Vehicle control method, apparatus, device, vehicle, and medium

Abstract

Embodiments of the present application disclose a vehicle control method, device, equipment, vehicle and medium. The method comprises: acquiring at least three different categories of interaction parameters of a vehicle, and determining a preset calibration condition according to each interaction parameter; acquiring a voltage output waveform under the preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform; determining a corresponding road friction coefficient according to the preset calibration condition, the state parameter and a pre-constructed condition parameter mapping relationship; and controlling the vehicle to run according to the road friction coefficient. The above scheme determines the road friction coefficient, controls the vehicle according to the road friction coefficient, controls the vehicle on the basis of considering real-time changes of the road friction coefficient, and improves the safety of vehicle operation control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, equipment, vehicle and medium. Background Technology

[0002] As a means of transportation, automobiles have become an indispensable part of people's lives. With the continuous development of autonomous driving and intelligent transportation technologies, the control of autonomous vehicles is becoming increasingly important.

[0003] In existing technologies, autonomous vehicles primarily rely on computer vision combined with technologies such as LiDAR to acquire parameters for controlling vehicle operation. However, these methods cannot comprehensively consider road information, resulting in a lower level of safety in vehicle operation control. Summary of the Invention

[0004] This invention provides a vehicle control method, apparatus, equipment, vehicle, and medium to improve the safety of vehicle operation control.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising:

[0006] Obtain at least three different categories of interaction parameters for the vehicle, and determine preset calibration conditions based on each of the interaction parameters;

[0007] Obtain the voltage output waveform under the preset calibration conditions, and determine the state parameters under the preset calibration conditions based on the voltage output waveform;

[0008] The corresponding road friction coefficient is determined based on the preset calibration conditions, the state parameters, and the pre-constructed mapping relationship of condition parameters;

[0009] The vehicle operation is controlled based on the road friction coefficient.

[0010] According to another aspect of the present invention, a vehicle control device is provided, comprising:

[0011] The preset calibration condition determination module is used to acquire at least three different types of interaction parameters of the vehicle, and determine the preset calibration conditions based on each of the interaction parameters.

[0012] The state parameter determination module is used to acquire the voltage output waveform under the preset calibration conditions, and determine the state parameters under the preset calibration conditions based on the voltage output waveform.

[0013] The road friction coefficient determination module is used to determine the corresponding road friction coefficient based on the preset calibration conditions, the state parameters, and the pre-constructed condition parameter mapping relationship.

[0014] The vehicle control module is used to control the vehicle's operation based on the road friction coefficient.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0019] According to another aspect of this disclosure, a vehicle is also provided, wherein the vehicle is equipped with electronic equipment capable of performing any of the vehicle control methods provided in the embodiments of this disclosure.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0021] This invention provides a vehicle control scheme. It acquires at least three different types of interaction parameters for the vehicle and determines preset calibration conditions based on these parameters. It then acquires the voltage output waveform under the preset calibration conditions and determines the state parameters based on these waveforms. Finally, it determines the corresponding road friction coefficient based on the preset calibration conditions, state parameters, and a pre-built mapping relationship between the condition parameters and the road friction coefficient. Finally, it controls the vehicle's operation based on the road friction coefficient. This scheme, by determining and controlling the vehicle according to the road friction coefficient, achieves vehicle control while considering the real-time changes in the road friction coefficient, thus improving the safety of vehicle operation control.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device for implementing a vehicle control method provided in Embodiment 4 of the present invention;

[0028] Figure 5 This is a schematic diagram of a vehicle partial structure provided in Embodiment 4 of the present invention;

[0029] Figure 6 This is a schematic diagram of the voltage output waveform generated when the sensor device does not change, according to Embodiment 4 of the present invention.

[0030] Figure 7 This is a schematic diagram of the voltage output waveform generated by a change in a sensor device according to Embodiment 4 of the present invention. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where vehicle operation is controlled. The method can be executed by a vehicle control device, which can be implemented in hardware and / or software. The device can be configured in an electronic device that carries vehicle control functions, and the electronic device can be an in-vehicle terminal.

[0034] like Figure 1 The vehicle control method shown includes:

[0035] S110. Obtain at least three different types of interaction parameters for the vehicle, and determine the preset calibration conditions based on each interaction parameter.

