Control methods, computer equipment, storage media and computer program products

Abstract

This application relates to a control method, computer device, storage medium, and computer program product, applied in a control unit installed on a vehicle. The control unit includes a processing module, a detection module, and a control module, connected to the processing module. The detection module is located in an area that can rotate with the direction of travel of the vehicle's front wheels. The method includes: receiving detection information sent by the detection module, determining road condition information ahead of the vehicle during travel based on the detection information, determining motion control commands for the vehicle based on the road condition information, and controlling the vehicle's operating power according to the motion control commands. This method can improve vehicle safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a control method, computer equipment, storage medium, and computer program product. Background Technology

[0002] Mountainous agriculture and forestry need to maintain the natural ecology and utilize the natural environment in a limited and circular manner. Therefore, transportation in mountainous agriculture and forestry suffers from problems such as rugged rural roads, large elevation differences, and inconvenient turning in narrow areas.

[0003] Currently, due to factors such as narrow roads, manual transportation is inefficient for agricultural and forestry transport in mountainous areas. Therefore, in most cases, transportation by vehicle, such as motorcycles, is necessary. However, transporting goods by vehicle in mountainous areas presents safety concerns. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method, computer device, storage medium, and computer program product that can improve vehicle safety in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a control method applied in a control device mounted on a vehicle. The control device includes a processing module, a detection module, and a control module. The detection module and the control module are connected to the processing module. The detection module is located in an area that can rotate with the travel direction of the vehicle's front wheels. The method includes:

[0006] Receive detection information sent by the detection module;

[0007] Based on this detection information, the road conditions ahead of the vehicle during its journey can be determined;

[0008] Based on the road conditions ahead, determine the vehicle's motion control commands;

[0009] The vehicle's operating power is controlled according to the motion control command.

[0010] In one embodiment, the control module includes a power control unit and a power unit, the power control unit being connected to the processing module and the power unit. The control module also includes a brake control unit and a brake unit, the brake control unit being connected to the processing module and the brake unit. The control module controls the vehicle's operating power according to the motion control command, including:

[0011] According to the motion control command, the engine power and / or braking power of the vehicle are controlled.

[0012] In one embodiment, the motion control command includes an uphill control command and a downhill control command. Controlling the vehicle's engine power and / or braking power according to the motion control command includes:

[0013] If the motion control command includes an uphill control command, then increase the vehicle's engine power and / or decrease the vehicle's braking power;

[0014] If the motion control command includes a downhill control command, then the vehicle's engine power is reduced and / or the vehicle's braking power is increased.

[0015] In one embodiment, the control device further includes a rugged mode setting key located in the front area of ​​the vehicle. The control device also includes a setting key detection module communicatively connected to the rugged mode setting key. The method further includes:

[0016] Based on the operation signal of the rugged mode setting key, the detection information sent by the detection module is received.

[0017] In one embodiment, the detection module includes a first sensor and a second sensor. The angle between the detection direction of the first sensor and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle. The first sensor is used to detect the travel area of ​​the vehicle. The second sensor is disposed inside the vehicle body. The receiving module receives detection information sent by the detection module, including:

[0018] Receive image detection information sent by the first sensor and / or motion detection information of the vehicle sent by the second sensor.

[0019] In one embodiment, the first sensor includes lidar and / or millimeter-wave radar. If the detection information includes the image detection information, then determining the road condition information ahead of the vehicle during its journey based on the detection information includes:

[0020] Based on the image detection information, the image information change range within the first preset time period and the preset image information change range are used to determine the road condition information ahead.

[0021] In one embodiment, the second sensor includes at least one of an inertial measurement sensor, a vibration sensor, and an acceleration sensor. If the detection information includes the motion detection information, then determining the road condition information ahead of the vehicle during its journey based on the received detection information includes:

[0022] Based on the motion detection information, the position of the vehicle's center of gravity is determined;

[0023] The road condition information ahead is determined based on the change range of the vehicle's center of gravity position within a second preset time period and the preset center of gravity position change range.

[0024] Secondly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the methods described above.

[0025] Thirdly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0026] Fourthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0027] The aforementioned control method, computer equipment, storage medium, and computer program product, wherein the control device is installed on a vehicle, includes a processing module, a detection module, and a control module. The detection module and the control module are connected to the processing module. Since the detection module is located in an area that can rotate with the direction of travel of the vehicle's front wheels, it can determine detection information during vehicle movement and then send this information to the processing module. Upon receiving the monitoring information, the processing module determines the road conditions ahead based on the detection information. Therefore, the processing module can determine the vehicle's motion control command based on the road conditions ahead, and the control module can then control the vehicle's operating power according to the motion control command. In other words, the control method provided in this application can control the vehicle in real time based on the road conditions ahead when transporting vehicles in mountainous areas, for example, reducing automatic deceleration when the road conditions ahead are rugged. Therefore, this application avoids the safety hazards of vehicles transporting vehicles in mountainous areas in conventional technologies and improves safety. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the control device in this application;

[0029] Figure 2 This is a schematic diagram of the internal structure of the processing module in this application;

[0030] Figure 3 This is a schematic diagram of another control device in this application;

[0031] Figure 4 This is a side view diagram of a motorcycle;

[0032] Figure 5 This is a top-down view of a motorcycle.

