A method, apparatus and vehicle for controlling damping of a vehicle

Abstract

The application provides a method, device and vehicle for controlling damping of a vehicle, the method comprising: acquiring road surface information of the vehicle in a driving process and a target distance between the vehicle and a target position, the road surface information being used to represent a road surface state of a road in a driving direction of the vehicle, the target position being a position on the road to which the vehicle is to be driven, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle being greater than a preset difference value; in a case where the target distance is less than or equal to a preset distance, determining a predicted adjustment torque of the vehicle in the driving process according to the road surface information; and adjusting a current output torque of the vehicle according to the predicted adjustment torque to control damping of the vehicle. The method can implement a damping strategy for the vehicle in advance before a large speed shock of the vehicle occurs, and can pre-eliminate an impending shock of the vehicle, thereby improving comfort of a user in a driving process of the vehicle and improving a driving experience of the user.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly, to a method and device for controlling damping of a vehicle and a vehicle. BACKGROUND

[0002] At present, in the vehicle industry, with the continuous development of technology, the development of vehicle types, in addition to traditional pure fuel vehicles, there are currently common new energy vehicles, such as hybrid electric vehicles (HEV) and battery electric vehicles (BEV).

[0003] For some new energy vehicles without a torsional damping shock absorber, such as a BEV. In order to suppress the occurrence of severe vibration of the vehicle transmission system (such as the wheels) during vehicle driving, an active damping function can be configured in the motor control unit (MCU) of the vehicle.

[0004] In summary, how to reasonably use the active damping function of the vehicle has become a problem to be solved. SUMMARY

[0005] The present application provides a method, device and vehicle for controlling damping of a vehicle, which can implement damping strategies for the vehicle in advance before the vehicle experiences large speed vibration, and pre-eliminate the impending vibration of the vehicle, thereby improving the comfort of the user during driving of the vehicle and improving the driving experience of the user.

[0006] In a first aspect, a method for controlling damping of a vehicle is provided, the method comprising: obtaining road surface information of the vehicle during driving and a target distance between the vehicle and a target position, the road surface information being used to represent a road surface state of a road in a driving direction of the vehicle, the target position being a position on the road to be driven by the vehicle, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle being greater than a preset difference; in a case where the target distance is less than or equal to a preset distance, determining a predicted adjustment torque of the vehicle during driving according to the road surface information; and adjusting an output torque of the vehicle according to the predicted adjustment torque to control damping of the vehicle.

[0007] In the technical solution, when the vehicle is shaken during driving, the method for controlling the damping of the vehicle is provided, specifically, during driving of the vehicle, the current road surface information of the vehicle and a target distance between the vehicle and a target position are acquired, the target position is a position on the road that the vehicle is about to reach, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle is greater than a preset difference value; further, in a case where the target distance is less than or equal to a preset distance, a predicted adjustment torque is determined according to the road surface information; and an output torque of the vehicle is adjusted according to the predicted adjustment torque, so as to control the damping of the vehicle. The predicted adjustment of the shaking of the vehicle during driving is achieved by comparing the target distance with the preset distance, the violent shaking of the vehicle during driving is avoided, the stability and comfort of the vehicle during driving are improved, and the use experience of the user is improved.

[0008] In combination with the first aspect, in some possible implementation manners, the predicted adjustment torque of the vehicle during driving is determined according to the road surface information, including: acquiring road surface flatness and a road surface change direction carried by the road surface information, the road surface change direction is used to indicate a change direction of the road at the target position; a numerical value of the predicted adjustment torque is determined based on the road surface flatness; and a direction of the predicted adjustment torque is determined based on the road surface change direction.

[0009] In the technical solution, the method for determining the predicted adjustment torque according to the road surface information is provided, specifically, the numerical value and the direction of the predicted adjustment torque are determined according to the road surface flatness and the road surface change direction in the road surface information. In the process of obtaining the predicted adjustment torque, the actual road surface condition and the direction of the road surface change are considered, so that the predicted adjustment torque determined is more accurate, and the accuracy and effectiveness of the pre-damping process of the vehicle are ensured.

[0010] In combination with the first aspect and the implementation manners, in some possible implementation manners, the output torque of the vehicle is adjusted according to the predicted adjustment torque, including: the predicted adjustment torque and the current output torque of the vehicle are fused to obtain a first output torque; and the output torque of the vehicle is adjusted to the first output torque.

[0011] In the technical solution, during the adjustment of the damping of the vehicle according to the predicted adjustment torque, the predicted adjustment torque is mainly used as a compensation torque of the vehicle during driving, so as to offset the output torque that causes the shaking of the vehicle during driving. In combination with the accuracy of the foregoing process of determining the predicted adjustment torque, the process can further ensure the stability of the vehicle during driving.

[0012] With reference to the first aspect and the above possible implementation manners, in a possible implementation manner, after the output torque of the vehicle is adjusted according to the predicted adjustment torque, the method further includes: in a case where the vehicle travels to the target position, obtaining a speed fluctuation amount of the vehicle, the speed fluctuation amount being used to indicate a change of wheel speed; and in a case where the speed fluctuation amount is less than or equal to a preset fluctuation amount, the output torque of the vehicle is not adjusted.

[0013] With reference to the first aspect and the above possible implementation manners, in a possible implementation manner, the method further includes: in a case where the speed fluctuation amount is greater than the preset fluctuation amount, determining an actual adjustment torque according to the speed fluctuation amount; and adjusting the output torque of the vehicle according to the actual adjustment torque and the predicted adjustment torque.

[0014] With reference to the first aspect and the above possible implementation manners, in a possible implementation manner, the adjusting the output torque of the vehicle according to the actual adjustment torque and the predicted adjustment torque includes: determining a remaining adjustment torque of the predicted adjustment torque, the remaining adjustment torque being used to indicate an adjustment torque for the vehicle to travel to the target position; fusing the actual adjustment torque and the remaining adjustment torque to obtain a second output torque; and adjusting the output torque of the vehicle to the second output torque.

