Vehicle control method, device and electronic equipment

Abstract

The application provides a vehicle control method, comprising: acquiring a target image captured by a camera, the target image comprising image information of a current driving road surface; determining terrain information of the current road surface based on the target image; determining a confidence degree of the terrain information based on state information of a current vehicle, the state information comprising at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle and transfer case mode; and controlling the vehicle to operate in a target mode when the confidence degree of the terrain information is greater than a preset value, the target mode being a mode in an all-terrain mode that matches the terrain information. In this way, when the vehicle enters different terrains, the terrain information and the confidence degree thereof of the current vehicle can be determined, and whether the vehicle is automatically switched to an all-terrain mode corresponding to the current terrain information is controlled according to whether the confidence degree is greater than a preset value, thereby simplifying the operation steps of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a vehicle control method, device, and electronic device. Background Technology

[0002] During vehicle use, various complex road conditions will be encountered, such as gravel roads, snow, and sand. These conditions require relatively high driving skills from the driver. Therefore, automakers have developed all-terrain systems for various road conditions, including paved road mode, snow mode, mud mode, and rock mode. When the vehicle enters a corresponding road condition, the driver needs to manually switch to the appropriate mode. However, in actual driving, drivers often forget to switch the vehicle to the correct mode.

[0003] Therefore, in the existing technology, when driving a vehicle into different terrains, the driver still needs to manually switch the vehicle to the corresponding all-terrain mode, which is a problem of cumbersome vehicle operation. Summary of the Invention

[0004] This invention provides a vehicle control method and electronic device that can solve the problem of cumbersome vehicle login operations.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] Acquire a target image captured by a camera, the target image including image information of the current driving road surface;

[0007] Based on the target image, determine the terrain information of the current road surface;

[0008] The confidence level of the terrain information is determined based on the current vehicle status information, which includes at least one of the following status parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode.

[0009] If the confidence level of the terrain information is greater than a preset value, the vehicle is controlled to operate in a target mode, which is the mode in the all-terrain mode that matches the terrain information.

[0010] Secondly, embodiments of this application provide a vehicle control device, including:

[0011] The acquisition module is used to acquire target images captured by the camera, the target images including image information of the current driving road surface;

[0012] The first determining module is used to determine the terrain information of the current road surface based on the target image;

[0013] The second determining module is used to determine the confidence level of the terrain information based on the current vehicle state information, wherein the state information includes at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode.

[0014] The control module is used to control the vehicle to operate in a target mode when the confidence level of the terrain information is greater than a preset value. The target mode is a mode in the all-terrain mode that matches the terrain information.

[0015] Thirdly, embodiments of this application provide an electronic device, characterized in that it includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0016] Fourthly, embodiments of this application provide a readable storage medium that stores the aforementioned program or instructions, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0017] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the steps of the method described in the first aspect.

[0018] In a sixth aspect, embodiments of the present invention also provide a computer program product stored in a non-volatile storage medium, the computer program product being configured to be executed by at least one processor to implement the steps of the method described in the first aspect.

[0019] This embodiment of the application receives and acquires a target image captured by a camera, the target image including image information of the current driving road surface; based on the target image, determines the terrain information of the current road surface; based on the current vehicle state information, determines the confidence level of the terrain information, the state information including at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode; when the confidence level of the terrain information is greater than a preset value, controls the vehicle to operate in a target mode, the target mode being the mode in the all-terrain mode that matches the terrain information. In this way, when the vehicle enters different terrains, the current terrain information and its confidence level can be determined, and based on whether the confidence level is greater than a preset value, the vehicle can be controlled to automatically switch to the all-terrain mode corresponding to the current terrain information, thereby simplifying the vehicle operation steps. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of the present invention;

[0022] Figure 2 This is a structural diagram of the vehicle control device provided in an embodiment of the present invention;

[0023] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present invention;

[0024] Figure 4 This is a structural diagram of another electronic device provided in an embodiment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0027] like Figure 1 The diagram shown is a flowchart of a vehicle control method provided by an embodiment of the present invention, including the following steps:

[0028] Step 101: Acquire the target image captured by the camera. The target image includes image information of the current road surface.

[0029] It should be understood that the target image captured by the camera is acquired in real time; furthermore, it can be that the image information of the current road surface is acquired every 5 seconds or every 10 seconds, without further limitation here.

[0030] It should be noted that the aforementioned cameras can be any camera on a vehicle or at least one camera, or they can be roadside surveillance cameras; no further details are provided here.

