posture and a target sideslip probability; wherein the vehicle control information includes at least one of a control instruction for braking frequency, a control instruction for engine ignition time interval, a control instruction for transmission gear position, a control instruction for wheel driving force, and a control instruction for wheel braking force.

[0034] In a possible implementation, the output module is further configured to:

[0035] Output the control instruction of the frequency of the brake pad rubbing against the brake disc corresponding to the current rainfall value.

[0036] In a possible implementation, the output module is further configured to:

[0037] Output the control instructions for suspension lifting corresponding to the current water accumulation area.

[0038] In a possible implementation, the acquisition module is specifically configured to:

[0039] Obtaining current rainfall data collected by the target vehicle's rain sensor and current road surface video data collected by the target vehicle's camera device;

[0040] Generate the current rainfall value according to the current rainfall data and the pre-set rainfall value calculation rules;

[0041] The current road surface video data is input into the pre-trained waterlogged area recognition model to generate the current waterlogged area.

[0042] In a possible implementation, the correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient includes multiple first combinations, each first combination includes a rainfall value interval and a waterlogged area interval, and each first combination corresponds to a ground adhesion coefficient value;

[0043] Accordingly, the first determining module is specifically configured to:

[0044] Find the first combination corresponding to the current rainfall value and the current flooded area;

[0045] The ground adhesion coefficient value of the first combination corresponding to the current rainfall value and the current waterlogged area is determined as the target ground adhesion coefficient value.

[0046] In a possible implementation, the output module is specifically configured to:

[0047] According to the preset correspondence between the vehicle body posture, sideslip probability and vehicle parameters, the target vehicle parameter values ​​corresponding to the target vehicle body posture and the target sideslip probability are determined, and a control instruction for adjusting the vehicle parameters to the target vehicle parameter values ​​is output;

[0048] The vehicle parameters include at least one of braking frequency, engine ignition time interval, transmission gear, wheel driving force and wheel braking force.

[0049] In one possible implementation, the correspondence between the vehicle body posture, the sideslip probability, and the vehicle parameters includes multiple second combinations, each second combination includes a vehicle body posture and a sideslip probability interval, and each second combination corresponds to a set of vehicle parameter values, each set of vehicle parameter values ​​includes a numerical value of at least one vehicle parameter;

[0050] Accordingly, the second determining module is specifically configured to:

[0051] Finding a second combination corresponding to the target vehicle body posture and the target sideslip probability;

[0052] A set of vehicle parameter values ​​of the second combination corresponding to the target vehicle body posture and the target sideslip probability is determined as the target vehicle parameter values.

[0053] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the first aspect when executing the computer program.

[0054] In a fourth aspect, an embodiment of the present application provides a vehicle comprising the electronic device as described in the third aspect.

[0055] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0056] Embodiments of the present application provide a vehicle control method, device, storage medium, and vehicle. These methods utilize the current rainfall value and current waterlogged area corresponding to the target vehicle to determine a target vehicle's body posture and target sideslip probability, and then output vehicle control information corresponding to the target body posture and target sideslip probability. Because the target body posture and target sideslip probability reflect the vehicle's driving state and the likelihood of an accident on a rainy day, the corresponding vehicle control information can be output to promptly correct the vehicle's driving state on a rainy day, perform vehicle stability control, and reduce the vehicle's sideslip probability on rainy days. This can reduce the probability of accidents on rainy days and improve driving safety on rainy days. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0058] Figure 1 This is a flowchart of the steps of a vehicle control method provided by an embodiment of the present application;

[0059] Figure 2 This is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0060] Figure 3 is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0061] Figure 4 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0063] In order to make the purpose, technical solutions and advantages of this application clearer, specific embodiments will be described below with reference to the accompanying drawings.

[0064] As described in the related art, currently, rainy days are still one of the weather conditions with the highest incidence of automobile traffic accidents. In order to improve the driving safety of automobiles on rainy days, a vehicle control method with high safety is urgently needed.

[0065] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle control method, device, storage medium and vehicle. The vehicle control method provided by the embodiments of the present application is first introduced below.

[0066] The executor of the vehicle control method may be a vehicle control device, which may be an electronic device having a processor and a memory, such as a vehicle controller, which is not specifically limited here.