[0015] In the above technical solution, after the vehicle travels to the target position, the application further proposes a scheme of obtaining a speed fluctuation amount of the vehicle, and determining whether to adjust the output torque of the vehicle according to a comparison result of the speed fluctuation amount of the vehicle and a preset fluctuation amount. In a case where the speed fluctuation amount is greater than the preset fluctuation amount, an actual adjustment torque is further determined according to the speed fluctuation amount, and a second output torque is obtained by fusing the actual adjustment torque and a remaining adjustment torque of the predicted adjustment torque at the current position, and the second output torque is used as the output torque of the vehicle. The above process can flexibly adjust the output torque intelligently according to the speed fluctuation amount actually traveled by the vehicle when the vehicle travels to the target position, so that the output torque can be flexibly adjusted according to actual conditions during the travel of the vehicle, and the stability of the vehicle during travel is ensured.

[0016] With reference to the first aspect and the above possible implementation manners, in a possible implementation manner, the obtaining the road surface information of the vehicle during travel includes: obtaining image information and / or point cloud information of the road; and processing the image information and the point cloud information to obtain the road surface information of the road.

[0017] In a possible implementation manner of the first aspect and the above implementation manners, in some possible implementation manners, the method for determining the target position comprises: acquiring road surface heights of multiple positions on the road; determining absolute values of multiple difference values between the road surface height of the current position of the vehicle and the road surface heights of the multiple positions; and determining, according to the driving direction of the vehicle and the absolute values of the multiple difference values, a position with an absolute value greater than the preset difference value in the absolute values of the multiple difference values as the target position.

[0018] In the technical solution, in the process of determining the target position, the road surface heights of multiple positions on the road can be acquired during the driving of the vehicle, and the absolute values of multiple height difference values between the road surface height of the current position of the vehicle and the road surface heights of the multiple positions can be determined. Furthermore, in combination with the driving direction of the vehicle and the position with an absolute value greater than a preset difference value in the absolute values of the multiple height difference values, the position is determined as the target position. In the process of determining the target position, the driving direction of the vehicle is considered in addition to the absolute values of the height difference values, which ensures the accuracy of the determination of the target position, provides a basis for the subsequent accurate adjustment of the vehicle at the current position, and ensures the accuracy of the damping process of the vehicle.

[0019] In summary, when the vehicle is shaken during driving, the embodiment of the present application proposes a method for controlling damping of the vehicle. Specifically, during driving of the vehicle, first, current road surface information of the vehicle and a target distance between the vehicle and a target position are acquired, wherein the target position is a position on the road that the vehicle is about to reach and has an absolute value of a difference between a road surface height of the target position and a road surface height of the current position of the vehicle greater than a preset difference value. Furthermore, in a case where the target distance is less than or equal to a preset distance, a predicted adjustment torque is determined according to the road surface information, and the output torque of the vehicle is adjusted according to the predicted adjustment torque to control damping of the vehicle. The above method of comparing the target distance with the preset distance achieves pre-adjustment of shaking of the vehicle during driving, avoids violent shaking of the vehicle during driving, improves the stability and comfort of the vehicle during driving, and improves the user experience.

[0020] In a possible implementation manner, the present application proposes a method for determining a predicted adjustment torque through road surface information. Specifically, the value and direction of the predicted adjustment torque are determined according to the road surface flatness and the road surface change direction in the road surface information. In the process of obtaining the predicted adjustment torque, the actual road surface condition and the direction of the road surface change are considered, so that the predicted adjustment torque determined is more accurate, and the accuracy and effectiveness of the pre-damping process of the vehicle are ensured.

[0021] In the process of adjusting the damping of the vehicle according to the predicted adjustment torque, the predicted adjustment torque is mainly used as a compensation torque for the vehicle during driving to offset the output torque that causes vibration during driving of the vehicle. In combination with the accuracy of the foregoing process of determining the predicted adjustment torque, the process can further ensure the smoothness of driving of the vehicle.

[0022] After the vehicle drives to the target position, the application further provides a scheme of obtaining a fluctuation amount of the rotation speed of the vehicle, and deciding whether to adjust the output torque of the vehicle according to a comparison result of the fluctuation amount of the rotation speed of the vehicle and a preset fluctuation amount. When the fluctuation amount of the rotation speed is greater than the preset fluctuation amount, an actual adjustment torque is further determined according to the fluctuation amount of the rotation speed, and a second output torque is obtained by fusing the actual adjustment torque and a remaining adjustment torque of the predicted adjustment torque at the current position, and the second output torque is used as the output torque of the vehicle. The foregoing process can intelligently adjust the output torque according to the fluctuation amount of the rotation speed actually driven by the vehicle when the vehicle drives to the target position, so that the output torque can be flexibly adjusted according to the actual situation during driving of the vehicle, and the smoothness of driving of the vehicle is ensured.

[0023] Finally, the application provides a process of determining a target position, in which the road surface heights of a plurality of positions on a road are obtained during driving of the vehicle, and a plurality of absolute values of height differences between the road surface height of the current position of the vehicle and the road surface heights of the plurality of positions are determined. Further, a position whose absolute value is greater than a preset difference value among the plurality of absolute values of height differences is determined as the target position in combination with the driving direction of the vehicle. The foregoing process considers the driving direction of the vehicle in addition to the absolute values of the height differences in the process of determining the target position, so that the accuracy of determining the target position is ensured, a basis for subsequent accurate adjustment of the vehicle at the current position is provided, and the accuracy of the damping process of the vehicle is ensured.

[0024] In a second aspect, a device for controlling damping of a vehicle is provided, which includes: an obtaining module, configured to obtain road surface information of the vehicle during driving and a target distance between the vehicle and a target position, the road surface information being used to represent a road surface state of a road in a driving direction of the vehicle, and the target position being a position on the road to be driven to by the vehicle, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle being greater than a preset difference value; a determining module, configured to determine a predicted adjustment torque of the vehicle during driving according to the road surface information when the target distance is less than or equal to a preset distance; and an adjusting module, configured to adjust an output torque of the vehicle according to the predicted adjustment torque to control damping of the vehicle.