[0031] Optionally, in some embodiments, the target image may also include information on the date and location of the shooting.

[0032] Step 102: Based on the target image, determine the terrain information of the current road surface;

[0033] It should be understood that the image information in the target image is used as input to the model of the visual recognition algorithm, and the model of the visual recognition algorithm outputs the terrain information in the target image. Specifically, the visual recognition algorithm can be the Fast R-CNN algorithm or the YOLO series algorithm, and no further limitation is made here.

[0034] Optionally, in some embodiments, since the target image also includes location information and shooting date information, the location information and shooting date information can be used for auxiliary judgment after the visual recognition algorithm identifies the terrain information of the target image. Specifically, when the visual recognition algorithm identifies the terrain information as a snowy road surface, if the location is in the usual snow season on the aforementioned date, then the output is a snowy road surface; if the location is in a season other than the usual snow season on the aforementioned date, then the output is terrain information other than a snowy road surface.

[0035] Step 103: Based on the current vehicle state information, determine the confidence level of the terrain information. The state information includes at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode.

[0036] It should be understood that, before basing information on the current vehicle's state, the current vehicle's state information should be obtained, which means obtaining at least one of the following: the rate of change of wheel acceleration, vehicle pitch angle, vehicle roll angle, and transfer case mode.

[0037] Specifically, the wheel acceleration can be obtained from the vehicle stability control system, and then the wheel acceleration change rate can be calculated based on the wheel acceleration.

[0038] Specifically, the vehicle acceleration and yaw rate can be obtained from the vehicle yaw rate sensor, and the current vehicle attitude, such as the vehicle pitch angle and vehicle roll angle, can be calculated based on the vehicle acceleration and yaw rate.

[0039] Specifically, the current transfer mode of the vehicle can be obtained from the transfer case controller, such as whether the vehicle is currently in four-wheel drive mode.

[0040] It should be noted that the vehicle's state information will differ depending on the terrain it is in. Furthermore, at least one of the vehicle's current state parameters is compared with a preset range of vehicle state parameters corresponding to the terrain information obtained through the aforementioned visual recognition algorithm to determine the confidence level of the terrain information.

[0041] Step 104: If the confidence level of the terrain information is greater than a preset value, control the vehicle to run in the target mode, which is the mode that matches the terrain information in the all-terrain mode.

[0042] It should be understood that the above target modes include snow road mode, sand road mode, mud road mode, rock road mode and paved road mode; further, when the confidence level of the terrain information is greater than a preset value, the vehicle is controlled to switch to the all-terrain mode corresponding to the above terrain information; specifically, when the terrain information is snow road and the confidence level is greater than a preset value, the vehicle is controlled to switch to the snow mode in the all-terrain mode.

[0043] Furthermore, it should be noted that in snow mode, the vehicle can improve the sensitivity of the vehicle stability control system and lower the torque reduction threshold; the engine controller can provide a smoother power response; the transmission controller can start in second gear and upshift earlier; and the instrument panel can display the snow mode.

[0044] It should be noted that the process involves acquiring a target image captured by a camera, which includes image information of the current road surface; determining the terrain information of the current road surface based on the target image; and determining the confidence level of the terrain information based on the current vehicle status information, which includes at least one of the following status parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode. If the confidence level of the terrain information is greater than a preset value, the vehicle is controlled to operate in a target mode, which is the all-terrain mode that matches the terrain information. In this way, when the vehicle enters different terrains, the current terrain information and its confidence level can be determined. Based on whether the confidence level is greater than a preset value, the vehicle can be automatically switched to the all-terrain mode corresponding to the current terrain information, thereby simplifying vehicle operation.

[0045] Optionally, in some embodiments, acquiring the target image captured by the camera includes:

[0046] Upon receiving the user's input of a target command, the vehicle is controlled to automatically switch to all-terrain mode.

[0047] When the vehicle is in all-terrain mode with automatic switching, it acquires target images captured by the camera.

[0048] It should be understood that users can input target commands through control buttons. After receiving the target command, the vehicle will automatically switch to all-terrain mode. Once in automatic switching mode, the vehicle will begin to acquire target images captured by the camera in real time.

[0049] It needs to be explained that, upon receiving a target command input from the user, the vehicle is controlled to automatically switch between all-terrain modes; while in all-terrain mode, the vehicle acquires target images captured by the camera. This allows the user to choose whether to enter automatic switching mode. When the user's driving scenario does not involve various terrains, the user can choose to turn off automatic switching mode, effectively conserving the vehicle's computing and energy resources.