[0036] Interaction parameters refer to data related to the vehicle itself. Specifically, interaction parameters can be at least three of the following: vehicle speed, load, and tire pressure. Preset calibration conditions refer to setting at least two of the interaction parameters to constant values. For example, if there are three interaction parameters, namely interaction parameter A, interaction parameter B, and interaction parameter C, then the preset calibration conditions could be setting interaction parameters A and B to constant values, or setting interaction parameters A and C to constant values, or setting interaction parameters B and C to constant values.

[0037] S120. Obtain the voltage output waveform under preset calibration conditions, and determine the state parameters under preset calibration conditions based on the voltage output waveform.

[0038] Here, the voltage output waveform refers to the voltage change curve. The state parameter refers to the value of the interaction parameter determined based on the voltage output waveform. For example, if the interaction parameters include interaction parameter A, interaction parameter B, and interaction parameter C, and if the preset calibration condition is that interaction parameters A and B are constant values, then the value of interaction parameter C is determined based on the voltage output waveform, which is the state parameter.

[0039] S130. Determine the corresponding road friction coefficient based on the preset calibration conditions, state parameters, and pre-constructed condition parameter mapping relationship.

[0040] The condition parameter mapping relationship refers to the relationship between preset calibration conditions, state parameters, and the road friction coefficient. The road friction coefficient is the friction coefficient between a vehicle and the road surface. Specifically, the friction coefficient between a vehicle and different road surfaces varies.

[0041] Specifically, based on preset calibration conditions and state parameters, the corresponding road friction coefficient is determined from the pre-constructed condition parameter mapping relationship.

[0042] S140. Control vehicle operation based on the road friction coefficient.

[0043] This invention provides a vehicle control scheme. It acquires at least three different types of interaction parameters for the vehicle and determines preset calibration conditions based on these parameters. It then acquires the voltage output waveform under the preset calibration conditions and determines the state parameters based on these waveforms. Finally, it determines the corresponding road friction coefficient based on the preset calibration conditions, state parameters, and a pre-built mapping relationship between the condition parameters and the road friction coefficient. Finally, it controls the vehicle's operation based on the road friction coefficient. This scheme, by determining and controlling the vehicle according to the road friction coefficient, achieves vehicle control while considering the real-time changes in the road friction coefficient, thus improving the safety of vehicle operation control.

[0044] Example 2

[0045] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment further improves the mechanism for determining the condition parameter mapping relationship by adding the following steps: "The condition parameter mapping relationship is constructed based on the following method: obtaining the reference voltage output waveform under reference preset calibration conditions; determining at least one reference state parameter under reference preset calibration conditions based on the reference voltage output waveform; determining the corresponding reference road friction coefficient based on the reference preset calibration conditions and each reference state parameter; and constructing the condition parameter mapping relationship based on the reference preset calibration conditions, the reference state parameter, and the reference road friction coefficient." It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments.

[0046] See Figure 2 The vehicle control method shown includes:

[0047] S210. Obtain the reference voltage output waveform under the reference preset calibration conditions.

[0048] Here, the reference preset calibration conditions refer to the conditions that can be used to construct the condition parameter mapping relationship. The reference voltage output waveform refers to the voltage output waveform under the reference preset calibration conditions. This embodiment of the invention does not limit the number of reference preset calibration conditions and reference voltage output waveforms; these can be set by a technician based on experience. Specifically, the preset calibration condition can be one of the reference preset calibration conditions, and correspondingly, the voltage output waveform can be one or at least a portion of the reference voltage output waveforms.

[0049] In one optional embodiment, at least three different categories of interaction parameters of the vehicle can be acquired, and reference preset calibration conditions can be determined based on each interaction parameter. Specifically, if the interaction parameters include speed, tire pressure, and load, the corresponding reference preset calibration conditions include a first reference condition, a second reference condition, and a third reference condition; wherein, in the first reference condition, speed and tire pressure are constant values; in the second reference condition, load and tire pressure are constant values; and in the third reference condition, speed and load are constant values.

[0050] The first, second, and third reference conditions are used to distinguish different preset calibration conditions. Specifically, when the preset calibration condition is the first reference condition, the vehicle load changes; when the preset calibration condition is the second reference condition, the vehicle speed changes; and when the preset calibration condition is the third reference condition, the vehicle tire pressure changes.