[0025] With reference to the second aspect, in some possible implementation manners, the determining module is specifically configured to: acquire the road flatness and a road change direction carried by the road surface information, the road change direction being used to indicate a change direction of the road at the target position; determine the value of the predicted adjustment torque based on the road flatness; and determine the direction of the predicted adjustment torque based on the road change direction.

[0026] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the adjusting module is specifically configured to: fuse the predicted adjustment torque and a current output torque of the vehicle to obtain a first output torque; and adjust the output torque of the vehicle to the first output torque.

[0027] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, after the output torque of the vehicle is adjusted according to the predicted adjustment torque, the apparatus further includes a first processing module configured to: acquire a speed fluctuation of the vehicle in a case where the vehicle travels to the target position, the speed fluctuation being used to indicate a change of wheel speed; and in a case where the speed fluctuation is less than or equal to a preset fluctuation, not adjust the output torque of the vehicle.

[0028] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the apparatus further includes a second processing module configured to: in a case where the speed fluctuation is greater than the preset fluctuation, determine an actual adjustment torque according to the speed fluctuation; and adjust the output torque of the vehicle according to the actual adjustment torque and the predicted adjustment torque.

[0029] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second processing module is specifically configured to: determine a residual adjustment torque of the predicted adjustment torque, the residual adjustment torque being used to indicate an adjustment torque of the vehicle traveling to the target position; fuse the actual adjustment torque and the residual adjustment torque to obtain a second output torque; and adjust the output torque of the vehicle to the second output torque.

[0030] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the apparatus further includes a third processing module configured to: acquire image information and / or point cloud information of the road; and process the image information and the point cloud information to obtain the road surface information of the road.

[0031] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the apparatus further includes: acquiring road surface heights of a plurality of positions on the road; determining a plurality of difference absolute values of the road surface height of the current position of the vehicle and the road surface heights of the plurality of positions; and determining, according to a travel direction of the vehicle and the plurality of difference absolute values, a position with an absolute value greater than a preset difference absolute value in the plurality of difference absolute values as the target position.

[0032] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle performs the method in the first aspect or any possible implementation manner of the first aspect.

[0033] In a fourth aspect, a computer program product is provided, which comprises computer program code, which causes a computer to perform the method in the first aspect or any possible implementation manner of the first aspect when the computer program code is run on the computer.

[0034] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code, which causes a computer to perform the method in the first aspect or any possible implementation manner of the first aspect when the computer program code is run on the computer. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic diagram of a vehicle driving scene provided by an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of a vehicle driving scene provided by an embodiment of the present application;

[0037] Figure 3 is a schematic flow chart of a method for controlling vehicle damping provided by an embodiment of the present application;

[0038] Figure 4 is a schematic structural diagram of a device for controlling vehicle damping provided by an embodiment of the present application;

[0039] Figure 5 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0041] Hereinafter, the terms "first", "second", etc. are used only for the purpose of description, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0042] Figure 1 is a schematic diagram of a scene in which a vehicle travels, provided by an embodiment of the present application.

[0043] As shown in Figure 1 , a plurality of electronic control units (ECU) are provided in the vehicle 101. For example, an engine management system (EMS), a transmission control unit (TCU), a body control module (BCM), an electronic stability program (ESP), a battery management system (BMS), a vehicle control unit (VCU, or also referred to as a vehicle control unit), an electrical park brake (EPB) unit, a motor control unit (MCU), etc.

[0044] During the driving of the vehicle 101, different ECUs can obtain various state information or parameter information of the vehicle during driving. For example, the ESP can obtain the vehicle speed of the vehicle 101 during driving, and the BCM can obtain the battery status of the vehicle 101. The ECU can also obtain fault information of the vehicle 101, such as fault codes, in combination with an on board diagnostics (OBD) system, so as to facilitate maintenance personnel to view and analyze.

[0045] To further ensure the safety during the driving of the vehicle 101, an automatic driving system (intelligent driving system) and an active damping function can also be configured in the vehicle 101. Among them, various sensors are configured in the intelligent driving system, such as visible light cameras (for example, monocular cameras, binocular cameras, surround view cameras, etc.), millimeter wave radars, laser radars, infrared night vision, high-precision positioning (for example, Global Positioning System (GPS), Inertial Measurement Unit (IMU), ultrasonic radar, etc. During the driving of the vehicle 101, various sensors of the intelligent driving system can obtain the surrounding environment information on the road on which the vehicle 101 drives, and perform systematic operation and analysis on the obtained surrounding environment information.

[0046] Further, the intelligent driving system can send the results of operation and analysis to the ECU (generally MCU) provided with the active damping function in the vehicle 101, so that the ECU realizes the control process of the active damping function.

[0047] For example, during the driving of the vehicle 101 along the road 102, in order to prevent the vehicle 101 from generating large vibration during the driving of the vehicle 101, and to ensure the comfort and stability of the vehicle 101 during the driving of the vehicle 101, the active damping function in the vehicle 101 can be started to adjust the vibration of the vehicle 101.

[0048] In a possible implementation, when the vehicle 101 drives on the road 102, there is a speed bump 103 in front of the vehicle 101, in order to avoid the vehicle 101 from generating large vibration when the vehicle 101 drives to the speed bump 103, the vibration of the vehicle 101 can be pre-adjusted when the vehicle 101 is still a certain distance away from the speed bump 103, so as to avoid the large vibration that the vehicle 101 can cause.

[0049] Figure 2 is a scene schematic diagram of interaction during the driving of a vehicle provided by an embodiment of the present application.

[0050] For example, as shown in Figure 2 , in combination with Figure 1 , the intelligent driving system of the vehicle 101 includes a collection module 201. Among them, the collection module 201 includes a visible light camera 2011, a millimeter wave radar 2012, a laser radar 2013 and an infrared night vision 2014.