[0050] Optionally, in some embodiments, determining the confidence level of terrain information based on the current vehicle state information includes:

[0051] Based on the terrain information, the sub-confidence level corresponding to each state parameter is determined separately;

[0052] The confidence level of the terrain information is obtained based on the sub-confidence level corresponding to each state parameter.

[0053] It should be noted that, as mentioned above, at least one current state parameter of the vehicle is obtained, and at least one of the above-mentioned wheel acceleration change rate, vehicle pitch angle, vehicle roll angle and transfer case mode is compared with the corresponding preset range of the above-mentioned vehicle state parameters to obtain the sub-confidence of each corresponding current state parameter of the vehicle; based on each obtained sub-confidence, the confidence of the above-mentioned terrain information is calculated.

[0054] Optionally, in some embodiments, when the terrain information is a snowy road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes:

[0055] Obtain the first mapping relationship corresponding to the snow-covered road surface;

[0056] Determine the sub-confidence level corresponding to each state parameter based on the first mapping relationship;

[0057] The first mapping relationship includes at least one of the following:

[0058] When the rate of change of wheel acceleration is within the first preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset interval, the first sub-confidence level is output as 0.

[0059] When the vehicle pitch angle is within the second preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the second preset range, the second sub-confidence level is output as 0.

[0060] When the vehicle roll angle is within the third preset range, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the third preset range, the third sub-confidence level is output as 0.

[0061] When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

[0062] It should be noted that on snowy roads, the rate of change of wheel acceleration is usually quite large. Therefore, when the rate of change of wheel acceleration is within a first preset range with a relatively large value, the probability of being on a snowy road is considered high, and the first sub-confidence level can be determined as 1. On snowy roads, the vehicle pitch angle is usually at a moderate level. Therefore, when the vehicle pitch angle is within a second preset range with a moderate value, the probability of being on a snowy road is considered high, and the second sub-confidence level can be determined as 1. On snowy roads, the vehicle roll angle is usually at a moderate level. Therefore, when the vehicle roll angle is within a third preset range with a moderate value, the probability of being on a snowy road is considered high, and the third sub-confidence level can be determined as 1. On snowy roads, users usually activate four-wheel drive mode. Therefore, when the vehicle's transfer case is in four-wheel drive mode, the probability of being on a snowy road is considered high, and the fourth sub-confidence level can be determined as 1.

[0063] It should be understood that when the first sub-confidence level is 1, the second sub-confidence level is 1, the third sub-confidence level is 1, and the fourth sub-confidence level is 0, each sub-confidence level can also be assigned a weight value. For example, the weight value of the first sub-confidence level is 0.25, the weight value of the second sub-confidence level is 0.25, the weight value of the third sub-confidence level is 0.25, and the weight value of the fourth sub-confidence level is 0.25. Based on the weight values, the above confidence level is calculated to be 0.75. When the above preset value is 0.5, the terrain information can be determined to be snow.

[0064] It should be noted that the magnitude of each sub-confidence level can be set according to actual needs. For example, in other embodiments, assuming the maximum sum of each sub-confidence level is 1, the different sub-confidence levels can also be set in the following ways:

[0065] When the rate of change of wheel acceleration is within the first preset range, the first sub-confidence level is set to 0.3; when the rate of change of wheel acceleration is outside the first preset range, the first sub-confidence level is set to 0. When the vehicle pitch angle is within the second preset range of moderate magnitude, the second sub-confidence level is set to 0.2; when the vehicle pitch angle is outside the second preset range of moderate magnitude, the second sub-confidence level is set to 0. When the vehicle roll angle is within the third preset range of moderate magnitude, the third sub-confidence level is set to 0.2; when the vehicle roll angle is outside the third preset range of moderate magnitude, the third sub-confidence level is set to 0. When the vehicle's transfer case mode is four-wheel drive, the first sub-confidence level is set to 0.3; when the vehicle's transfer case mode is other than four-wheel drive, the first sub-confidence level is set to 0.

[0066] Optionally, in some embodiments, when the terrain information is a sandy road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes:

[0067] Obtain the second mapping relationship corresponding to the sandy road surface;

[0068] The sub-confidence level corresponding to each state parameter is determined according to the second mapping relationship;

[0069] The second mapping relationship includes at least one of the following:

[0070] When the rate of change of wheel acceleration is within the first preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset interval, the first sub-confidence level is output as 0.

[0071] When the vehicle pitch angle is within the fourth preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the fourth preset range, the second sub-confidence level is output as 0.