[0033] Figure 6 This is a schematic diagram of another control device in this application;

[0034] Figure 7 A diagram illustrating the key settings for rugged mode;

[0035] Figure 8 This is a schematic diagram of the control module in this application;

[0036] Figure 9 This is a schematic diagram of the detection process of the lidar in this application;

[0037] Figure 10 This is a flowchart illustrating the control method in an embodiment of this application;

[0038] Figure 11 This is a schematic diagram of a process for controlling the operating power of a vehicle in an embodiment of this application;

[0039] Figure 12 This is a schematic diagram of a process for determining road condition information ahead, as described in an embodiment of this application.

[0040] Figure 13 This is a schematic diagram of the overall flow of the control method in this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100-Control device, 101-Detection module, 102-Processing module, 103-Control module, 300-Control device, 301-Detection module, 302-Processing module, 303-Control module, 304-First sensor, 305-Second sensor, 600-Control device, 601-Detection module, 602-Processing module, 603-Control module, 604-First sensor, 605-Second sensor, 606-Roughness mode setting key, 607-Setting key detection module, 800-Control module, 801-Power control unit, 802-Power unit, 803-Brake control unit, 804-Brake unit. Detailed Implementation

[0043] The serial numbers assigned to components in this document, such as "first" and "second," are used solely to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used solely for the convenience of describing this application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] Transportation in mountainous agricultural and forestry sectors faces challenges such as rugged rural roads, significant elevation differences, and difficulties turning in narrow areas. On one hand, manual transportation in mountainous areas is inefficient; on the other hand, high-speed and large vehicles like cars and vans are unsuitable for transport in mountainous regions. Therefore, currently, transportation in mountainous agricultural and forestry sectors is generally carried out using slower vehicles such as motorcycles and electric bikes.

[0047] However, transporting goods by vehicle in mountainous areas presents safety risks. For example, motorcycles cannot perform short-range detection and have blind spots in areas such as behind them that cannot be detected by the side mirrors. Therefore, motorcycles are difficult to operate and highly dangerous when traveling on rugged mountain roads.

[0048] Therefore, it is necessary to provide a control method, computer device, storage medium, and computer program product that can improve vehicle safety in response to the above-mentioned technical problems.

[0049] Figure 1 This is a schematic diagram of the control device in this application. The control device is installed on a vehicle, which can be a motorcycle, electric vehicle, electric scooter, electric bicycle, ATV, or tricycle, etc. This embodiment does not impose any restrictions. Figure 1 As shown, in this embodiment, the control device 100 includes a detection module 101, a processing module 102, and a control module 103. The detection module 101 and the control module 103 are connected to the processing module 102. The detection module 101 is located in an area that can rotate with the direction of travel of the front wheels of the vehicle.

[0050] The processing module may include a central processing unit (CPU), or a digital signal processor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices. This embodiment does not impose any restrictions. Figure 2 This is a schematic diagram of the internal structure of the processing module in this application. An embodiment of this application provides a computer device, the internal structure of which can be shown in the following diagram. Figure 2 As shown, the processing module 102 can be as follows: Figure 2 The computer device shown includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data. The network interface allows communication with external terminals via a network connection.

[0051] The detection module 101 includes at least one of an image sensor, a distance sensor, and an inertial sensor, which is not limited in this embodiment. Specifically, the detection module 101 is used to determine detection information and send the detection information to the processing module. When the detection module 101 includes an image sensor, the detection information includes image detection information, such as the image pixels and image coordinates of the road conditions ahead; when the detection module 101 includes a distance sensor, the detection information includes distance detection information, such as the distance between the detection module 101 and the ground ahead; when the detection module includes a 6-axis inertial sensor, the detection information includes motion detection information, such as the vehicle's current acceleration, angular velocity, and vehicle tilt angle.

[0052] Furthermore, since the detection module 101 is located in an area that can rotate with the direction of travel of the vehicle's front wheels, such as on the front of the vehicle or the handlebars, the detection module 101 can acquire detection information during the vehicle's movement. The detection module 101 then sends the detection information to the processing module 102, which can then determine the road conditions ahead of the vehicle based on the received detection information. Taking the detection module 101 as a distance sensor as an example, the detection module 101 detects the distance to the road surface ahead in real time during the vehicle's movement and sends the detected distance to the processing module 102 in real time. If the processing module 102 determines that the received distance has changed abruptly within a certain period of time, it can determine that the road conditions ahead are dangerous.

[0053] After determining the road conditions ahead, the processing module 102 can determine the vehicle's motion control command based on the road conditions ahead. For example, if the road conditions ahead are dangerous, the processing module 102 determines the motion control command to be a deceleration command. Then, the processing module 102 can send this motion control command to the control module 103, so that the control module 103 can control the vehicle's operating power according to the motion control command, for example, by reducing the vehicle's engine power.