[0051] The visible light camera 2011 can collect light information, lane line information, static target information, and vehicle lateral information (e.g., lateral acceleration of the vehicle) of the vehicle 101 during driving; the millimeter wave radar 2012 can collect dynamic target information and vehicle longitudinal information (e.g., longitudinal acceleration of the vehicle) of the vehicle 101 during driving; the laser radar 2013 can obtain lane line information and vehicle operation related parameters of the vehicle 101 during driving; and the infrared night vision 2014 can obtain vehicle operation related parameters of the vehicle 101 during driving. In the embodiments of the present application, the static target information can be understood as information between the vehicle 101 and some static objects on the road during driving, such as the distance or relative position between the vehicle and a building, or the distance or relative position between the vehicle and a tree; the dynamic target information can be understood as information between the vehicle 101 and some dynamic objects on the road during driving, such as the distance and / or relative speed between the vehicle and a pedestrian, or the distance and / or relative speed between the vehicle and another vehicle; the vehicle operation related parameters can be the current position of the vehicle, the driving speed of the vehicle, etc.; and the lane line information can be the position of the lane line, the distance between the lane line and the vehicle, etc.

[0052] Through the collection module 201, the vehicle 101 can be accurately positioned during driving.

[0053] Further, the collection module 201 sends the collected information to the ECU 202, so that the ECU 202 processes and analyzes the information based on a preset algorithm.

[0054] It should be understood that the ECU 202 in the embodiments of the present application can be any one of a plurality of ECUs in the vehicle 101. In the embodiments of the present application, the ECU 202 is taken as an example of an intelligent driving controller to introduce the information processing and analysis process of the embodiments of the present application in detail.

[0055] Specifically, the intelligent driving controller includes a preprocessing module 2021 and a fusion module 2022. In the process of analysis and processing, the preprocessing module 2021 processes the collected information according to a preset algorithm to obtain a preliminary identification result of the information.

[0056] It should be understood that, since the information collected by different collection modules during driving of the vehicle 101 can be repeatedly obtained, in the embodiments of the present application, the information needs to be further integrated or fused by the fusion module 2022 to obtain a final identification result.

[0057] Further, the preprocessing module 2021 sends the preliminary recognition result to the fusion module 2022, and the fusion module 2022 performs arbitration judgment. The arbitration judgment process can be to determine the priority level of each collection module, and then take the collection result of the collection module with the highest priority level as the final collection result; or directly filter or delete the repeatedly collected information. After arbitration judgment, the final collection information, i.e., the final recognition result, can be obtained through information fusion.

[0058] In the embodiment of the present application, the collection module 201 mainly refers to the visible light camera 2011 and the laser radar 2013. That is, in the embodiment of the present application, the collected information mainly includes lane line information, light information, static target information, vehicle running related parameters, and vehicle lateral information.

[0059] Further, the preprocessing module 2021 processes the above-mentioned information recognized by the image algorithm or the laser radar algorithm.

[0060] The image algorithm mainly identifies the collected image information in combination with a visual map. Specifically, the image information collected by the visible light camera 2011 is compared and matched with a high-precision map to obtain position information. The high-precision map is an environment map pre-stored in the vehicle, and can be positioned and mapped according to the driving trajectory of the vehicle through the Simultaneous Localization and Mapping (SLAM) technology. Or some key targets and accurate geometric features (such as lane lines, ground markings, traffic signs, traffic lights, etc.) are extracted from the image information, which are compared and matched with the information stored in the high-precision map to complete the positioning function and obtain the image-based recognition result.

[0061] For the processing process of the laser radar algorithm, the point cloud information of the surrounding environment scanned by the laser radar is mainly compared and matched with the high-precision map to obtain the point cloud-based recognition result.

[0062] The above-mentioned image-based recognition result and point cloud-based recognition result are fused to obtain road surface information and orientation information.

[0063] Optionally, the road surface information includes front road environment information, such as road surface flatness information, whether there is a pit in the road surface, pit depth, pit position information, whether there is a protrusion or a speed bump, height information of the protrusion or the speed bump, position information, etc.; also includes road surface change direction, i.e., whether the road surface is in an upward direction or a downward direction; and can also include the degree of road surface change. The orientation information mainly refers to the distance between the target position point and the vehicle, such as the distance information from the wheel and the orientation information of the nearest wheel.

[0064] Further, the intelligent driving controller sends the road surface information to the MCU 203 in the vehicle 101.

[0065] The MCU 203 determines whether the vehicle 101 needs to be pre-processed for active damping based on the road surface information.

[0066] Figure 3 is a schematic flowchart of a method for controlling vehicle damping provided by an embodiment of the present application. It should be understood that the method can be applied to the scenarios shown in Figure 1 and Figure 2 , and specifically to the MCU 203 in Figure 2 .

[0067] As shown in Figure 3 , the method 300 includes:

[0068] 301, obtaining road surface information of the vehicle during driving and a target distance between the vehicle and a target position, the road surface information being used to represent a road surface state of a road in a driving direction of the vehicle, and the target position being a position on the road to which the vehicle is to be driven, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle being greater than a preset difference value.

[0069] It should be understood that in the embodiments of the present application, there can be multiple positions on the road during driving of the vehicle, and the multiple positions mainly refer to positions on the road that are uneven. The multiple positions are positions to which the vehicle can be driven. When controlling damping of the vehicle, a target position to be damped can be determined from the multiple positions, and the target position is the position on the road to which the vehicle is to be driven. In the embodiments of the present application, when the absolute value of the difference between the road surface height of the multiple positions and the road surface height of the current position of the vehicle is greater than the preset difference value, it is considered that the vehicle can have a large amplitude of vibration.