[0072] When the vehicle roll angle is within the fifth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the fifth preset interval, the third sub-confidence level is output as 0.

[0073] When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

[0074] It should be noted that on sandy surfaces, the rate of change of wheel acceleration is usually quite large. Therefore, when the rate of change of wheel acceleration is within a relatively large first preset interval, the probability of being on sandy surfaces is considered high, and the first sub-confidence level can be set to 1. On sandy surfaces, the vehicle pitch angle is also usually quite large. When the vehicle pitch angle is within a relatively large fourth preset interval, the probability of being on sandy surfaces is considered high, and the second sub-confidence level can be set to 1. On sandy surfaces, the vehicle roll angle is also quite large. When the vehicle roll angle is within a relatively large fifth preset interval, the probability of being on sandy surfaces is considered high, and the third sub-confidence level can be set to 1. On sandy surfaces, users usually activate four-wheel drive mode. When the vehicle's transfer case is in four-wheel drive mode, the probability of being on sandy surfaces is considered high, and the fourth sub-confidence level can be set to 1.

[0075] Optionally, in some embodiments, when the terrain information is a muddy road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes:

[0076] Obtain the third mapping relationship corresponding to the muddy road surface;

[0077] The sub-confidence level corresponding to each state parameter is determined according to the third mapping relationship;

[0078] The third mapping relationship includes at least one of the following:

[0079] When the rate of change of wheel acceleration is within the first preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset interval, the first sub-confidence level is output as 0.

[0080] When the vehicle pitch angle is within the second preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the second preset range, the second sub-confidence level is output as 0.

[0081] When the vehicle roll angle is within the third preset range, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the third preset range, the third sub-confidence level is output as 0.

[0082] When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

[0083] It should be noted that on muddy roads, the rate of change of wheel acceleration is usually quite large. When the rate of change of wheel acceleration is within a first preset range with a relatively large value, the probability of being on a muddy road is considered high, and the first sub-confidence level can be determined as 1. On muddy roads, the vehicle pitch angle is usually at a moderate level. When the vehicle pitch angle is within a second preset range with a moderate value, the probability of being on a muddy road is considered high, and the second sub-confidence level can be determined as 1. On muddy roads, the vehicle roll angle is usually at a moderate level. When the vehicle roll angle is within a third preset range with a moderate value, the probability of being on a muddy road is considered high, and the third sub-confidence level can be determined as 1. On muddy roads, users usually activate four-wheel drive mode. When the vehicle's transfer case is in four-wheel drive mode, the probability of being on a muddy road is considered high, and the fourth sub-confidence level can be determined as 1.

[0084] Optionally, in some embodiments, when the terrain information is a rocky road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes:

[0085] Obtain the fourth mapping relationship corresponding to the rock surface;

[0086] The sub-confidence level corresponding to each state parameter is determined according to the fourth mapping relationship;

[0087] The fourth mapping relationship includes at least one of the following:

[0088] When the rate of change of wheel acceleration is within the sixth preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the sixth preset interval, the first sub-confidence level is output as 0.

[0089] When the vehicle pitch angle is within the fourth preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the fourth preset range, the second sub-confidence level is output as 0.

[0090] When the vehicle roll angle is within the fifth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the fifth preset interval, the third sub-confidence level is output as 0.

[0091] When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

[0092] It should be noted that, on rocky surfaces, the rate of change of wheel acceleration is usually moderate. When the rate of change of wheel acceleration falls within the sixth preset interval (moderate in magnitude), the probability of being on a rocky surface is considered relatively high, and the first sub-confidence level can be set to 1. On rocky surfaces, the vehicle pitch angle is usually relatively large. When the vehicle pitch angle falls within the fourth preset interval (relatively large in magnitude), the probability of being on a rocky surface is considered relatively high, and the second sub-confidence level can be set to 1. On rocky surfaces, the vehicle roll angle is usually relatively large. Only when the vehicle roll angle falls within the fifth preset interval (relatively large in magnitude) can the probability of being on a rocky surface be considered relatively high, and the third sub-confidence level can be set to 1. On rocky surfaces, users typically engage four-wheel drive mode. When the vehicle's transfer case is in four-wheel drive mode, the probability of being on a rocky surface is considered relatively high, and the fourth sub-confidence level can be set to 1.