[0067] See also Figure 1 , which shows a flow chart for implementing the vehicle control method provided in an embodiment of the present application, and is described in detail as follows:

[0068] Step 110: Obtain the current rainfall value and current flooded area corresponding to the target vehicle.

[0069] In some embodiments, the target vehicle can be any vehicle, such as a gasoline-powered vehicle, a hybrid vehicle, or a pure electric vehicle. The current rainfall value can be data reflecting the rainfall conditions when the target vehicle is traveling on a rainy day, and the current flooded area can be the flooded area of ​​a flooded road section ahead of the target vehicle.

[0070] In some embodiments, the current rainfall value and current flooded area can be acquired using a rain sensor and a camera. First, the current rainfall data collected by the target vehicle's rain sensor and the current road surface video data collected by the target vehicle's camera can be acquired. The current rainfall value can then be generated based on the current rainfall data and pre-set rainfall value calculation rules. Simultaneously, the current road surface video data can be input into a pre-trained flooded area recognition model to generate the current flooded area.

[0071] Specifically, the current rainfall data may be an electronic signal corresponding to the precipitation intensity, and the rainfall value calculation rule may be a pre-calibrated correspondence between the electronic signal and the rainfall value. For example, the electronic signal may be a voltage signal, and the voltage signals corresponding to different rainfall values ​​may be obtained according to different preset rainfall scenarios, and then the correspondence between the voltage signal and the rainfall value may be calibrated, such as a voltage signal of 0-3V (volts) corresponding to a rainfall value of 0-50mm / h (millimeter / hour). The current road surface video data may be video data of the road section where the target vehicle is currently traveling, and the waterlogged area recognition model may be a model obtained by training based on a general image recognition model. During the training process, image samples recording different waterlogged images and corresponding sample labels may be used. The model may perform waterlogged area recognition processing on each video frame in the video data. If there is a waterlogged image in the video frame, the corresponding waterlogged area may be output, such as 2m 2 or 2.5m 2 (square meters) and other values.

[0072] Step 120: Determine a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient.

[0073] In some embodiments, the correspondence between rainfall values, waterlogged areas, and ground adhesion coefficients can be in the form of a combination of relationships, which can include multiple combinations of rainfall values, waterlogged areas, and ground adhesion coefficients. Each combination can be referred to as a first combination. Each first combination includes a rainfall value interval and a waterlogged area interval, and each first combination corresponds to a ground adhesion coefficient value. For example, the correspondence between rainfall values, waterlogged areas, and ground adhesion coefficients can be shown in Table 1 below.

[0074] Table 1

[0075]

[0076]

[0077] In this manner, after obtaining the current rainfall value and current flooded area corresponding to the target vehicle, a target ground adhesion coefficient value corresponding to the current rainfall value and current flooded area can be determined based on a pre-set correspondence between rainfall value, flooded area, and ground adhesion coefficient. Specifically, a first combination of the current rainfall value and the current flooded area can be found in the aforementioned correspondence, and the ground adhesion coefficient value of this first combination is the target ground adhesion coefficient value.

[0078] Step 130: Determine a target vehicle posture and a target sideslip probability of the target vehicle based on the target ground adhesion coefficient value, the current vehicle speed, the current longitudinal acceleration, and the current lateral acceleration of the target vehicle, and in combination with pre-set vehicle posture judgment rules and sideslip probability calculation rules.

[0079] In some embodiments, the vehicle body posture may be a feature used to measure the tilt state of the vehicle, for example, the vehicle body posture may be the vehicle tilted to the left, the vehicle tilted to the right, or the vehicle not tilted. The body posture of the target vehicle may be obtained using a pre-set body posture judgment rule in combination with the current speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle. The sideslip probability may be a measure of the probability of the vehicle sideslipping, such as 30%, 50%, etc. The sideslip probability of the target vehicle may be calculated using a pre-set sideslip probability calculation rule in combination with the target ground adhesion coefficient value and the current speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle.