[0054] In one specific embodiment, the detection module 101 on the vehicle detects the vehicle's tilt angle in real time during operation. When the detection module 101 detects that the vehicle's tilt angle changes by more than a preset angle threshold within a short period of time, the detection module 101 sends the detection information to the processing module 102. The processing module 102 confirms that the road condition ahead is a bumpy and risky road condition based on the detection information. Therefore, the processing module 102 determines that the motion control command is a deceleration command and controls the vehicle to decelerate. The risky road condition information can also be a downhill risky road condition, a hairpin bend risky road condition, a road condition with a difference in elevation, a cliff risky road condition, etc., and this embodiment does not impose any limitations.

[0055] It should be noted that, Figure 1 Only one optional structural form of the control device is shown. The detection module and the control module can also correspond to different processing modules. For example, the detection module corresponds to processing module 1, and the control module corresponds to processing module 2. Processing module 1 and processing module 2 communicate with each other through a bus. The detection module sends the detection information to processing module 1. Processing module 1 determines the risk road condition information based on the detection information. Then, processing module 1 sends the risk road condition information to processing module 2, so that processing module 2 can issue motion control commands to the control module based on the risk road condition information.

[0056] The control device provided in this application is installed on a vehicle and includes a processing module, a detection module, and a control module. The detection module and control module are connected to the processing module. Since the detection module is located in an area that can rotate with the direction of travel of the vehicle's front wheels, it can determine detection information during vehicle movement and then send this information to the processing module. Upon receiving this monitoring information, the processing module determines the road conditions ahead based on the detection information. Therefore, the processing module can determine the vehicle's motion control commands based on the road conditions ahead, and the control module can then control the vehicle's operating power according to the motion control commands. In other words, the control device provided in this application can control the vehicle in real time based on the road conditions ahead when transporting goods in mountainous areas, such as automatically reducing deceleration when the road conditions are rugged. Therefore, this application avoids the safety hazards of vehicles transporting goods in mountainous areas using conventional technologies and improves safety.

[0057] Figure 3 This is a schematic diagram of another control device in this application, such as... Figure 3 As shown, optionally, the detection module 301 includes a first sensor 304. The angle between the detection direction of the first sensor 304 and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle. The first sensor is used to detect the vehicle's travel area.

[0058] The first sensor 304 is at least one of an image sensor, a distance sensor, and an inertial sensor. The first sensor 304 acquires detection information during vehicle movement and sends this information to the processing module 302. The processing module 302 then determines the road conditions ahead of the vehicle and issues motion control commands to the control module 303 based on these road conditions, so that the control module 303 can control the vehicle's operating power.

[0059] Specifically, in this embodiment, the first sensor 304 can be an image sensor and is installed in the front area of ​​the vehicle. The angle between the detection direction and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle.

[0060] The first and second preset angles need to be determined based on the actual parameters of the vehicle, the measurement range of the first sensor, and the actual parameters. For example, the first preset angle might be 25°, and the second preset angle 45°. Taking motorcycles as an example, the vehicles on both sides... Figure 4 This is a side view diagram of a motorcycle, such as... Figure 4 As shown, Figure 4 The black rectangle in the image represents the first sensor, combined with... Figure 4The angle between the detection direction of the first sensor and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle. Therefore, the first sensor can detect the road conditions ahead of the motorcycle in real time, such as... Figure 4 The dotted line in the diagram illustrates this. For example... Figure 4 As shown. Figure 5 This is a top-down view of a motorcycle, combined with... Figure 5 The first sensor is located in the area where the front wheel of the vehicle rotates in the direction of travel. It rotates with the front of the motorcycle to detect the road conditions ahead, such as... Figure 5 The dashed area.

[0061] In this embodiment, the detection module includes a first sensor for detecting the vehicle's travel area. The angle between the detection direction of the first sensor and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle, thereby enabling the first sensor to rotate with the travel direction of the vehicle's front wheels. As a result, the first sensor can detect the road conditions ahead while the vehicle is in motion, thereby improving vehicle safety.

[0062] Optional, please continue to refer to Figure 3 The detection module 301 also includes a second sensor 305, which is disposed inside the vehicle body.

[0063] Based on the above embodiments, the control device 300 further includes a second sensor 305. The first sensor 304 can also be at least one of an image sensor, a distance sensor, and an inertial sensor. The first sensor 304 and the second sensor 305 can be of the same or different types. Specifically, in this embodiment, the second sensor 305 can be an inertial sensor and is installed inside the vehicle body to avoid interference from external factors.

[0064] The interaction process between the second sensor 305 and the processing module 302 is the same as that between the first sensor 304, and will not be described again here.

[0065] Figure 6 This is a schematic diagram of another control device in this application, such as... Figure 6 As shown, optionally, the control device 600 also includes a rough mode setting key 606, which is located in the front area of ​​the vehicle.

[0066] In this embodiment, in order to reduce the energy consumption of the detection module 601, processing module 602 and control module 603, the control device 600 also includes a rugged mode setting key 606. When the user is riding on the vehicle, the road conditions ahead will be observed in real time. When the user finds that there may be a rugged road ahead, he / she can press the rugged mode setting key 606 in the front area of ​​the vehicle to indicate that the vehicle is in rugged road mode, and then the detection module 601 will start working to obtain detection information.