[0093] Optionally, in some embodiments, when the terrain information is a paved road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes:

[0094] Obtain the fifth mapping relationship corresponding to the paved road surface;

[0095] The sub-confidence level corresponding to each state parameter is determined according to the fifth mapping relationship;

[0096] The fifth mapping relationship includes at least one of the following:

[0097] When the rate of change of wheel acceleration is within the seventh preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the seventh preset interval, the first sub-confidence level is output as 0.

[0098] When the vehicle pitch angle is within the eighth preset interval, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the eighth preset interval, the second sub-confidence level is output as 0.

[0099] When the vehicle roll angle is within the ninth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the ninth preset interval, the third sub-confidence level is output as 0.

[0100] When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 0; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 1.

[0101] It should be noted that, on paved roads, the rate of change of wheel acceleration is usually small. When the rate of change of wheel acceleration is within the seventh preset interval with a small value, the probability of being on a paved road is considered high, and the first sub-confidence level can be determined as 1. On paved roads, the vehicle pitch angle is usually small. When the vehicle pitch angle is within the eighth preset interval with a small value, the probability of being on a paved road is considered high, and the second sub-confidence level can be determined as 1. On paved roads, the vehicle roll angle is usually small. When the vehicle roll angle is within the ninth preset interval with a small value, the probability of being on a paved road is considered high, and the third sub-confidence level can be determined as 1. On paved roads, users usually do not activate four-wheel drive mode. When the vehicle transfer case is not in four-wheel drive mode, the probability of being on a paved road is considered high, and the fourth sub-confidence level can be determined as 1.

[0102] like Figure 2 As shown, Figure 2 The vehicle control device 200 provided in this application embodiment is applied to a mobile terminal and includes:

[0103] The acquisition module 201 is used to acquire a target image captured by a camera, the target image including image information of the current driving road surface;

[0104] The first determining module 202 is used to determine the terrain information of the current road surface based on the target image;

[0105] The second determining module 203 is used to determine the confidence level of the terrain information based on the current vehicle state information, wherein the state information includes at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode.

[0106] The control module 204 is used to control the vehicle to operate in a target mode when the confidence level of the terrain information is greater than a preset value. The target mode is a mode in the all-terrain mode that matches the terrain information.

[0107] The vehicle control device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit the specific operating system used.

[0108] like Figure 3 As shown, Figure 3This is a structural diagram of an electronic device provided in an embodiment of this application, including a processor 301, a memory 302, and a program or instructions stored in the memory 302 and executable on the processor 301. When the program or instructions are executed by the processor 301, they implement the various processes of the above-described vehicle control method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0109] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0110] like Figure 4 As shown, Figure 4 This is a structural diagram of another electronic device provided in an embodiment of this application.

[0111] The electronic device 400 includes, but is not limited to, components such as: radio frequency unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, and processor 410.

[0112] Those skilled in the art will understand that the electronic device 400 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 410 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 4 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0113] The processor 410 is configured to perform the following operations: acquire a target image captured by a camera, the target image including image information of the current driving road surface; determine the terrain information of the current road surface based on the target image; determine the confidence level of the terrain information based on the current vehicle state information, the state information including at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode; and control the vehicle to operate in a target mode when the confidence level of the terrain information is greater than a preset value, the target mode being a mode in the all-terrain mode that matches the terrain information.

[0114] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described vehicle control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0115] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0116] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described vehicle control method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0117] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0118] This application also provides a computer program product stored in a non-volatile storage medium, configured to be executed by at least one processor to implement the steps of the method described above.

[0119] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Acquire a target image captured by a camera, the target image including image information of the current driving road surface; Based on the target image, determine the terrain information of the current road surface; Based on the current vehicle status information, the confidence level of the terrain information is determined. The status information includes at least one of the following status parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode. If the confidence level of the terrain information is greater than a preset value, the vehicle is controlled to operate in a target mode, which is the mode in the all-terrain mode that matches the terrain information; The step of determining the confidence level of the terrain information based on the current vehicle status information includes: Based on the mapping relationship corresponding to the terrain information, the sub-confidence level corresponding to each state parameter is determined respectively; The confidence level of the terrain information is obtained based on the sub-confidence level and the weight corresponding to each state parameter. The acquisition of the target image captured by the camera includes: Upon receiving a target command input by the user, the vehicle is controlled to automatically switch to all-terrain mode; When the vehicle is in automatic all-terrain mode switching mode, acquire the target image captured by the camera; When the terrain information is a paved road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes: Obtain the fifth mapping relationship corresponding to the paved road surface; The sub-confidence level corresponding to each state parameter is determined according to the fifth mapping relationship; The fifth mapping relationship includes at least one of the following: When the rate of change of wheel acceleration is within the seventh preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the seventh preset interval, the first sub-confidence level is output as 0. When the vehicle pitch angle is within the eighth preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the eighth preset range, the second sub-confidence level is output as 0. When the vehicle roll angle is within the ninth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the ninth preset interval, the third sub-confidence level is output as 0. When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 0; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 1.