[0051] Understandably, when the interaction parameters include speed, tire pressure, and load, the diversity of the reference preset calibration conditions is improved by introducing a first reference condition, a second reference condition, and a third reference condition to classify the reference preset calibration conditions.

[0052] In one alternative embodiment, the reference voltage output waveform is determined based on the following: if the reference preset calibration condition is a first reference condition, the reference voltage value in the reference voltage output waveform increases with the increase of load; if the reference preset calibration condition is a second reference condition, the reference voltage value in the reference voltage output waveform decreases with the increase of speed; if the reference preset calibration condition is a third reference condition, the reference voltage value in the reference voltage output waveform increases with the decrease of tire pressure.

[0053] Understandably, by fixing the values ​​of at least two of the interaction parameters—speed, load, and tire pressure—and generating a reference voltage output waveform based on the change of the other interaction parameter, the accuracy of the reference voltage output waveform is improved.

[0054] S220. Based on the reference voltage output waveform, determine at least one reference state parameter under the reference preset calibration conditions.

[0055] Here, the reference state parameter refers to the value of the interaction parameter determined based on the reference voltage output waveform. Specifically, the state parameter can be one of the reference state parameters.

[0056] Specifically, for any given preset calibration condition, a reference voltage output waveform under that preset calibration condition is generated. Multiple reference state parameters may be obtained from the reference voltage output waveform. For example, the reference voltage output waveform can be divided into preset time periods to determine the reference state parameters within each preset time period. This embodiment of the invention does not impose any limitation on the preset time period; it can be set by a technician based on experience.

[0057] S230. Determine the corresponding reference road friction coefficient based on the reference preset calibration conditions and various reference state parameters.

[0058] The road friction coefficient is one of the reference road friction coefficients. The reference road friction coefficient refers to the friction coefficient between the vehicle and the road surface under reference preset calibration conditions.

[0059] It should be noted that multiple reference state parameters may be obtained under one reference preset calibration condition. Therefore, the reference road friction coefficient corresponding to each reference preset calibration condition and each reference state parameter should be determined separately. That is, one reference preset calibration condition may correspond to multiple reference road friction coefficients.

[0060] S240. Based on the reference preset calibration conditions, reference state parameters, and reference road friction coefficient, construct the condition parameter mapping relationship.

[0061] It should be noted that the embodiments of the present invention do not impose any limitations on the form of the condition parameter mapping relationship. It can be set by technicians based on experience, as long as each condition parameter mapping relationship includes a reference preset calibration condition, a reference state parameter and a reference road friction coefficient.

[0062] Furthermore, to improve the accuracy of the constructed conditional parameter mapping relationship, the reference data can be divided into training data, validation data, and test data, with a ratio of 8:1:1.

[0063] S250: Obtain at least three different types of interaction parameters for the vehicle, and determine the preset calibration conditions based on each interaction parameter.

[0064] S260. Obtain the voltage output waveform under preset calibration conditions, and determine the state parameters under preset calibration conditions based on the voltage output waveform.

[0065] S270. Determine the corresponding road friction coefficient based on the preset calibration conditions, state parameters, and pre-constructed condition parameter mapping relationship.

[0066] S280. Control vehicle operation based on the road friction coefficient.

[0067] The vehicle control scheme provided in this invention is constructed based on a condition parameter mapping relationship in the following manner: obtaining a reference voltage output waveform under a preset calibration condition; determining at least one reference state parameter under the preset calibration condition based on the reference voltage output waveform; determining the corresponding reference road friction coefficient based on the preset calibration condition and each reference state parameter; and constructing a condition parameter mapping relationship based on the preset calibration condition, the reference state parameter, and the reference road friction coefficient, thereby improving the determination mechanism of the condition parameter mapping relationship. This scheme, by introducing the preset calibration condition, the reference voltage output waveform, the reference state parameter, and the reference road friction coefficient to construct the condition parameter mapping relationship, improves the accuracy and comprehensiveness of the constructed condition parameter mapping relationship.

[0068] Example 3

[0069] Figure 3 This is a vehicle control device provided in Embodiment 3 of the present invention. This embodiment is applicable to situations where vehicle operation is controlled. The method can be executed by the vehicle control device, which can be implemented in hardware and / or software. The device can be configured in an electronic device that carries vehicle control functions, and the electronic device can be an in-vehicle terminal.