[0067] Figure 7 A diagram illustrating the key settings for rugged mode. (For example...) Figure 7 As shown, the rugged mode setting button can be located on the vehicle's handlebar area, allowing users to conveniently and quickly use it while driving. Of course, the rugged mode setting button can also be located in other positions in the front area of ​​the vehicle, such as the dashboard; this embodiment does not impose any restrictions.

[0068] The control device provided in this application also includes a rugged mode setting key, which is located on the handlebar area of ​​the vehicle. Therefore, this application can also determine the working state of the detection module based on the user's control of the rugged mode setting key, thereby reducing the energy consumption of the control device. Furthermore, setting the rugged mode setting key on the handlebar also provides better user interactivity.

[0069] Please continue to refer to Figure 6 Optionally, the control device 600 also includes a setting key detection module 607, which is communicatively connected to the rugged mode setting key 606.

[0070] In this embodiment, the setting key detection module 607 can detect the closed state of the rugged mode setting key 606. When the user presses the rugged mode setting key 606 while driving, the rugged mode setting key 606 will send an operation signal to the setting key detection module 607. Then, the setting key detection module 607 sends an enable signal to the processing module 602 according to the operation signal. Thus, the processing module 602 can obtain the detection information of the detection module 601 according to the enable signal 6.

[0071] For example, when a user observes a potentially rough road ahead while driving, they press the rough road mode setting button 606 in the handlebar area of ​​the vehicle. The setting button detection module 607 detects this and sends an enable signal to the processing module 602. Upon receiving this enable signal, the processing module 602 determines that the vehicle has entered rough road mode. The processing module 602 can then activate the detection module 601, for example, activating both the first sensor 604 and the second sensor 605. The detection module 601 then sends the acquired detection information to the processing module 602. Based on the received detection information, the processing module 602 determines the road conditions ahead of the vehicle. Further, after determining the road conditions ahead, the processing module 102 can determine the vehicle's motion control command and send it to the control module 603. The control module 603 then controls the vehicle's power output according to the motion control command, for example, reducing the engine power.

[0072] The control device in this embodiment also includes a setting key detection module, which is communicatively connected to the rugged mode setting key. Therefore, the control device can quickly and accurately obtain the closed state of the setting key detection module, and thus use the control of the rugged mode setting key to determine the working state of the detection module.

[0073] Figure 8 This is a schematic diagram of the control module in this application, such as... Figure 8 As shown, optionally, the control module 800 includes a power control unit 801 and a power unit 802, with the power control unit 801 connected to the processing module 508 and the power unit 802.

[0074] In this embodiment, the power control unit 801 may be an electronic fuel injection control unit (FI-ECU) or a motor controller, and the power unit 802 may be an engine or a power motor.

[0075] Taking a detection module including an inertial sensor as an example, the inertial sensor acquires motion detection information during vehicle movement. This information is then sent to the processing module. The processing module, based on the received motion detection information, determines the road conditions ahead of the vehicle. For instance, it determines the degree of change in the vehicle's center of gravity based on the motion detection information. If the degree of change is greater than a preset value, the processing module determines that the road conditions ahead are dangerous, thus confirming the road condition information. After confirming the road condition information, the processing module determines the vehicle's motion control command and sends it to the control module 800. The control module 800 then controls the power control unit 801 based on the motion control command, thereby driving the power unit 802.

[0076] Specifically, the processing module can determine whether the vehicle is going uphill or downhill based on inertial sensors, and then, combined with information about the road conditions ahead, determine motion control commands. For example, if the processing module determines that the road conditions ahead are dangerous when both vehicles are going uphill, it issues an uphill control command to increase the engine power of the vehicle, which is then increased by the power control unit. Alternatively, if the processing module determines that the road conditions ahead are dangerous when both vehicles are going downhill, it issues a downhill control command to decrease the engine power of the vehicle, which is then decreased by the power control unit. This embodiment is not limited to these limitations.

[0077] The control module of this embodiment includes a power control unit and a power unit. The power control unit is connected to the processing module and the power unit. Thus, the control device provided in this application can control the vehicle in real time according to the road conditions ahead when the vehicle is transported in the mountains. For example, it can reduce automatic deceleration when the road conditions ahead are relatively rugged, so as to improve the safety of the vehicle.

[0078] Please continue to refer to Figure 8 Optionally, the control module 800 also includes a brake control unit 803 and a brake unit 804, with the brake control unit 803 connected to the processing module 805 and the brake unit 804.

[0079] In this embodiment, the brake control unit 803 may be an antilock brake system (ABS) or a braking system, and the brake unit 804 may be a handbrake component or a foot brake component.

[0080] Similarly, after the processing module determines the road condition information ahead, it can determine the vehicle's motion control command based on the road condition information ahead, and send the motion control command to the control module 800, so that the control module 800 can control the brake control unit 803 according to the motion control command, and then the brake control unit 803 can drive the brake unit 804.

[0081] For example, if the processing module determines that the road conditions ahead are dangerous when both vehicles are going uphill, it issues an uphill control command to reduce the braking power of the vehicles. The processing module then reduces the braking power of the vehicles through the power control unit. Alternatively, if the processing module determines that the road conditions ahead are dangerous when both vehicles are going downhill, it issues a downhill control command to increase the engine power of the vehicles. The processing module then increases the braking power of the vehicles through the power control unit. This embodiment is not limited to these methods.