[0070] In a possible implementation manner, in the embodiments of the present application, the target position can be obtained according to the absolute value of the difference between the road surface height of the multiple positions and the road surface height of the current position of the vehicle, and the driving direction of the vehicle. Specifically, the method for determining the target position includes:

[0071] obtaining road surface heights of multiple positions on the road;

[0072] determining absolute values of multiple differences between the road surface height of the current position of the vehicle and the road surface heights of the multiple positions, one absolute value corresponding to the road surface height of one position;

[0073] determining, according to the driving direction of the vehicle and the absolute values of the multiple differences, a position whose absolute value is greater than the preset difference value from the absolute values of the multiple differences as the target position.

[0074] In the above process, since there can be multiple positions on the road, the road surface heights of the multiple positions can be obtained, and the absolute values of the differences between the road surface height of the current position of the vehicle and the road surface heights of the multiple positions are obtained, and further combined with the current driving direction of the vehicle, the target position satisfying the pre-avoiding shock condition is determined, that is, the absolute value of the difference is greater than the preset difference and is the position to be driven by the vehicle. Optionally, the preset difference can be 15 cm.

[0075] For example, assuming that there are three uneven positions on the road surface, which are position 1, position 2 and position 3. Among them, based on the horizon, the acquisition module can obtain that the road surface height of position 1 is-15 cm, the road surface height of position 2 is 20 cm, and the road surface height of position 3 is 2 cm. The road surface height of the current position of the vehicle is 1 cm. Then it can be calculated that the absolute value of the height difference between the current road surface height of the vehicle and the road surface height of position 1 is 16 cm; the absolute value of the height difference between the current road surface height of the vehicle and the road surface height of position 2 is 19 cm; and the absolute value of the height difference between the current road surface height of the vehicle and the road surface height of position 3 is 1 cm. And the vehicle is currently driving towards position 1, so position 1 is the target position at this time.

[0076] In the above technical solution, a process for determining a target position is proposed. In the process of driving of the vehicle, the road surface heights of multiple positions on the road can be obtained, and the absolute values of multiple height differences between the road surface height of the current position of the vehicle and the road surface heights of the multiple positions can also be determined. Further, the target position is determined by combining the current driving direction of the vehicle and the position whose absolute value of the height difference is greater than the preset difference. In the process of determining the target position, the driving direction of the vehicle is considered in addition to the absolute value of the height difference, which ensures the accuracy of the determination of the target position and provides a basis for the subsequent accurate adjustment of the vehicle at the current position, and ensures the accuracy of the shock absorption process of the vehicle.

[0077] In a possible implementation manner, in the embodiment of the present application, the road surface information can be obtained based on a visible light camera and / or a laser radar. Specifically, the road surface information of the vehicle in the driving process is obtained, including:

[0078] Obtaining image information and / or point cloud information of the road;

[0079] Processing the image information and / or the point cloud information to obtain the road surface information of the road.

[0080] In a possible implementation manner, when the image information and / or the point cloud information is processed, a preset algorithm can be used for processing to obtain the road surface information of the road. Optionally, the preset algorithm can be an image algorithm or a laser point cloud algorithm.

[0081] Exemplarily, in the embodiment of the present application, the image information of the road can be acquired by the visible light camera, the point cloud information of the road can be acquired by the laser point cloud, the image information of the road is further processed by the image algorithm, and / or the point cloud information of the road is further processed by the laser point cloud algorithm, to obtain the road surface information.

[0082] Optionally, the process of acquiring the road surface information can be that the MCU directly acquires the image information and / or the point cloud information by the acquisition module, processes the image information and / or the point cloud information to obtain the road surface information of the road; or the process of acquiring the road surface information can be that the intelligent driving controller processes the image information and / or the point cloud information to obtain the road surface information of the road, and the MCU further acquires the road surface information of the road through the intelligent driving controller, which is not limited in the embodiment of the present application.

[0083] Optionally, the process of determining the target position can be that the acquisition module directly sends the acquired information (road surface height) to the MCU, and the MCU processes the information to obtain the result; or the process of determining the target position can be that the acquisition module sends the acquired information to the intelligent driving controller, and the intelligent driving controller processes the information and sends the result to the MCU, which is not limited in the embodiment of the present application.

[0084] 302. In a case where the target distance is less than or equal to the preset distance, a predicted adjustment torque of the vehicle in the driving process is determined according to the road surface information.

[0085] According to step 301, the target distance between the vehicle and the target position can be acquired, and further in the embodiment of the present application, the condition for pre-damping the vehicle is that the target distance is less than or equal to the preset distance. That is, in a case where the target distance is less than or equal to the preset distance, the embodiment of the present application needs to perform pre-damping or pre-avoiding damping processing. Optionally, the preset distance is 10 m.

[0086] Exemplarily, the distance between the target position and the vehicle is 6 m, which is less than the preset distance 10 m. In this case, the embodiment of the present application can perform pre-damping processing on the vehicle before the vehicle drives to the target position.

[0087] In a possible implementation manner, the embodiment of the present application can determine a predicted adjustment torque of the vehicle in the driving process according to the road surface information. Specifically, the method comprises the following steps:

[0088] acquiring the road flatness and the road change direction carried by the road surface information, the road change direction being used to indicate the change direction of the road at the target position;

[0089] determining the value of the predicted adjustment torque based on the road flatness;

[0090] determining the direction of the predicted adjustment torque based on the road change direction.

[0091] In the embodiment of the present application, the road flatness mainly represents the size of the absolute value of the difference between the road height of the current position of the vehicle and the road height of the target position. The larger the absolute value of the difference, the smaller the road flatness; the larger the absolute value of the difference, the larger the road flatness.

[0092] The road change direction represents the change direction of the road at the target position, i.e., whether the road at the target position is concave or convex. Concave represents that the road change direction at the target position is a downward direction; convex represents that the road change direction at the target position is an upward direction.

[0093] The direction of the predicted adjustment torque mainly refers to whether the predicted adjustment torque is positive or negative, and is used to represent whether the motor is positive or negative.