[0070] like Figure 3 As shown, the device includes: a preset calibration condition determination module 310, a state parameter determination module 320, a road friction coefficient determination module 330, and a vehicle control module 340. Among them,

[0071] The preset calibration condition determination module 310 is used to acquire at least three different types of interaction parameters of the vehicle and determine the preset calibration conditions based on each interaction parameter.

[0072] The state parameter determination module 320 is used to acquire the voltage output waveform under preset calibration conditions and determine the state parameters under preset calibration conditions based on the voltage output waveform.

[0073] The road friction coefficient determination module 330 is used to determine the corresponding road friction coefficient based on preset calibration conditions, state parameters and pre-built condition parameter mapping relationship;

[0074] The vehicle control module 340 is used to control the vehicle's operation based on the road friction coefficient.

[0075] This invention provides a vehicle control scheme. A preset calibration condition determination module acquires at least three different types of interaction parameters for the vehicle and determines preset calibration conditions based on these parameters. A state parameter determination module acquires the voltage output waveform under the preset calibration conditions and determines the state parameters based on this waveform. A road friction coefficient determination module determines the corresponding road friction coefficient based on the preset calibration conditions, state parameters, and a pre-built mapping relationship between condition parameters. Finally, a vehicle control module controls the vehicle's operation based on the road friction coefficient. This scheme, by determining and controlling the vehicle based on the road friction coefficient, achieves vehicle control while considering real-time changes in the road friction coefficient, thus improving the safety of vehicle operation control.

[0076] Optionally, the device may also include:

[0077] The reference waveform acquisition module is used to acquire the reference voltage output waveform under the preset calibration conditions.

[0078] The reference state parameter determination module is used to determine at least one reference state parameter under the reference preset calibration conditions based on the reference voltage output waveform.

[0079] The friction coefficient determination module is used to determine the corresponding reference road friction coefficient based on the reference preset calibration conditions and various reference state parameters;

[0080] The condition parameter mapping relationship construction module is used to construct condition parameter mapping relationships based on reference preset calibration conditions, reference state parameters, and reference road friction coefficient.

[0081] Optionally, the interactive parameters include speed, tire pressure, and load; correspondingly, the reference preset calibration conditions include a first reference condition, a second reference condition, and a third reference condition.

[0082] In the first reference condition, the speed and tire pressure are constants; in the second reference condition, the load and tire pressure are constants; and in the third reference condition, the speed and load are constants.

[0083] Optionally, the reference waveform acquisition module includes:

[0084] The first waveform acquisition module is used to increase the reference voltage value in the reference voltage output waveform as the load increases if the reference preset calibration condition is the first reference condition.

[0085] The second waveform acquisition module is used to reduce the reference voltage value in the reference voltage output waveform as the speed increases if the reference preset calibration condition is the second reference condition.

[0086] The third waveform acquisition module is used to make the reference voltage value in the reference voltage output waveform increase as the tire pressure decreases if the reference preset calibration condition is the third reference condition.

[0087] The vehicle control device provided in the embodiments of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing each vehicle control method.

[0088] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision and disclosure of interactive parameters, reference preset calibration conditions, reference voltage output waveforms, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0089] Example 4

[0090] Figure 4 This is a schematic diagram of an electronic device for implementing a vehicle control method according to Embodiment 4 of the present invention. The electronic device 410 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0091] like Figure 4As shown, the electronic device 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412 or a random access memory (RAM) 413, communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the ROM 412 or loaded from storage unit 418 into the RAM 413. The RAM 413 may also store various programs and data required for the operation of the electronic device 410. The processor 411, ROM 412, and RAM 413 are interconnected via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0092] Multiple components in electronic device 410 are connected to I / O interface 415, including: input unit 416, such as keyboard, mouse, etc.; output unit 417, such as various types of displays, speakers, etc.; storage unit 418, such as disk, optical disk, etc.; and communication unit 419, such as network card, modem, wireless transceiver, etc. Communication unit 419 allows electronic device 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 performs the various methods and processes described above, such as vehicle control methods.

[0094] Based on the above technical solutions, the present invention also provides a vehicle, which is equipped with Figure 4 The electronic device shown. For example, the electronic device may be an in-vehicle terminal.