[0082] In this embodiment, the control module includes a power control unit and a braking control unit. Of course, after the motion control command is sent to the control module 800, the control module 800 can simultaneously control the power control unit 801 and the braking control unit 803. This embodiment does not impose any limitations.

[0083] The control module in this embodiment also includes a brake control unit and a brake unit. The brake control unit is connected to the processing module and the brake unit. Thus, the control device provided in this application can control the vehicle in real time according to the road conditions ahead when the vehicle is transported in the mountains. For example, it can reduce automatic deceleration when the road conditions ahead are relatively rugged, so as to improve the safety of the vehicle.

[0084] Optionally, the detection module and control module are connected to the processing module via a controller area network.

[0085] In this embodiment, the detection module and control module are connected to the processing module via a Controller Area Network (CAN). The CAN bus offers advantages in data communication, including reliability, real-time performance, and flexibility, thereby improving the response speed and processing efficiency of the control device.

[0086] Optionally, the first sensor may include lidar and / or millimeter-wave radar.

[0087] In this embodiment, the first sensor includes lidar and / or millimeter-wave radar. Using lidar and / or millimeter-wave radar to acquire detection information improves the accuracy of the detection module.

[0088] In a specific embodiment, the monitoring process of the lidar is illustrated using a lidar as the first sensor. Please refer to [link / reference]. Figure 9 , Figure 9 This is a schematic diagram of the detection process of the lidar in this application. Figure 9 As shown, the lidar can detect the vehicle's travel area while it is moving forward. Specifically, the lidar determines the detection information at each moment based on the detection results. Combined with... Figure 9 Each circular area represents a location region that the lidar can detect. For example, the lidar determines the detection information D1 for position 1 at the first moment, the detection information D2 for position 2 at the first moment, and so on, up to the detection information D for position N at the first moment. N And so on, as the vehicle moves forward, the lidar can detect the detection information D2 at position 1 at the second moment, the detection information D2 at position 1 at the third moment, ..., the detection information D2 at position 1 at the Nth moment. N ...the detection information D at position N at time T N .

[0089] Where N and T are both integers greater than or equal to 1, N represents the position that the lidar can detect at any given moment, and T represents the detection time of the lidar. The detection information obtained by the lidar, such as D1 at the first moment, can include the vehicle's angle, relative speed to the obstacle in front, and relative distance to the obstacle in front, etc.

[0090] Furthermore, after receiving the detection information from the lidar, the processing module can determine the road conditions ahead of the vehicle during its journey. For example, if the processing module receives the detection information D1 to D10 sent by the lidar at the first moment, it can determine the relative positions of obstacles around the vehicle and the vehicle, the vehicle's speed, and other road conditions ahead based on the detection information D1 to D10 at the first moment, thereby controlling the vehicle's operating power.

[0091] Optionally, the second sensor may include an inertial measurement sensor.

[0092] In this embodiment, the second sensor includes at least one of an inertial measurement sensor, a vibration sensor, and an acceleration sensor to improve the accuracy of the detection module.

[0093] In one specific embodiment, vehicles can be categorized based on cost into lower-spec mass-market models, moderately-spec economy models, and higher-spec fully automatic models. In the mass-market models, the control device includes a rough road mode setting button on the handlebar area, and the detection module includes a distance sensor. The distance sensor only activates when the user presses the rough road mode setting button to enter rough road mode, allowing the control module to control the vehicle's operating power based on the detected information.

[0094] In economy models, the detection module includes an inertial sensor. The control device can automatically determine whether to enter the rough road mode based on the detection information from the inertial sensor, and then automatically control the vehicle's operating power based on the detection information using the control module.

[0095] In fully automatic vehicles, the detection module includes an inertial sensor and an image sensor. The control device can more accurately determine whether to enter the rough road mode based on the detection information from the inertial sensor, and then automatically control the vehicle's operating power based on the detection information. Of course, a rough road mode setting button can also be set in economy vehicles and fully automatic vehicles; this embodiment does not impose any restrictions.

[0096] Each module in the aforementioned control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0097] Based on the same inventive concept, this application also provides a method for implementing a control device. The solution provided by this method is similar to the solution described above; therefore, the specific limitations in one or more control method embodiments provided below can be found in the limitations of the control device described above, and will not be repeated here.

[0098] Figure 10 This is a flowchart illustrating the control method in an embodiment of this application. This method can be applied to the aforementioned control device, for example, to... Figure 1 In the control device shown. In one embodiment, such as Figure 10 As shown, it includes the following steps:

[0099] S1001, Receive detection information sent by the detection module.

[0100] In the control device of this embodiment, the processing module receives detection information sent by the detection module. The detection module determines the detection information and sends it to the processing module. When the detection module includes an image sensor, the detection information includes image detection information, such as image pixels and coordinates of the road ahead. When the detection module includes a distance sensor, the detection information includes distance detection information, such as the distance between the detection module and the ground ahead. When the detection module includes an inertial sensor, the detection information includes motion detection information, such as the vehicle's current acceleration, angular velocity, and tilt angle, etc., which will not be elaborated further here.