[0080] In some embodiments, the current speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle can be obtained from the target vehicle's signal system. Taking longitudinal acceleration as an example, the longitudinal acceleration of the target vehicle can be collected by a longitudinal acceleration sensor and then uploaded to the target vehicle's signal system, such as a CAN, Ethernet, or LIN bus system. In this way, the current longitudinal acceleration of the target vehicle can be obtained from the target vehicle's signal system.

[0081] In some embodiments, the vehicle body posture judgment rule may be a pre-calibrated correspondence between the current vehicle speed, current longitudinal acceleration, current lateral acceleration, and the vehicle body posture. For example, the corresponding vehicle body posture may be obtained according to different vehicle acceleration test scenarios, and then the correspondence between the current vehicle speed, current longitudinal acceleration, current lateral acceleration, and the vehicle body posture may be calibrated. The sideslip probability calculation rule may be a calculation rule derived from theoretical research related to vehicle driving and related to the ground adhesion coefficient value, the vehicle's current speed, current longitudinal acceleration, and current lateral acceleration. The calculation rule may be a functional relationship, wherein the independent variables of the functional relationship are the ground adhesion coefficient value, the vehicle's current speed, current longitudinal acceleration, and current lateral acceleration, and the dependent variable of the functional relationship is the sideslip probability.

[0082] Step 140: Output vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability.

[0083] In some embodiments, the vehicle control information may include multiple types of control information, such as control instructions for braking frequency, engine ignition time interval, transmission gear position, wheel driving force, and wheel braking force. It should be noted that the vehicle control information may include any one or more of the aforementioned types of control information, and the embodiments of this application do not specifically limit them.

[0084] In some embodiments, target vehicle parameter values ​​corresponding to a target vehicle posture and a target sideslip probability can be determined based on a preset correspondence between the vehicle posture, sideslip probability, and vehicle parameters, and a control instruction can be output to adjust the vehicle parameters to the target vehicle parameter values. The vehicle parameters include at least one of braking frequency, engine ignition interval, transmission gear position, wheel driving force, and wheel braking force.

[0085] Specifically, the corresponding relationship between vehicle body posture, sideslip probability and vehicle parameters can be calibrated based on different vehicle driving test scenarios. Generally speaking, when the vehicle body posture is not tilted and the probability of skidding is high, the ABS (Anti-lock Brake System) needs to increase the braking frequency to reduce the probability of the vehicle skidding in rainy days, thereby reducing the probability of accidents in rainy days. The TCS (Traction Control System) needs to extend the engine ignition interval to reduce the probability of the vehicle stalling in rainy days, thereby reducing the probability of accidents in rainy days. The TCS system needs to increase the transmission gear to prevent the drive wheels from slipping to reduce the probability of the vehicle skidding in rainy days, thereby reducing the probability of accidents in rainy days. The ESC (Electronic Stability Controller) system needs to adjust the driving force and braking force of each wheel to improve vehicle stability, reduce the probability of the vehicle skidding in rainy days, thereby reducing the probability of accidents in rainy days and improving vehicle driving safety in rainy days.

[0086] In some embodiments, the correspondence between vehicle posture, sideslip probability, and vehicle parameters can be in the form of a combination of relationships, which can include multiple combinations of vehicle posture, sideslip probability, and vehicle parameters. These combinations can be referred to as second combinations. Each second combination includes a vehicle posture and a sideslip probability interval, and each second combination corresponds to a set of vehicle parameter values, each set of vehicle parameter values ​​including the value of at least one vehicle parameter. Taking the braking frequency and engine ignition interval as examples, the correspondence between vehicle posture, sideslip probability, and vehicle parameters can be shown in Table 2 below.

[0087] Table 2

[0088] Second combination number Body posture Sideslip probability Braking frequency Engine ignition time interval ① Left tilt [0,0.4) 0.3 Hz 1 second ② right tilt [0.4,0.6) 0.5 Hz 1.5 seconds ③ Not tilted [0.6,0.8) 0.8 Hz 2 seconds …… …… …… …… ……

[0089] In this manner, after obtaining the target vehicle's target body posture and target sideslip probability, vehicle control information corresponding to the target vehicle posture and target sideslip probability can be output based on a pre-set correspondence between the body posture, sideslip probability, and vehicle parameters. Specifically, a second combination corresponding to the target vehicle posture and target sideslip probability can be found within the aforementioned correspondence. The set of vehicle parameter values ​​corresponding to this second combination is then the target vehicle parameter values.