[0095] In an optional embodiment, see Figure 5 The diagram shows a partial architecture of the vehicle. The vehicle includes parameter acquisition equipment, data transmission equipment, and power supply equipment. The parameter acquisition equipment, located on the surface of the vehicle's tires, generates voltage output waveforms. The data transmission equipment, located in the vehicle's drive shaft, transmits the voltage output waveforms to electronic devices. The power supply equipment, located in the tire's mesh or on the tire sidewall, provides power to the data transmission equipment and the parameter acquisition equipment.

[0096] Among them, the parameter acquisition device can dynamically monitor interactive parameters in real time and generate corresponding voltage output waveforms.

[0097] The power supply equipment can be a flexible piezoelectric energy harvesting device. Specifically, the power supply equipment can use commercially available PVDF (polyvinylidene fluoride) piezoelectric material integrated into the tire to convert mechanical energy into electrical energy and store the electrical energy in a capacitor.

[0098] In this embodiment of the invention, the circuit structure of the data transmission device is not limited in any way, and can be set by technicians based on experience or needs.

[0099] In one alternative embodiment, the parameter acquisition device includes a sensor device and a substrate; the sensor device, integrated onto the tire surface via the substrate, is used to generate a voltage output waveform.

[0100] The sensor device can generate a voltage output waveform by compressing or stretching it to measure the resistance changes under bending with different radii of curvature. This voltage output waveform can be used to develop intelligent control strategies and machine learning-based intelligent tire condition monitoring algorithms, thereby enabling vehicle control.

[0101] The embodiments of the present invention do not impose any limitations on the sensor device and substrate, which can be set by those skilled in the art based on experience. For example, the sensor device may be a graphene-based piezoresistive strain sensor, and the substrate may be a polyimide film.

[0102] This invention does not limit the method of obtaining the graphene-based piezoresistive strain sensor; it can be set by a technician based on experience. For example, the graphene-based piezoresistive strain sensor can be obtained using 3D printing technology. Specifically, the materials and processes are as follows: Graphene-based ink is used for direct printing of strain sensors. Graphite powder with a particle size of less than 20 μm is used as the starting material, and graphene oxide is synthesized using the Hummers method. The specific operation process is as follows: 1g of graphite is immersed in an ice-water bath containing a mixture of 120 mL of 98% sulfuric acid and 15 mL of 85% phosphoric acid, with the reactor temperature maintained at approximately 5°C; 6g of potassium permanganate is slowly added to the mixture as an oxidant, and the reaction is maintained at 50°C for 24 hours; the graphene oxide suspension is washed with 5% hydrochloric acid to remove unreacted metal residues, followed by washing with deionized water; the resulting graphene oxide solution is further exfoliated using a probe-type ultrasonic method, and unreacted graphite is removed by centrifugation; the resulting graphene oxide is diluted with water and used for aerosol-based 3D printing. The printing process uses a pneumatic atomizer, and 57% hydroiodic acid is used to convert the printed graphene oxide film into reduced graphene oxide. The advantages of using 3D printing are that the manufacturing process based on aerosol 3D printing can create thin films and patterns of heterogeneous materials, sensing elements can be directly printed on various types of substrates and directly integrated with tires, and the wrinkled microstructure of graphene allows it to withstand large deformations without damage.

[0103] For example, see Figure 6 and Figure 7 .in, Figure 6 This is a schematic diagram of the voltage output waveform generated when the sensor device remains unchanged. Specifically, when the sensor device remains unchanged, the voltage output waveform is a regular geometric shape. Figure 7 This is a schematic diagram of the voltage output waveform generated by a change in a sensor device. Among them, Figure 7 The x-axis represents the tire rotation angle, and the y-axis represents the voltage. The voltage change corresponding to the first decrease in output voltage is V1, the first increase is V2, the second decrease is V3, and the second increase is V4. The time derivative of the output voltage is calculated to estimate the contact length between the sensor and the road surface. Since the contact length is related to the tire's normal load, the tire's normal load under a fixed tire pressure can be calculated. The values ​​of V1 and V4 increase significantly with decreasing tire pressure or increasing load, but remain almost constant with increasing tire speed; therefore, they are used to estimate tire pressure.

[0104] Understandably, by using sensor devices and substrates, real-time acquisition of interactive parameters can be achieved, generating corresponding voltage output waveforms and improving the accuracy of the generated voltage output waveforms.