[0101] S1002, based on the detection information, determine the road conditions ahead of the vehicle during its journey.

[0102] In the control device of this embodiment, the processing module can determine the road conditions ahead of the vehicle during its journey based on the received detection information. Taking an inertial sensor as an example, when the inertial sensor detects that the vehicle's speed is below a preset speed, such as 40 km / h, and the inertial sensor continuously detects that the vehicle's center of gravity is swaying significantly during its journey, the processing module confirms that the road ahead is a rugged road.

[0103] S1003 determines the vehicle's motion control commands based on road condition information ahead.

[0104] In the control device of this embodiment, after determining the road condition information ahead, the processing module can determine the vehicle's motion control command based on the road condition information ahead. For example, when the road condition ahead is a rugged road, the processing module determines the motion control command as a deceleration command.

[0105] S1004 controls the vehicle's operating power according to motion control commands.

[0106] In the control device of this embodiment, the processing module can send the motion control command to the control module, so that the control module can control the vehicle's operating power according to the motion control command, such as reducing the power of the vehicle's engine. The processes of S1001 to S1004 are the same as the principle of the control device described above, and will not be repeated here.

[0107] The control method provided in this embodiment receives detection information sent by a detection module, determines the road conditions ahead of the vehicle during its journey based on the detection information, and then determines the vehicle's motion control commands based on the road conditions ahead, thereby controlling the vehicle's operating power according to the motion control commands. In other words, the control device provided in this application can control the vehicle in real time based on the road conditions ahead when transporting goods in mountainous areas, for example, reducing automatic deceleration when the road conditions ahead are rugged. Therefore, this application avoids the safety hazards of vehicles transporting goods in mountainous areas in traditional technologies and improves safety.

[0108] Optionally, the above-mentioned S1004, which controls the vehicle's operating power according to the motion control command, can be implemented in the following way:

[0109] According to motion control commands, control the engine power and / or braking power of the vehicle.

[0110] In this embodiment, since the control module includes a power control unit and a power unit, which are connected to the processing module and the power unit, and the control module also includes a brake control unit and a brake unit, which are connected to the processing module and the brake unit, the control module can control the engine power and / or the braking power of the vehicle according to the motion control command.

[0111] This embodiment controls the engine power and / or braking power of the vehicle according to motion control commands. The control device provided in this application can control the vehicle in real time according to the road conditions ahead when the vehicle is transported in the mountains. For example, it can reduce automatic deceleration when the road conditions ahead are relatively rugged, so as to improve the safety of the vehicle.

[0112] Figure 11 This is a schematic diagram of a process for controlling the operating power of a vehicle according to an embodiment of this application. (Refer to...) Figure 11 This embodiment relates to an optional implementation of how to control the engine power and / or braking power of a vehicle. Based on the above embodiment, the above-described control of the vehicle's engine power and / or braking power according to motion control commands includes the following steps:

[0113] S1101, if the motion control command includes an uphill control command, then increase the vehicle's engine power and / or decrease the vehicle's braking power.

[0114] S1102, if the motion control command includes a downhill control command, then reduce the vehicle's engine power and / or increase the vehicle's braking power.

[0115] In this embodiment, for example, the inertial sensor acquires motion detection information during vehicle movement. The inertial sensor then sends this motion detection information to the processing module. The processing module can then determine the road conditions ahead based on the received motion detection information. For instance, the processing module determines the degree of change in the vehicle's center of gravity based on the motion detection information. If the degree of change in the center of gravity is greater than a preset degree, the processing module can determine that the road conditions ahead are risky, thus confirming the road condition information. After determining the road condition information, the processing module can determine the vehicle's motion control command based on this information and send the motion control command to the control module. The control module then controls the power control unit based on the motion control command, and the power control unit drives the power unit 802. For example, if the processing module confirms that the road conditions ahead are risky when the vehicle is going uphill, the processing module issues an uphill control command to increase the engine power of the vehicle. The processing module then increases the engine power of the vehicle through the power control unit. Alternatively, if the processing module determines that the road conditions ahead are dangerous when both vehicles are going downhill, it will issue a downhill control command. This command reduces the engine power of the vehicles, and the processing module reduces the engine power through the power control unit. This embodiment is not limited to this. The uphill control command works similarly and will not be elaborated further here.

[0116] In this embodiment, if the motion control command includes an uphill control command, the vehicle's engine power is increased and / or the vehicle's braking power is decreased. If the motion control command includes a downhill control command, the vehicle's engine power is decreased and / or the vehicle's braking power is increased. Thus, the control device provided in this application can control the vehicle in real time according to the road conditions ahead when the vehicle is being transported in the mountains, thereby improving the vehicle's safety.

[0117] Optionally, the above control methods also include:

[0118] Based on the operation signal of the rugged mode setting key, receive the detection information sent by the detection module.

[0119] In one specific embodiment, when a user presses the rugged mode setting key while driving, the rugged mode setting key sends an operation signal to the setting key detection module. The setting key detection module then sends an enable signal to the processing module based on the operation signal, so that the processing module can receive the detection information sent by the detection module based on the enable signal.