[0094] In the embodiment of the present application, different flatness levels correspond to different difference ranges. In the embodiment of the present application, different flatness levels and the predicted adjustment torque corresponding to the road change direction can be set in advance.

[0095] Table 1 is a schematic table between the absolute value of the difference of the road height and the road flatness level provided in the embodiment of the present application.

[0096] Table 1

[0097] 1 - 5 cm Grade 1 6 - 10 cm Grade 2 11 - 15 cm Grade 3 16 - 20 cm Grade 4 21 cm or more Grade 5

[0098] For example, as shown in Table 1, in the embodiment of the present application, the value of the predicted adjustment torque corresponding to the current difference level can be determined according to the absolute value of the difference of the height difference between the road height of the current position of the vehicle and the road height of the target position. Meanwhile, the direction of the predicted adjustment torque can also be determined according to the road change direction.

[0099] In the embodiment of the present application, the value of the predicted adjustment torque can be calibrated according to the operating parameters in the vehicle driving process, such as the slope, the speed, and the gear of the vehicle.

[0100] In the above technical solution, the present application proposes a way of determining the predicted adjustment torque through road information. Specifically, the value and direction of the predicted adjustment torque are determined according to the road flatness and the road change direction in the road information. In the process of obtaining the predicted adjustment torque, the actual road condition and the direction of the road change are considered, so that the predicted adjustment torque determined is more accurate, and the accuracy and effectiveness of the vehicle damping process are ensured.

[0101] 303, adjusting the current output torque of the vehicle according to the predicted adjustment torque, to control the damping of the vehicle.

[0102] After the predicted adjustment torque is determined in step 302, the vehicle can be pre-damped to prevent the vehicle from generating a large vibration when the vehicle travels to the target position.

[0103] In a possible implementation, when the output torque of the vehicle is adjusted according to the predicted adjustment torque, the method specifically includes:

[0104] The predicted adjustment torque is fused with the current output torque of the vehicle to obtain a first output torque.

[0105] The output torque of the vehicle is adjusted to the first output torque.

[0106] It should be understood that the predicted adjustment torque is a compensation torque generated to prevent the vehicle from generating a large vibration during travel, and therefore, in general, the direction of the predicted adjustment torque of the vehicle is opposite to the direction of the output torque of the vehicle.

[0107] For example, in the embodiment of the present application, the predicted adjustment torque can be added to the current output torque of the vehicle to obtain a final first output torque, and the output torque of the vehicle is adjusted to the first output torque.

[0108] In the technical solution described above, during adjustment of the damping of the vehicle according to the predicted adjustment torque, the predicted adjustment torque is mainly used as a compensation torque of the vehicle during travel to offset the output torque that causes vibration during travel of the vehicle. In combination with the accuracy of the foregoing process of determining the predicted adjustment torque, the process can further ensure the stability of the vehicle during travel.

[0109] Further, after the output torque of the vehicle is adjusted by the predicted adjustment torque, whether the output torque of the vehicle needs to be further adjusted is determined in combination with the vibration of the vehicle when the vehicle travels to the target position. Specifically, the method includes:

[0110] In the case where the vehicle travels to the target position, a speed fluctuation amount of the vehicle is obtained, and the speed fluctuation amount is used to represent the change of the wheel speed;

[0111] In the case where the speed fluctuation amount is less than or equal to a preset fluctuation amount, the output torque of the vehicle is not adjusted.

[0112] In the case where the speed fluctuation amount is greater than the preset fluctuation amount, an actual adjustment torque is determined according to the speed fluctuation amount.

[0113] The output torque of the vehicle is adjusted according to the actual adjustment torque and the predicted adjustment torque.

[0114] The above process, when the vehicle travels to the target position, in one case: if the speed fluctuation of the vehicle is less than or equal to the preset fluctuation, it means that the result of the fusion of the predicted adjustment torque and the output torque of the vehicle can continue to keep the vehicle stable, and the output torque of the vehicle does not need to be adjusted.

[0115] In another case, due to the influence of the actual road surface or the error of the information collected by the acquisition module, when the vehicle travels to the target position, the speed fluctuation of the vehicle is greater than the preset fluctuation, which means that the vibration amplitude of the vehicle is relatively large, and the result of adjusting the output torque of the vehicle by the predicted adjustment torque is not enough to make the vehicle stable. At this time, the actual adjustment torque at this time is determined by combining the actual speed fluctuation, and the output torque of the vehicle is adjusted by further combining the actual adjustment torque and the predicted adjustment torque.

[0116] In one possible implementation, the speed fluctuation of the vehicle can be obtained by the following methods: the first method is a model method, which can be used to establish a virtual parallel world similar to the real world. The signals that are difficult to observe in the real world can be observed and output in the parallel world, which includes the speed fluctuation; a specific frequency detection method can also be used; or a sensor can be used to measure the fluctuation, but this method involves a large hardware cost (hard-wired signal or high-speed CAN signal).

[0117] Specifically, when determining the actual adjustment torque, the harmful frequency component in the speed fluctuation can be extracted, and the actual adjustment torque can be determined according to the harmful frequency component, a differential coefficient, a preset proportion coefficient and a decay factor.

[0118] Further, the output torque of the vehicle is adjusted by combining the actual adjustment torque and the predicted adjustment torque. Specifically, it includes:

[0119] determining a residual adjustment torque of the predicted adjustment torque; fusing the actual adjustment torque and the residual adjustment torque to obtain a second output torque; and adjusting the output torque of the vehicle to the second output torque.

[0120] When the output torque of the vehicle is initially adjusted by the predicted adjustment torque, when a certain target position is reached, if the vehicle vibrates greatly, the second output torque can be obtained by adding the residual adjustment torque of the predicted adjustment torque at the target position and the actual adjustment torque at this time, and then the MCU outputs according to the second output torque thereafter.

