Bump Information Determination Method, Vehicle Control Method, System, Device and Medium

Abstract

The present application relates to a bump information determination method, a vehicle control method, a system, a device and a medium. The bump information determination method includes obtaining the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration. According to the environmental image information, the lane where the vehicle to be controlled is located is determined. According to the position, duration and vehicle speed, the bump start and end ranges and the bump start and end distances are determined. The bump start and end ranges, the lane where the vehicle to be controlled is located corresponding to the bump start and end ranges, and the bump start and end distances are combined to obtain the bump information. Based on the bump information, the vehicle to be controlled can be controlled to avoid bumpy sections, improving driving safety.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and specifically relates to a method for determining bump information, a vehicle control method, a system, a device, and a medium. Background Art

[0002] With the increasing development of vehicle sensors and the continuous improvement of people's driving experience, in daily life, the following situations often occur: When driving through a bumpy road section or a certain bump point for the first time, it will cause a relatively obvious bump feeling. When the user passes by again, they usually choose to avoid it by changing to another lane or slow down to pass through.

[0003] However, for measures such as avoiding or slowing down when passing through a bumpy road section or a certain bump point, there is the following prerequisite, that is, the user has formed relevant memory content about the bumpy road section or the bump point in their brain. If the user forgets the bumpy road section or the bump point during driving, when passing through the bumpy road section or the bump point again, it will still cause a relatively obvious bump feeling.

[0004] In the related art, traditional maps and high-precision maps are combined to identify bump information, and then a driving route is planned, but it does not mention how to identify bump information. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the present invention provides a method for determining bump information, a vehicle control method, a system, a device, and a medium to solve the technical problem that in the above-mentioned related art, traditional maps and high-precision maps are combined to identify bump information and then a driving route is planned, but it does not mention how to identify bump information.

[0006] This application provides a method for determining bump information, and the method for determining bump information includes:

[0007] Obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration;

[0008] Determine the lane where the vehicle to be controlled is located according to the environmental image information;

[0009] Determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed;

[0010] Combine the bump start and end range, the lane where the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain the bump information.

[0011] In an exemplary embodiment of this application, determining the bump start and end range includes:

[0012] Determine the pitch angles of the vehicle to be controlled in different axis directions in a preset coordinate system according to the position and duration.

[0013] In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different axis directions are all greater than the preset pitch angle thresholds in the corresponding axis directions, and the duration during which the pitch angles in different axis directions are greater than the preset pitch angle thresholds in the corresponding axis directions is greater than the preset duration threshold, determine the range formed by the positions corresponding to the start and end time points of the duration as the bump start and end range.

[0014] In an exemplary embodiment of the present application, determining the bump start and end distance includes:

[0015] In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different axis directions are all greater than the preset pitch angle thresholds in the corresponding axis directions, and the duration during which the pitch angles in different axis directions are greater than the preset pitch angle thresholds in the corresponding axis directions is greater than the preset duration threshold, determine the bump start and end distance according to the duration and vehicle speed.

[0016] In an exemplary embodiment of the present application, after obtaining the bump information, it further includes:

[0017] Display the bump information in the vehicle interior display area of the vehicle to be controlled.

[0018] In a second aspect, the present application provides a vehicle control method, and the vehicle control method includes:

[0019] Obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the tires on both sides of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration.

[0020] Determine the lane in which the vehicle to be controlled is located according to the environmental image information.

[0021] Determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed.

[0022] Combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information.

[0023] Determine an avoidance strategy according to the bump information.

[0024] If the bump start and end range is located in the navigation path, control the vehicle to be controlled to avoid according to the avoidance strategy.

[0025] In an exemplary embodiment of the present application, determining an avoidance strategy includes:

[0026] If the continuous road width outside the bump start and end range is less than or equal to the lateral distance between the two tires of the vehicle to be controlled, determining to drive along the continuous road as the avoidance strategy;

[0027] If the continuous lane width outside the bump start and end range is greater than the lateral distance between the two tires of the vehicle to be controlled, determining to decelerate as the avoidance strategy.

[0028] In a third aspect, the present application provides a bump information determination system, which includes:

[0029] An acquisition module, configured to obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration;

[0030] A first determination module, configured to determine the lane where the vehicle to be controlled is located according to the environmental image information;

[0031] A second determination module, configured to determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed;

[0032] A third determination module, configured to combine the bump start and end range, the lane where the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information.