[0120] In this embodiment, the control device receives the detection information sent by the detection module based on the operation signal of the rugged mode setting key. The control device can quickly and accurately obtain the closed state of the setting key detection module, thereby using the control of the rugged mode setting key to determine the working state of the detection module, and also has good user interactivity.

[0121] Optionally, in step S1001, receiving the detection information sent by the detection module can be achieved in the following way:

[0122] Receive image detection information sent by the first sensor and / or vehicle motion detection information sent by the second sensor.

[0123] This embodiment receives image detection information sent by the first sensor and / or vehicle motion detection information sent by the second sensor, thereby improving the accuracy of road condition information ahead.

[0124] Optionally, if the detection information includes image detection information, then in step S1002, the road condition information ahead of the vehicle during its journey is determined based on the detection information, which can be achieved in the following way:

[0125] Based on the image information change range within the first preset time period and the preset image information change range, the road condition information ahead is determined.

[0126] In this embodiment, the processing module can determine the road condition information ahead based on the image information change range within a first preset time period and a preset image information change range. For example, on a smooth road, the lidar imaging is relatively stable, but when entering a rugged road, the lidar imaging distance becomes unstable. The processing module can determine the road condition information ahead by analyzing the pixel information in the image detection information. If the pixel information in the image detection information changes abruptly within a short period of time, it can determine that there is a risky road ahead.

[0127] This embodiment determines the road condition information ahead based on the image information change range within a first preset time period and a preset image information change range, thereby improving the accuracy of the road condition information ahead.

[0128] Figure 12 This is a schematic diagram of a process for determining road condition information ahead, as described in an embodiment of this application. Figure 12 This embodiment relates to an optional implementation of how to determine the road condition information ahead of a vehicle during its journey. Based on the above embodiment, if the detection information includes motion detection information, in step S902, determining the road condition information ahead of the vehicle during its journey based on the detection information may include the following steps:

[0129] S1201 determines the vehicle's center of gravity position based on motion detection information.

[0130] S1202, determine the road condition information ahead based on the change range of the vehicle's center of gravity position within a second preset time period and the preset center of gravity position change range.

[0131] In this embodiment, similarly, the processing module can determine the vehicle's center of gravity position based on motion detection information. If the vehicle's center of gravity position changes significantly within a second preset time period, it can be determined that there is a risky road ahead, thereby determining the road condition information ahead.

[0132] This embodiment determines the vehicle's center of gravity position based on motion detection information, and then determines the road condition information ahead based on the change range of the vehicle's center of gravity position within a second preset time period and a preset center of gravity position change range. This makes up for the shortcomings of image sensors in detecting at night and in snowy weather, and improves the accuracy of the road condition information ahead.

[0133] To more clearly explain the control method in this application, this document combines... Figure 13 Please provide an explanation. Figure 13 This is a schematic diagram of the overall flow of the control method in this application. The processing module first determines whether the vehicle has entered the rough road mode. The processing module can determine whether the vehicle has entered the rough road mode in the following way:

[0134] Method 1: When the user presses the rough mode setting button while driving, the processing module determines that the vehicle has entered rough mode.

[0135] Method 2: Detection module, such as an image sensor, sends image detection information to the processing module, and the processing module determines that the vehicle has entered the rough terrain mode based on the image detection information;

[0136] Method 3: The detection module, such as the inertial sensor, sends motion detection information to the processing module, and the processing module determines that the vehicle has entered the rough terrain mode based on the motion detection information.

[0137] Furthermore, when the processing module determines that the vehicle has entered the rough road mode, the detection module continues to send detection information to the processing module so that the processing module can further determine the road conditions ahead based on the detection information.

[0138] Then, the processing module determines the vehicle's motion control command based on the road condition information ahead. Finally, the control module controls the vehicle's operating power according to the motion control command. Specifically, if the motion control command includes an uphill control command, the vehicle's engine operating power is increased and / or the vehicle's braking power is decreased; if the motion control command includes a downhill control command, the vehicle's engine operating power is decreased and / or the vehicle's braking power is increased.

[0139] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0140] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0141] Receive detection information sent by the detection module;

[0142] Based on the detection information, the road conditions ahead of the vehicle during its journey are determined;

[0143] Based on the road condition information ahead, determine the vehicle's motion control command;

[0144] The operating power of the vehicle is controlled according to the motion control command.

[0145] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0146] According to the motion control command, control the engine power and / or braking power of the vehicle.

[0147] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0148] If the motion control command includes an uphill control command, then the engine power of the vehicle is increased and / or the braking power of the vehicle is decreased.

[0149] If the motion control command includes a downhill control command, then the engine power of the vehicle is reduced and / or the braking power of the vehicle is increased.

[0150] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0151] Based on the operation signal of the rugged mode setting key, the system receives the detection information sent by the detection module.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153] Receive image detection information sent by the first sensor and / or motion detection information of the vehicle sent by the second sensor.

[0154] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0155] Based on the image detection information, the road condition information ahead is determined within the first preset time period and the preset image information change range.