[0121] In the technical solution, after the vehicle travels to the target position, the application further proposes a scheme of obtaining a speed fluctuation amount of the vehicle, and deciding whether to adjust the output torque of the vehicle according to a comparison result of the speed fluctuation amount of the vehicle and a preset fluctuation amount. When the speed fluctuation amount is greater than the preset fluctuation amount, an actual adjustment torque is further determined according to the speed fluctuation amount, and a second output torque is obtained by fusing the actual adjustment torque and a remaining adjustment torque of a predicted adjustment torque at the current position, and the second output torque is taken as the output torque of the vehicle. The above process can intelligently adjust the output torque according to the speed fluctuation amount actually traveled by the vehicle when the vehicle travels to the target position, so that the output torque can be flexibly adjusted according to the actual situation during the travel of the vehicle, and the stability of the vehicle during travel is ensured.

[0122] In summary, when vibration occurs during the travel of the vehicle, the application embodiment proposes a method for controlling damping of the vehicle, specifically, during the travel of the vehicle, first, current road surface information of the vehicle and a target distance between the vehicle and a target position are obtained, the target position is a position on the road that the vehicle is about to reach, and an absolute value of a difference between a road surface height of the target position and a road surface height of a current position of the vehicle is greater than a preset difference value; further, in a case where the target distance is less than or equal to a preset distance, a predicted adjustment torque is determined according to the road surface information; and the output torque of the vehicle is adjusted according to the predicted adjustment torque to control damping of the vehicle. The above method of comparing the target distance with the preset distance realizes pre-adjustment of vibration during the travel of the vehicle, avoids severe vibration of the vehicle during the travel of the vehicle, improves the stability and comfort of the vehicle during the travel of the vehicle, and improves the user experience.

[0123] In a possible implementation manner, the application proposes a method for determining the predicted adjustment torque according to the road surface information, specifically, the value and direction of the predicted adjustment torque are determined according to the road flatness and the road change direction in the road surface information. In the process of obtaining the predicted adjustment torque, the actual road surface condition and the direction of the road change are considered, so that the predicted adjustment torque determined is more accurate, and the accuracy and effectiveness of the pre-damping process of the vehicle are ensured.

[0124] During the adjustment of the vehicle damping according to the predicted adjustment torque, the predicted adjustment torque is mainly taken as a compensation torque of the vehicle during the travel of the vehicle to offset the output torque causing vibration during the travel of the vehicle. In combination with the accuracy of the foregoing process of determining the predicted adjustment torque, the process can further ensure the stability of the vehicle during the travel of the vehicle.

[0125] After the vehicle reaches the target position, this application proposes a further solution: acquiring the vehicle's speed fluctuation, and determining whether to adjust the vehicle's output torque based on a comparison between the speed fluctuation and a preset fluctuation. If the speed fluctuation exceeds the preset fluctuation, the actual adjustment torque is further determined using the speed fluctuation. This actual adjustment torque is then fused with the remaining adjustment torque predicted at the current position to obtain a second output torque, which is used as the vehicle's output torque. This process allows for intelligent adjustment of the output torque based on the actual speed fluctuation when the vehicle reaches the target position, ensuring smooth vehicle operation.

[0126] Finally, this application proposes a method for determining a target position. During vehicle movement, the road surface height at multiple locations can be acquired, and the absolute values ​​of multiple height differences between the vehicle's current position and these multiple height differences can be determined. Furthermore, the target position is determined by combining the vehicle's current driving direction with the location where the absolute value of the multiple height differences is greater than a preset difference. This process, in determining the target position, considers not only the absolute values ​​of the height differences but also the vehicle's driving direction, ensuring the accuracy of the target position determination. This provides a basis for the subsequent accurate adjustment of the vehicle at its current position and guarantees the accuracy of the vehicle's shock absorption process.

[0127] Figure 4 This is a schematic diagram of a device for controlling vehicle shock absorption provided in an embodiment of this application.

[0128] For example, such as Figure 4 As shown, the device 400 includes:

[0129] The acquisition module 401 is used to acquire road surface information of the vehicle during driving and the target distance between the vehicle and the target position. The road surface information is used to represent the road surface state in the direction of the vehicle's driving. The target position is the position on the road where the vehicle will drive. The absolute value of the difference between the road surface height at the target position and the road surface height at the current position of the vehicle is greater than a preset difference.

[0130] The determination module 402 is used to determine the predicted adjustment torque of the vehicle during driving based on the road surface information when the target distance is less than or equal to a preset distance.

[0131] The adjustment module 403 is used to adjust the output torque of the vehicle based on the predicted adjustment torque in order to control the vehicle's shock absorption.

[0132] In a possible implementation, the determining module 403 is specifically configured to: acquire road flatness and a road change direction carried by the road surface information, the road change direction being used to indicate a change direction of the road at the target position; determine a value of the predicted adjustment torque based on the road flatness; and determine a direction of the predicted adjustment torque based on the road change direction.

[0133] In a possible implementation, the adjusting module 403 is specifically configured to: fuse the predicted adjustment torque and a current output torque of the vehicle to obtain a first output torque; and adjust the output torque of the vehicle to the first output torque.

[0134] Optionally, after the output torque of the vehicle is adjusted according to the predicted adjustment torque, the device further includes a first processing module configured to: acquire a speed fluctuation of the vehicle in a case where the vehicle travels to the target position, the speed fluctuation being used to indicate a change of a wheel speed; and not adjust the output torque of the vehicle in a case where the speed fluctuation is less than or equal to a preset fluctuation.

[0135] Optionally, the device further includes a second processing module configured to: determine an actual adjustment torque according to the speed fluctuation in a case where the speed fluctuation is greater than the preset fluctuation; and adjust the output torque of the vehicle according to the actual adjustment torque and the predicted adjustment torque.

[0136] In a possible implementation, the second processing module is specifically configured to: determine a residual adjustment torque of the predicted adjustment torque, the residual adjustment torque being used to indicate an adjustment torque of the vehicle traveling to the target position; fuse the actual adjustment torque and the residual adjustment torque to obtain a second output torque; and adjust the output torque of the vehicle to the second output torque.