[0033] In a fourth aspect, the present application provides a vehicle control system, which includes:

[0034] An acquisition module, configured to obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the two tires of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration;

[0035] A first determination module, configured to determine the lane where the vehicle to be controlled is located according to the environmental image information;

[0036] A second determination module, configured to determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed;

[0037] A third determination module, configured to combine the bump start and end range, the lane where the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information;

[0038] A fourth determination module, configured to determine an avoidance strategy according to the bump information;

[0039] A control module, if the bump start and end range is located in the navigation path, is used to control the vehicle to be controlled to avoid according to the avoidance strategy.

[0040] In a fifth aspect, the present application provides an electronic device, which includes:

[0041] One or more processors;

[0042] A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method described above.

[0043] In a sixth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the method described above.

[0044] Advantages of the present invention:

[0045] By obtaining the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled at each time point within the duration, the lane where the vehicle to be controlled is located is determined according to the environmental image information. According to the position, duration, and vehicle speed, the bump start and end range and the bump start and end distance are determined. The bump start and end range, the lane where the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance are combined to obtain bump information. Based on the bump information, the vehicle to be controlled can be controlled to avoid bumpy sections, improving driving safety.

[0046] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0048] Figure 1 is a flowchart of a method for determining bump information shown in an exemplary embodiment of the present application;

[0049] Figure 2 is Figure 1 a flowchart of determining the bump start and end range in an exemplary embodiment of the shown embodiment;

[0050] Figure 3 is Figure 1Flowchart for determining the start and end distances of bumps in the illustrated embodiment in an exemplary embodiment;

[0051] Figure 4 Flowchart of a method for determining bump information shown in another exemplary embodiment of the present application;

[0052] Figure 5 Flowchart of a vehicle control method shown in an exemplary embodiment of the present application;

[0053] Figure 6 is Figure 5 Flowchart for determining an avoidance strategy in the illustrated embodiment in an exemplary embodiment;

[0054] Figure 7 Schematic diagram of obtaining original parameters in a vehicle control method shown in a specific embodiment;

[0055] Figure 8 Storage format diagram of bump information in a specific embodiment;

[0056] Figure 9 Schematic diagram of lane-level path planning of bump information under a navigation path in a specific embodiment;

[0057] Figure 10 Block diagram of a bump information determination system shown in an exemplary embodiment of the present application;

[0058] Figure 11 Block diagram of a vehicle control system shown in an exemplary embodiment of the present application;

[0059] Figure 12 Schematic diagram of the structure of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed Description of the Invention

[0060] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than for limiting the protection scope of the present invention.

[0061] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention schematically. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, number, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0062] In the following description, numerous specific details are set forth in order to provide a more thorough explanation of embodiments of the present invention. However, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form rather than in detail in order to avoid obscuring embodiments of the present invention.

[0063] Please refer to Figure 1 , Figure 1 which is a flowchart of a bump information determination method shown in an exemplary embodiment of the present application.

[0064] As Figure 1 shown, in an exemplary embodiment of the present application, the bump information determination method at least includes steps S110 to S140, which are introduced in detail as follows:

[0065] Step S110. Obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration.

[0066] Specifically, the environmental image information can be obtained by means such as a camera or a millimeter-wave radar. The vehicle speed can be obtained through a vehicle speed sensor, etc. The position can be obtained through GPS.

[0067] Step S120. Determine the lane in which the vehicle to be controlled is located according to the environmental image information.

[0068] Step S130. Determine the bump start and end ranges and the bump start and end distances according to the position, duration, and vehicle speed.

[0069] Step S140. Combine the bump start and end ranges, the lane in which the vehicle to be controlled is located corresponding to the bump start and end ranges, and the bump start and end distances to obtain the bump information.

[0070] Please refer to Figure 2 , Figure 2 which is a flowchart of determining the bump start and end ranges in an exemplary embodiment of the embodiment shown in Figure 1 .

[0071] As Figure 2 shown, in an exemplary embodiment of the present application, Figure 1 the process of determining the bump start and end ranges in the embodiment shown includes steps S210 and S220, which are introduced in detail as follows:

[0072] Step S210. Determine the pitch angles of the vehicle to be controlled in different coordinate axis directions within a preset coordinate system according to the position and duration.

[0073] Specifically, according to the position and the preset coordinate system, the coordinates corresponding to the vehicle to be controlled in the preset coordinate system can be determined. Subsequently, by taking the derivative of the coordinates corresponding to the vehicle to be controlled at the coordinate points along different coordinate axes in the preset coordinate system with respect to time respectively, the pitch angles of the vehicle to be controlled along different coordinate axes in the preset coordinate system can be obtained.