2. The vehicle control method according to claim 1, characterized in that, When the terrain information is a snowy road surface, determining the sub-confidence level corresponding to each state parameter based on the terrain information includes: Obtain the first mapping relationship corresponding to the snow-covered road surface; The sub-confidence level corresponding to each state parameter is determined according to the first mapping relationship; The first mapping relationship includes at least one of the following: When the rate of change of wheel acceleration is within the first preset range, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset range, the first sub-confidence level is output as 0. When the vehicle pitch angle is within the second preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the second preset range, the second sub-confidence level is output as 0. When the vehicle roll angle is within the third preset range, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the third preset range, the third sub-confidence level is output as 0. When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

3. The vehicle control method according to claim 1, characterized in that, When the terrain information indicates a sandy road surface, determining the sub-confidence level for each state parameter based on the terrain information includes: Obtain the second mapping relationship corresponding to the sandy road surface; The sub-confidence level corresponding to each state parameter is determined according to the second mapping relationship; The second mapping relationship includes at least one of the following: When the rate of change of wheel acceleration is within the first preset range, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset range, the first sub-confidence level is output as 0. When the vehicle pitch angle is within the fourth preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the fourth preset range, the second sub-confidence level is output as 0. When the vehicle roll angle is within the fifth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the fifth preset interval, the third sub-confidence level is output as 0. When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

4. The vehicle control method according to claim 1, characterized in that, When the terrain information indicates a muddy road surface, determining the sub-confidence level for each state parameter based on the terrain information includes: Obtain the third mapping relationship corresponding to the muddy road surface; The sub-confidence level corresponding to each state parameter is determined according to the third mapping relationship; The third mapping relationship includes at least one of the following: When the rate of change of wheel acceleration is within the first preset range, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the first preset range, the first sub-confidence level is output as 0. When the vehicle pitch angle is within the second preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the second preset range, the second sub-confidence level is output as 0. When the vehicle roll angle is within the third preset range, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the third preset range, the third sub-confidence level is output as 0. When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

5. The vehicle control method according to claim 1, characterized in that, When the terrain information indicates a rocky road surface, determining the sub-confidence level for each state parameter based on the terrain information includes: Obtain the fourth mapping relationship corresponding to the rock surface; The sub-confidence level corresponding to each state parameter is determined according to the fourth mapping relationship; The fourth mapping relationship includes at least one of the following: When the rate of change of wheel acceleration is within the sixth preset interval, the first sub-confidence level is output as 1; when the rate of change of wheel acceleration is outside the sixth preset interval, the first sub-confidence level is output as 0. When the vehicle pitch angle is within the fourth preset range, the second sub-confidence level is output as 1; when the vehicle pitch angle is outside the fourth preset range, the second sub-confidence level is output as 0. When the vehicle roll angle is within the fifth preset interval, the third sub-confidence level is output as 1; when the vehicle roll angle is outside the fifth preset interval, the third sub-confidence level is output as 0. When the vehicle transfer case mode is four-wheel drive mode, the fourth sub-confidence is output as 1; when the vehicle transfer case mode is other modes, the fourth sub-confidence is output as 0.

6. A vehicle control device, characterized in that, The device is used to implement the vehicle control method according to any one of claims 1-5, comprising: The acquisition module is used to acquire target images captured by the camera, the target images including image information of the current driving road surface; The first determining module is used to determine the terrain information of the current road surface based on the target image; The second determining module is used to determine the confidence level of the terrain information based on the current vehicle state information, wherein the state information includes at least one of the following state parameters: wheel acceleration change rate, vehicle pitch angle, vehicle roll angle, and transfer case mode. The control module is used to control the vehicle to operate in a target mode when the confidence level of the terrain information is greater than a preset value. The target mode is a mode in the all-terrain mode that matches the terrain information. The second determining module is used for: Based on the mapping relationship corresponding to the terrain information, the sub-confidence level corresponding to each state parameter is determined respectively; The confidence level of the terrain information is obtained based on the sub-confidence level and the weight corresponding to each state parameter.

7. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the vehicle control method according to any one of claims 1 to 5.

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