[0137] Optionally, the device further includes a third processing module configured to: acquire image information and / or point cloud information of the road; and process the image information and the point cloud information to obtain the road surface information of the road.

[0138] Optionally, the device further includes: acquiring road surface heights of a plurality of positions on the road; determining a plurality of absolute values of differences between the road surface height of the current position of the vehicle and the road surface heights of the plurality of positions; and determining, according to a travel direction of the vehicle and the plurality of absolute values of differences, a position with an absolute value greater than a preset difference value in the plurality of absolute values of differences as the target position.

[0139] Figure 5 FIG. 1 is a structural schematic diagram of a vehicle according to an embodiment of the present application.

[0140] For example, Figure 5As shown, the vehicle 101 includes a memory 501 and a processor 502, wherein the memory 502 stores executable program code 5011, and the processor 502 is configured to invoke and execute the executable program code 5011 to perform a method for controlling damping of a vehicle.

[0141] The embodiment can divide the vehicle into functional modules according to the above method examples. For example, each functional module can be provided, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical functional division. In actual implementation, another division manner can be used.

[0142] When each functional module is divided according to each function, the vehicle can include an acquisition module, a determination module, an adjustment module, and the like. It should be noted that all related contents of each step involved in the above method embodiment can be referred to the function description of the corresponding functional module, and will not be repeated here.

[0143] The vehicle provided in the embodiment is used to perform the above method for controlling damping of a vehicle, and thus can achieve the same effect as the above implementation method.

[0144] When the integrated unit is used, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute program codes and data.

[0145] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, and the like. The storage module can be a memory.

[0146] The embodiment further provides a computer readable storage medium, which stores computer program codes. When the computer program codes run on a computer, the computer is caused to perform the above related method steps to implement the method for controlling damping of a vehicle in the above embodiment.

[0147] The embodiment further provides a computer program product. When the computer program product runs on a computer, the computer is caused to perform the above related steps to implement the method for controlling damping of a vehicle in the above embodiment.

[0148] The vehicle, the computer readable storage medium or the computer program product provided in the embodiment are used to execute the corresponding method provided above, and thus the beneficial effects achieved by the vehicle, the computer readable storage medium or the computer program product can refer to the beneficial effects of the corresponding method provided above, which will not be described here again.

[0149] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling vehicle shock absorption, characterized in that, The method includes: The system acquires road surface information during vehicle operation and the target distance between the vehicle and the target location. The road surface information represents the road surface condition in the direction the vehicle is traveling. The target location is the location the vehicle will travel to on the road. The absolute value of the difference between the road surface height at the target location and the road surface height at the current location of the vehicle is greater than a preset difference. If the target distance is less than or equal to a preset distance, the predicted adjustment torque of the vehicle during driving is determined based on the road surface information. Based on the predicted adjustment torque, the output torque of the vehicle is adjusted to control the vehicle's shock absorption; When the vehicle travels to the target position, the rotational speed fluctuation of the vehicle is obtained, and the rotational speed fluctuation is used to represent the change in wheel rotational speed; If the speed fluctuation is greater than the preset fluctuation, the actual adjustment torque is determined based on the speed fluctuation. The remaining adjustment torque at the target position, as predicted, is added to the actual adjustment torque to obtain the second output torque; The output torque of the vehicle is adjusted to the second output torque.

2. The method according to claim 1, characterized in that, The step of determining the predicted adjustment torque of the vehicle during driving based on the road surface information includes: The road surface information, including road surface smoothness and direction of change, is obtained, wherein the direction of change of the road surface is used to indicate the direction of change of the road at the target location. The value of the predicted adjustment torque is determined based on the road surface smoothness. The direction of the predicted adjustment torque is determined based on the direction of the road surface change.

3. The method according to claim 1, characterized in that, The step of adjusting the current output torque of the vehicle based on the predicted adjustment torque includes: The predicted adjustment torque is fused with the vehicle's current output torque to obtain the first output torque; The output torque of the vehicle is adjusted to the first output torque.

4. The method according to claim 1, characterized in that, The method further includes: If the speed fluctuation is less than or equal to the preset fluctuation, the vehicle's output torque will not be adjusted.

5. The method according to claim 1 or 2, characterized in that, The acquisition of road surface information during vehicle operation includes: Acquire image information and / or point cloud information of the road; The image information and / or the point cloud information are processed to obtain the road surface information of the road.

6. The method according to claim 1 or 2, characterized in that, The method for determining the target location includes: Obtain the road surface height at multiple locations on the road; Determine the absolute values ​​of multiple differences between the road surface height at the current position of the vehicle and the road surface height at the multiple positions; Based on the vehicle's driving direction and the absolute values ​​of the plurality of differences, the position where the absolute value of the plurality of differences is greater than the preset difference is determined as the target position.

7. A device for controlling vehicle shock absorption, characterized in that, The device includes: The acquisition module is used to acquire road surface information during vehicle travel and the target distance between the vehicle and the target location. The road surface information is used to represent the road surface condition in the direction the vehicle is traveling. The target location is the location on the road where the vehicle will travel. The absolute value of the difference between the road surface height at the target location and the road surface height at the current location of the vehicle is greater than a preset difference. The determination module is used to determine the predicted adjustment torque of the vehicle during driving based on the road surface information when the target distance is less than or equal to a preset distance. An adjustment module is used to adjust the current output torque of the vehicle based on the predicted adjustment torque in order to control the vehicle's shock absorption. The adjustment module is further used for: When the vehicle travels to the target position, the rotational speed fluctuation of the vehicle is obtained, and the rotational speed fluctuation is used to represent the change in wheel rotational speed; If the speed fluctuation is greater than the preset fluctuation, the actual adjustment torque is determined based on the speed fluctuation. The remaining adjustment torque at the target position, as predicted, is added to the actual adjustment torque to obtain the second output torque; The output torque of the vehicle is adjusted to the second output torque.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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