[0090] It is worth mentioning that after obtaining the current rainfall value and the current water accumulation area corresponding to the target vehicle, the following control can also be performed: output a control instruction for the frequency of the brake pads rubbing against the brake disc corresponding to the current rainfall value, that is, the greater the rainfall, the higher the frequency of the brake pads rubbing against the brake disc, so as to keep the brake disc clean and dry, and ensure the stable function of the braking system; and / or, output a control instruction for the suspension lifting corresponding to the current water accumulation area, that is, the larger the water accumulation area, the higher the suspension, so as to avoid slipping or locking of the wheels when passing through the water, thereby reducing the probability of accidents on rainy days; and / or, output a control instruction for setting the maximum driving speed to a preset speed threshold, so as to avoid the target vehicle speed being too high, reduce the probability of the vehicle skidding on rainy days, and thus reduce the probability of accidents on rainy days; and / or, output a preset prompt message to prompt the user to slow down, such as displaying a prompt message for controlling the vehicle speed on the instrument panel or voice broadcasting the vehicle speed control, thereby reducing the probability of the vehicle skidding on rainy days and reducing the probability of accidents on rainy days.

[0091] In an embodiment of the present application, the current rainfall value and the current waterlogged area corresponding to the target vehicle can be used to obtain a target vehicle posture and target sideslip probability, and then output vehicle control information corresponding to the target vehicle posture and target sideslip probability. Because the target vehicle posture and target sideslip probability can reflect the vehicle's driving state on rainy days and the likelihood of an accident, the corresponding vehicle control information can be output to promptly correct the vehicle's driving state on rainy days, perform vehicle stability control, and reduce the probability of the vehicle's sideslip on rainy days, thereby reducing the probability of accidents on rainy days and improving vehicle driving safety on rainy days.

[0092] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0093] The following are device embodiments of the present application. For details not fully described therein, please refer to the corresponding method embodiments described above.

[0094] Figure 2 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown, which are detailed as follows:

[0095] like Figure 2 As shown, the vehicle control device 200 includes:

[0096] An acquisition module 210 is used to obtain the current rainfall value and the current flooded area corresponding to the target vehicle;

[0097] The first determination module 220 is configured to determine a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient;

[0098] a second determination module 230 for determining a target vehicle posture and a target sideslip probability of the target vehicle based on the target ground adhesion coefficient value and the current vehicle speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle, in combination with pre-set vehicle posture judgment rules and sideslip probability calculation rules;

[0099] Output module 240 is used to output vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability; wherein the vehicle control information includes at least one of a control instruction for braking frequency, a control instruction for engine ignition time interval, a control instruction for transmission gear position, a control instruction for wheel driving force, and a control instruction for wheel braking force.

[0100] In a possible implementation, the output module is further configured to:

[0101] Output the control instruction of the frequency of the brake pad rubbing against the brake disc corresponding to the current rainfall value.

[0102] In a possible implementation, the output module is further configured to:

[0103] Output the control instructions for suspension lifting corresponding to the current water accumulation area.

[0104] In a possible implementation, the acquisition module is specifically configured to:

[0105] Obtaining current rainfall data collected by the target vehicle's rain sensor and current road surface video data collected by the target vehicle's camera device;

[0106] Generate the current rainfall value according to the current rainfall data and the pre-set rainfall value calculation rules;

[0107] The current road surface video data is input into the pre-trained waterlogged area recognition model to generate the current waterlogged area.

[0108] In a possible implementation, the correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient includes multiple first combinations, each first combination includes a rainfall value interval and a waterlogged area interval, and each first combination corresponds to a ground adhesion coefficient value;

[0109] Accordingly, the first determining module is specifically configured to:

[0110] Find the first combination corresponding to the current rainfall value and the current flooded area;

[0111] The ground adhesion coefficient value of the first combination corresponding to the current rainfall value and the current waterlogged area is determined as the target ground adhesion coefficient value.