[0074] Step S220. In the preset coordinate system, if the pitch angles of the vehicle to be controlled along different coordinate axes are all greater than the preset pitch angle thresholds along the corresponding coordinate axes, and the duration during which the pitch angles along different coordinate axes are all greater than the preset pitch angle thresholds along the corresponding coordinate axes is greater than the preset duration threshold, the range formed by the positions corresponding to the start and end time points of the duration is determined as the bump start and end range.

[0075] Please refer to Figure 3 , Figure 3 For Figure 1 the flowchart of determining the bump start and end distance in the exemplary embodiment shown.

[0076] As Figure 3 shown, in an exemplary embodiment of the present application, Figure 1 the process of determining the bump start and end distance in the exemplary embodiment shown includes step S310, which is introduced in detail as follows:

[0077] Step S310. In the preset coordinate system, if the pitch angles of the vehicle to be controlled along different coordinate axes are all greater than the preset pitch angle thresholds along the corresponding coordinate axes, and the duration during which the pitch angles along different coordinate axes are all greater than the preset pitch angle thresholds along the corresponding coordinate axes is greater than the preset duration threshold, determine the bump start and end distance according to the duration and the vehicle speed. Duration Preset duration threshold.

[0078] It should be noted that in the present application, the preset pitch angle thresholds along different coordinate axes may be the same or different, and the preset pitch angle thresholds and the preset duration threshold along different coordinate axes can be set by oneself, which will not be elaborated here.

[0079] Please refer to Figure 4 , Figure 4 is the flowchart of the bump information determination method shown in another exemplary embodiment of the present application.

[0080] As Figure 4 shown, in another exemplary embodiment of the present application, after obtaining the bump information, it further includes step S450, which is introduced in detail as follows:

[0081] Step S450. Display the bump information in the vehicle interior display area of the vehicle to be controlled.

[0082] Please refer to Figure 5 ,Figure 5 Flowchart of a vehicle control method shown in an exemplary embodiment of the present application.

[0083] As Figure 5 shown, in an exemplary embodiment of the present application, the vehicle control method at least includes steps S510 to S560, which are introduced in detail as follows:

[0084] Step S510. Obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the two tires on both sides of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the position of the vehicle to be controlled corresponding to each time point within the duration;

[0085] Step S520. Determine the lane in which the vehicle to be controlled is located according to the environmental image information;

[0086] Step S530. Determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed;

[0087] Step S540. Combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information;

[0088] Step S550. Determine an avoidance strategy according to the bump information;

[0089] Step S560. If the bump start and end range is located in the navigation path, control the vehicle to be controlled to perform avoidance according to the avoidance strategy.

[0090] Please refer to Figure 6 , Figure 6 For Figure 5 the flowchart of determining the avoidance strategy in an exemplary embodiment of the shown embodiment.

[0091] As Figure 6 shown, in an exemplary embodiment of the present application, Figure 5 the process of determining the avoidance strategy in the shown embodiment includes steps S610 and S620, which are introduced in detail as follows:

[0092] Step S610. If the continuous road width outside the bump start and end range is less than or equal to the lateral distance between the two tires on both sides of the vehicle to be controlled, determine driving along the continuous road as the avoidance strategy;

[0093] Step S620. If the continuous lane width outside the bump start and end range is greater than the lateral distance between the two tires on both sides of the vehicle to be controlled, determine decelerating driving as the avoidance strategy.

[0094] In a specific embodiment, the steps of the vehicle control method are as follows:

[0095] Obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the tires on both sides of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled at each time point within the duration;

[0096] Determine the lane where the vehicle to be controlled is located according to the environmental image information;

[0097] Determine the bump start and end range according to the position and duration, specifically:

[0098] Determine the pitch angles of the vehicle to be controlled in different coordinate axis directions within the preset coordinate system according to the position and duration;

[0099] Specifically, as Figure 7 shown, according to the position and the preset three-dimensional coordinate system, the coordinates corresponding to the vehicle to be controlled within the preset three-dimensional coordinate system can be determined. Subsequently, by taking the derivatives of the time at the coordinate points corresponding to the vehicle to be controlled in different coordinate axis directions within the preset three-dimensional coordinate system respectively, the pitch angles of the vehicle to be controlled in different coordinate axis directions within the preset three-dimensional coordinate system can be obtained.