[0105] It is understood that the vehicle provided in this embodiment of the invention can wirelessly monitor the tire status without affecting the vehicle's operation, thereby improving the monitoring sensitivity and monitoring distance; and because the devices in this invention are small in size, they save space and improve integration efficiency.

[0106] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0107] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0109] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0110] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0111] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0112] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0113] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0114] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain at least three different categories of interaction parameters for the vehicle, and determine preset calibration conditions based on each of the interaction parameters; Obtain the voltage output waveform under the preset calibration conditions, and determine the state parameters under the preset calibration conditions based on the voltage output waveform; The corresponding road friction coefficient is determined based on the preset calibration conditions, the state parameters, and the pre-constructed mapping relationship of condition parameters; Control vehicle operation based on the road friction coefficient; The condition parameter mapping relationship is constructed based on the following method: Obtain the reference voltage output waveform under the preset calibration conditions; Based on the reference voltage output waveform, at least one reference state parameter under the reference preset calibration conditions is determined; Based on the aforementioned preset calibration conditions and each of the aforementioned reference state parameters, the corresponding reference road friction coefficient is determined; Based on the reference preset calibration conditions, the reference state parameters, and the reference road friction coefficient, a condition parameter mapping relationship is constructed. The interactive parameters include speed, tire pressure, and load; correspondingly, the reference preset calibration conditions include a first reference condition, a second reference condition, and a third reference condition. Wherein, the speed and tire pressure in the first reference condition are constant values; the load and tire pressure in the second reference condition are constant values; and the speed and load in the third reference condition are constant values.

2. The method according to claim 1, characterized in that, The reference voltage output waveform is determined based on the following method: If the reference preset calibration condition is the first reference condition, then the reference voltage value in the reference voltage output waveform increases with the increase of load; If the reference preset calibration condition is the second reference condition, then the reference voltage value in the reference voltage output waveform decreases as the speed increases; If the reference preset calibration condition is the third reference condition, then the reference voltage value in the reference voltage output waveform increases as the tire pressure decreases.

3. A vehicle control device, characterized in that, include: The preset calibration condition determination module is used to acquire at least three different types of interaction parameters of the vehicle, and determine the preset calibration conditions based on each of the interaction parameters. The state parameter determination module is used to acquire the voltage output waveform under the preset calibration conditions, and determine the state parameters under the preset calibration conditions based on the voltage output waveform. The road friction coefficient determination module is used to determine the corresponding road friction coefficient based on the preset calibration conditions, the state parameters, and the pre-constructed condition parameter mapping relationship. The vehicle control module is used to control the vehicle's operation based on the road friction coefficient. The device further includes: The reference waveform acquisition module is used to acquire the reference voltage output waveform under the preset calibration conditions. A reference state parameter determination module is used to determine at least one reference state parameter under the reference preset calibration conditions based on the reference voltage output waveform. The friction coefficient determination module is used to determine the corresponding reference road friction coefficient based on the reference preset calibration conditions and each of the reference state parameters; The condition parameter mapping relationship construction module is used to construct a condition parameter mapping relationship based on the reference preset calibration conditions, the reference state parameters, and the reference road friction coefficient. The interactive parameters include speed, tire pressure, and load; correspondingly, the reference preset calibration conditions include a first reference condition, a second reference condition, and a third reference condition. Wherein, the speed and tire pressure in the first reference condition are constant values; the load and tire pressure in the second reference condition are constant values; and the speed and load in the third reference condition are constant values.

4. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle control method as described in any one of claims 1-2.

5. A vehicle, characterized in that, The vehicle is equipped with the electronic equipment described in claim 4.

6. The vehicle according to claim 5, characterized in that, The vehicle includes parameter acquisition equipment, data transmission equipment, and power supply equipment; The parameter acquisition device is installed on the surface of the vehicle's tires and is used to generate the voltage output waveform; The data transmission device is disposed in the drive shaft of the vehicle and is used to transmit the voltage output waveform to the electronic device; The power supply device is installed in the wheel mesh of the tire or on the tire sidewall, and is used to provide power to the data transmission device and the parameter acquisition device.

7. The vehicle according to claim 6, wherein the parameter acquisition device comprises a sensor device and a substrate; The sensor device is integrated onto the tire surface via the substrate and is used to generate the voltage output waveform.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a vehicle control method as described in any one of claims 1-2.

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