[0112] In a possible implementation, the output module is specifically configured to:

[0113] According to the preset correspondence between the vehicle body posture, sideslip probability and vehicle parameters, the target vehicle parameter values ​​corresponding to the target vehicle body posture and the target sideslip probability are determined, and a control instruction for adjusting the vehicle parameters to the target vehicle parameter values ​​is output;

[0114] The vehicle parameters include at least one of braking frequency, engine ignition time interval, transmission gear, wheel driving force and wheel braking force.

[0115] In one possible implementation, the correspondence between the vehicle body posture, the sideslip probability, and the vehicle parameters includes multiple second combinations, each second combination includes a vehicle body posture and a sideslip probability interval, and each second combination corresponds to a set of vehicle parameter values, each set of vehicle parameter values ​​includes a numerical value of at least one vehicle parameter;

[0116] Accordingly, the second determining module is specifically configured to:

[0117] Finding a second combination corresponding to the target vehicle body posture and the target sideslip probability;

[0118] A set of vehicle parameter values ​​of the second combination corresponding to the target vehicle body posture and the target sideslip probability is determined as the target vehicle parameter values.

[0119] In an embodiment of the present application, the current rainfall value and the current waterlogged area corresponding to the target vehicle can be used to obtain a target vehicle posture and target sideslip probability, and then output vehicle control information corresponding to the target vehicle posture and target sideslip probability. Because the target vehicle posture and target sideslip probability can reflect the vehicle's driving state on rainy days and the likelihood of an accident, the corresponding vehicle control information can be output to promptly correct the vehicle's driving state on rainy days, perform vehicle stability control, and reduce the probability of the vehicle's sideslip on rainy days, thereby reducing the probability of accidents on rainy days and improving vehicle driving safety on rainy days.

[0120] The present application also provides a computer program product having program code, which executes the steps of any of the above vehicle control method embodiments when the program code is run in a corresponding processor, controller, computing device or terminal, such as Figure 1 Steps 110 to 140 shown. Those skilled in the art will appreciate that the methods and devices proposed in the embodiments of the present application can be implemented in various forms of hardware, software, firmware, a dedicated processor, or a combination thereof. The dedicated processor may include an application specific integrated circuit (ASIC), a reduced instruction set computer (RISC), and / or a field programmable gate array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed on a program storage device as an application. It is typically based on a machine with a computer platform having hardware, such as one or more central processing units (CPUs), a random access memory (RAM), and one or more input / output (I / O) interfaces. An operating system is typically also installed on the computer platform. The various processes and functions described herein may be part of an application, or a portion thereof may be executed by an operating system.

[0121] Figure 3 Schematic diagram of the electronic device 3 provided in the embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30. When the processor 30 executes the computer program 32, the steps in the above-mentioned vehicle control method embodiments are implemented, such as Figure 1 Alternatively, when the processor 30 executes the computer program 32, the functions of the modules in the above-mentioned device embodiments are realized, for example, Figure 2 The functions of the modules 210 to 240 are shown.

[0122] For example, the computer program 32 may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 30 to complete the present application. The one or more modules may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the electronic device 3. For example, the computer program 32 may be divided into Figure 2 Modules 210 to 240 are shown.

[0123] The electronic device 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that Figure 3 It is only an example of electronic device 3 and does not constitute a limitation of electronic device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0124] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0125] The memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 3. Furthermore, the memory 31 may include both an internal storage unit of the electronic device 3 and an external storage device. The memory 31 is used to store the computer program and other programs and data required by the electronic device. The memory 31 may also be used to temporarily store data that has been output or is about to be output.

[0126] The embodiment of the present application also provides a vehicle, such as Figure 4 As shown, the vehicle 4 includes the aforementioned electronic device 3 .

[0127] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0128] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0129] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0130] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0131] 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned vehicle control method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0134] In addition, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification are not necessarily to be understood as independent embodiments. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0135] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: Get the current rainfall value and current flooded area corresponding to the target vehicle; Determining a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient; Determining a target vehicle posture and a target sideslip probability of the target vehicle based on the target ground adhesion coefficient value and the current vehicle speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle, in combination with pre-set vehicle posture determination rules and sideslip probability calculation rules; the target vehicle posture is a feature used to measure the tilt state of the target vehicle, and the target vehicle posture includes vehicle tilted to the left, vehicle tilted to the right, and vehicle not tilted; Output vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability; wherein the vehicle control information includes at least one of a control instruction for braking frequency, a control instruction for engine ignition time interval, a control instruction for transmission gear position, a control instruction for wheel driving force, and a control instruction for wheel braking force.