[0100] Within the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, determine the range formed by the positions corresponding to the start and end time points of the duration as the bump start and end range; multiply the duration and the vehicle speed to obtain the product, and determine it as the bump start and end distance;

[0101] Combine the bump start and end range, the lane where the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain the bump information. The storage format of the bump information is as Figure 8 shown, where 21 is the position at the start time point when the pitch angles in three coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, 22 is the position at the end time point when the pitch angles in three coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and l is the bump start and end distance;

[0102] As Figure 9 shown, perform lane-level path planning according to the road where the bump information 331, 312, 313, and 314 has been recorded;

[0103] First, according to the position 32 of the vehicle to be controlled, obtain the set navigation path 331. At the same time, read the camera information and identify the total number of lanes currently recognized and the road structure ahead.

[0104] For areas not traversed by the navigation path, the 314 bump information points are not given any prompts or processed.

[0105] If the width of the continuous road outside the bump start and end ranges is less than or equal to the lateral distance between the two tires of the vehicle to be controlled, driving along the continuous road is determined as the avoidance strategy. Specifically, according to the recorded bump information, path planning is performed according to the optimal path, and lane-level path planning is carried out in advance before the bumpy road, and the vehicle to be controlled is controlled to avoid the recorded bump information 311 and 312.

[0106] If the width of the continuous lane outside the bump start and end ranges is greater than the lateral distance between the two tires of the vehicle to be controlled, decelerating is determined as the avoidance strategy, that is, for the bump information spanning the entire road, a vehicle deceleration prompt is given before the bump information 313.

[0107] If the bump start and end ranges are located in the navigation path, control the vehicle to be controlled to avoid according to the bump avoidance strategy.

[0108] For areas not traversed by the navigation path, the 314 bump information points are not given any prompts or processed.

[0109] As Figure 10 shown, an embodiment of the present application also provides a bump information determination system M1000, and the bump information determination system M1000 includes:

[0110] An acquisition module M1010, configured to obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration.

[0111] A first determination module M1020, configured to determine the lane where the vehicle to be controlled is located according to the environmental image information.

[0112] A second determination module M1030, configured to determine the bump start and end ranges and the bump start and end distances according to the position, duration, and vehicle speed.

[0113] A third determination module M1040, configured to combine the bump start and end ranges, the lane where the vehicle to be controlled is located corresponding to the bump start and end ranges, and the bump start and end distances to obtain bump information.

[0114] As Figure 11 shown, an embodiment of the present application also provides a vehicle control system M1100, and the vehicle control system M1100 includes:

[0115] An acquisition module M1110, configured to obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the two tires of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration.

[0116] The first determination module M1120 is configured to determine the lane where the vehicle to be controlled is located according to the environmental image information;

[0117] The second determination module M1130 is configured to determine the start and end range of the bump and the start and end distance of the bump according to the position, duration, and vehicle speed;

[0118] The third determination module M1140 is configured to combine the start and end range of the bump, the lane where the vehicle to be controlled is located corresponding to the start and end range of the bump, and the start and end distance of the bump to obtain bump information;

[0119] The fourth determination module M1150 is configured to determine an avoidance strategy according to the bump information;

[0120] The control module M1160 is configured to control the vehicle to be controlled to perform avoidance according to the avoidance strategy if the start and end range of the bump is located in the navigation path.

[0121] It should be noted that the bump information determination system provided in the above embodiment and the bump information determination method provided in the above embodiment belong to the same concept, and the vehicle control system provided in the above embodiment and the vehicle control method provided in the above embodiment belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiment, and will not be elaborated here. In practical applications, for the bump information determination system and the vehicle control system provided in the above embodiments, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, and this is not limited here either.

[0122] The embodiment of the present application further provides an electronic device, and the electronic device includes:

[0123] One or more processors;

[0124] A storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the bump information determination method and the vehicle control method as described above.

[0125] Figure 12 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiment of the present application is shown. It should be noted that Figure 12 The computer system 1200 of the electronic device shown is only an example, and should not bring any limitations to the functions and usage scopes of the embodiment of the present application.

[0126] As Figure 12As shown, the computer system 1200 includes a Central Processing Unit (CPU) 1201, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 1202 or the program loaded from the storage section 1208 into the Random Access Memory (RAM) 1203, such as executing the methods described in the above embodiments. In the RAM 1203, various programs and data required for system operation are also stored. The CPU 1101, ROM 1202, and RAM 1203 are connected to each other via a bus 1204. An Input / Output (I / O) interface 1205 is also connected to the bus 1204.