[0156] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0157] Based on the motion detection information, the position of the vehicle's center of gravity is determined;

[0158] The road condition information ahead is determined based on the change range of the vehicle's center of gravity position within a second preset time period and a preset center of gravity position change range.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0160] Receive detection information sent by the detection module;

[0161] Based on the detection information, the road conditions ahead of the vehicle during its journey are determined;

[0162] Based on the road condition information ahead, determine the vehicle's motion control command;

[0163] The operating power of the vehicle is controlled according to the motion control command.

[0164] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0165] According to the motion control command, control the engine power and / or braking power of the vehicle.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] If the motion control command includes an uphill control command, then the engine power of the vehicle is increased and / or the braking power of the vehicle is decreased.

[0168] If the motion control command includes a downhill control command, then the engine power of the vehicle is reduced and / or the braking power of the vehicle is increased.

[0169] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0170] Based on the operation signal of the rugged mode setting key, the system receives the detection information sent by the detection module.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] Receive image detection information sent by the first sensor and / or motion detection information of the vehicle sent by the second sensor.

[0173] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0174] Based on the image detection information, the road condition information ahead is determined within the first preset time period and the preset image information change range.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] Based on the motion detection information, the position of the vehicle's center of gravity is determined;

[0177] The road condition information ahead is determined based on the change range of the vehicle's center of gravity position within a second preset time period and a preset center of gravity position change range.

[0178] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0179] Receive detection information sent by the detection module;

[0180] Based on the detection information, the road conditions ahead of the vehicle during its journey are determined;

[0181] Based on the road condition information ahead, determine the vehicle's motion control command;

[0182] The operating power of the vehicle is controlled according to the motion control command.

[0183] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0184] According to the motion control command, control the engine power and / or braking power of the vehicle.

[0185] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0186] If the motion control command includes an uphill control command, then the engine power of the vehicle is increased and / or the braking power of the vehicle is decreased.

[0187] If the motion control command includes a downhill control command, then the engine power of the vehicle is reduced and / or the braking power of the vehicle is increased.

[0188] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0189] Based on the operation signal of the rugged mode setting key, the system receives the detection information sent by the detection module.

[0190] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0191] Receive image detection information sent by the first sensor and / or motion detection information of the vehicle sent by the second sensor.

[0192] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0193] Based on the image detection information, the road condition information ahead is determined within the first preset time period and the preset image information change range.

[0194] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0195] Based on the motion detection information, the position of the vehicle's center of gravity is determined;

[0196] The road condition information ahead is determined based on the change range of the vehicle's center of gravity position within a second preset time period and a preset center of gravity position change range.

[0197] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0198] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0199] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0200] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method, characterized in that, The method is applied in a control device mounted on a vehicle. The control device includes a processing module, a detection module, and a control module. The detection module and the control module are connected to the processing module. The detection module is located in an area that can rotate with the direction of travel of the vehicle's front wheels. Determine whether the vehicle has entered rough road mode; After the vehicle enters the rugged road mode, it receives detection information sent by the detection module; Based on the detection information, the road conditions ahead of the vehicle during its journey are determined; Based on the road condition information ahead, determine the vehicle's motion control command; The operating power of the vehicle is controlled according to the motion control command; The control module includes a power control unit and a power unit, the power control unit being connected to the processing module and the power unit. The control module also includes a braking control unit and a braking unit. The motion control commands include uphill control commands and downhill control commands. The braking control unit is connected to the processing module and the braking unit. Controlling the vehicle's operating power according to the motion control commands includes: If the motion control command includes an uphill control command, then the engine power of the vehicle is increased and / or the braking power of the vehicle is decreased. If the motion control command includes a downhill control command, then the engine power of the vehicle is reduced and / or the braking power of the vehicle is increased.

2. The method according to claim 1, characterized in that, The control device further includes a roughness mode setting key, which is located in the front area of ​​the vehicle. The control device also includes a setting key detection module, which is communicatively connected to the roughness mode setting key. The method further includes: Based on the operation signal of the rugged mode setting key, the system receives the detection information sent by the detection module.

3. The method according to claim 1, characterized in that, The detection module includes a first sensor and a second sensor. The angle between the detection direction of the first sensor and the vertical direction is greater than or equal to a first preset angle and less than or equal to a second preset angle. The first sensor is used to detect the travel area of ​​the vehicle. The second sensor is installed inside the vehicle body. Receiving the detection information sent by the detection module includes: Receive image detection information sent by the first sensor and / or motion detection information of the vehicle sent by the second sensor.

4. The method according to claim 3, characterized in that, The first sensor includes lidar and / or millimeter-wave radar. If the detection information includes the image detection information, then determining the road condition information ahead of the vehicle during its journey based on the detection information includes: Based on the image detection information, the road condition information ahead is determined within the first preset time period and the preset image information change range.

5. The method according to claim 3, characterized in that, The second sensor includes at least one of an inertial measurement sensor, a vibration sensor, and an acceleration sensor. If the detection information includes the motion detection information, then determining the road condition information ahead of the vehicle during its journey based on the received detection information includes: Based on the motion detection information, the position of the vehicle's center of gravity is determined; The road condition information ahead is determined based on the change range of the vehicle's center of gravity position within a second preset time period and a preset center of gravity position change range.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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