2. The vehicle control method according to claim 1, characterized in that: After obtaining the current rainfall value and the current flooded area corresponding to the target vehicle, the method further includes: Output a control instruction of the frequency of the brake pad rubbing against the brake disc corresponding to the current rainfall value.

3. The vehicle control method according to claim 1, wherein: After obtaining the current rainfall value and the current flooded area corresponding to the target vehicle, the method further includes: Output a control instruction for the suspension lifting corresponding to the current water accumulation area.

4. The vehicle control method according to claim 1, wherein: The obtaining of the current rainfall value and the current flooded area corresponding to the target vehicle includes: Acquiring current rainfall data collected by the rain sensor of the target vehicle and current road surface video data collected by the camera device of the target vehicle; generating the current rainfall value according to the current rainfall data and a preset rainfall value calculation rule; The current road surface video data is input into a pre-trained waterlogged area recognition model to generate the current waterlogged area.

5. The vehicle control method according to claim 1, characterized in that: The correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient includes a plurality of first combinations, each first combination includes a rainfall value interval and a waterlogged area interval, and each first combination corresponds to a ground adhesion coefficient value; The determining of a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient includes: Searching for a first combination corresponding to the current rainfall value and the current flooded area; The ground adhesion coefficient value of a first combination corresponding to the current rainfall value and the current waterlogged area is determined as the target ground adhesion coefficient value.

6. The vehicle control method according to claim 1, characterized in that: The outputting vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability includes: Determining target vehicle parameter values ​​corresponding to the target vehicle posture and the target sideslip probability based on a preset correspondence between the vehicle posture, sideslip probability, and vehicle parameters, and outputting a control instruction for adjusting the vehicle parameters to the target vehicle parameter values; The vehicle parameters include at least one of braking frequency, engine ignition time interval, transmission gear, wheel driving force and wheel braking force.

7. The vehicle control method according to claim 6, characterized in that: The correspondence between the vehicle body posture, sideslip probability, and vehicle parameters includes a plurality of second combinations, each second combination includes a vehicle body posture and a sideslip probability interval, and each second combination corresponds to a set of vehicle parameter values, each set of vehicle parameter values ​​includes a value of at least one vehicle parameter; The determining of target vehicle parameter values ​​corresponding to the target vehicle posture and the target sideslip probability based on the preset corresponding relationship between the vehicle posture, sideslip probability and vehicle parameters includes: Finding a second combination corresponding to the target vehicle body posture and the target sideslip probability; A set of vehicle parameter values ​​of a second combination corresponding to the target vehicle body posture and the target sideslip probability is determined as the target vehicle parameter values.

8. A vehicle control device, characterized in that: include: An acquisition module is used to obtain the current rainfall value and current flooded area corresponding to the target vehicle; A first determining module is configured to determine a target ground adhesion coefficient value corresponding to the current rainfall value and the current waterlogged area according to a preset correspondence between the rainfall value, the waterlogged area, and the ground adhesion coefficient; a second determination module, configured to determine a target body posture and a target sideslip probability of the target vehicle based on the target ground adhesion coefficient value and the current vehicle speed, current longitudinal acceleration, and current lateral acceleration of the target vehicle, in combination with pre-set body posture judgment rules and sideslip probability calculation rules; the target body posture is a feature used to measure the tilt state of the target vehicle, and the target body posture includes vehicle tilted to the left, vehicle tilted to the right, and vehicle not tilted; An output module is used to output vehicle control information of the target vehicle corresponding to the target vehicle body posture and the target sideslip probability; wherein the vehicle control information includes at least one of a control instruction for braking frequency, a control instruction for engine ignition time interval, a control instruction for transmission gear position, a control instruction for wheel driving force, and a control instruction for wheel braking force.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A vehicle comprising an electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the vehicle control method according to any one of claims 1 to 7 is implemented.

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