[0127] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed so that the computer program read from it can be installed into the storage section 1208 as needed.

[0128] Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a computer program for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 1209, and / or installed from the removable medium 1211. When the computer program is executed by the Central Processing Unit (CPU) 1201, various functions defined in the system of the present application are executed.

[0129] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program included on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0130] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0131] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the units themselves.

[0132] Another aspect of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the jolt information determination method and the vehicle control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist separately without being assembled into the electronic device.

[0133] Another aspect of this application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the jolt information determination method and the vehicle control method provided in the above various embodiments.

[0134] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for determining jolt information, characterized in that The bump information determination method includes: Obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled at each time point within the duration; Determine the lane in which the vehicle to be controlled is located according to the environmental image information; Determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed; Combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information; Determining the bump start and end range includes: Determine the pitch angles of the vehicle to be controlled in different coordinate axis directions in a preset coordinate system according to the position and duration; In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, determine the range formed by the positions corresponding to the start and end time points of the duration as the bump start and end range.

2. The method for determining bump information according to claim 1, wherein Determining the bump start and end distance includes: In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, determine the bump start and end distance according to the duration and vehicle speed.

3. The method for determining bump information according to claim 1, wherein After obtaining the bump information, it further includes: Display the bump information in the vehicle interior display area of the vehicle to be controlled.

4. A vehicle control method, characterized in that, The vehicle control method includes: Obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the tires on both sides of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled at each time point within the duration; Determine the lane in which the vehicle to be controlled is located according to the environmental image information; Determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed; Combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information; Determine an avoidance strategy according to the bump information; If the bump start and end range is located in the navigation path, control the vehicle to be controlled to perform avoidance according to the avoidance strategy; Determining the bump start and end range includes: Determine the pitch angles of the vehicle to be controlled in different coordinate axis directions in a preset coordinate system according to the position and duration; In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, determine the range formed by the positions corresponding to the start and end time points of the duration as the bump start and end range.

5. The vehicle control method according to claim 4, wherein, Determining the avoidance strategy includes: If the width of the continuous road outside the bump start and end range is less than or equal to the lateral distance between the two tires of the vehicle to be controlled, driving along the continuous road is determined as an avoidance strategy; If the width of the continuous lane outside the bump start and end range is greater than the lateral distance between the two tires of the vehicle to be controlled, decelerating is determined as an avoidance strategy.

6. A jolt information determination system, characterized in that The bump information determination system includes: An acquisition module, configured to obtain the historical itinerary of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration; A first determination module, configured to determine the lane in which the vehicle to be controlled is located according to the environmental image information; A second determination module, configured to determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed. Determining the bump start and end range includes: determining the pitch angles of the vehicle to be controlled in different coordinate axis directions in a preset coordinate system according to the position and duration; In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, the range formed by the positions corresponding to the start and end time points of the duration is determined as the bump start and end range; A third determination module, configured to combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information.

7. A vehicle control system, characterized in that, The vehicle control system includes: An acquisition module, configured to obtain the historical itinerary of the vehicle to be controlled, the navigation path of the vehicle to be controlled, and the lateral distance between the two tires of the vehicle to be controlled, the environmental image information, vehicle speed, and duration corresponding to the historical itinerary, and the positions of the vehicle to be controlled corresponding to each time point within the duration; A first determination module, configured to determine the lane in which the vehicle to be controlled is located according to the environmental image information; A second determination module, configured to determine the bump start and end range and the bump start and end distance according to the position, duration, and vehicle speed. Determining the bump start and end range includes: determining the pitch angles of the vehicle to be controlled in different coordinate axis directions in a preset coordinate system according to the position and duration; In the preset coordinate system, if the pitch angles of the vehicle to be controlled in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions, and the duration during which the pitch angles in different coordinate axis directions are all greater than the preset pitch angle thresholds in the corresponding coordinate axis directions is greater than the preset duration threshold, the range formed by the positions corresponding to the start and end time points of the duration is determined as the bump start and end range; A third determination module, configured to combine the bump start and end range, the lane in which the vehicle to be controlled is located corresponding to the bump start and end range, and the bump start and end distance to obtain bump information; A fourth determination module, configured to determine an avoidance strategy according to the bump information; A control module, if the bump start and end range is located in the navigation path, is configured to control the vehicle to be controlled to perform avoidance according to the avoidance strategy.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, A computer program is stored thereon, which, when executed by a processor of a computer, causes the computer to execute the method according to any one of claims 1-5.

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