Vehicle obstacle control method, device, electronic device and storage medium

Abstract

The present invention discloses a vehicle obstacle crossing control method, device, electronic device and storage medium. The method includes: in response to a vehicle obstacle crossing request, updating the initial vehicle height of the vehicle to be crossed, and determining the first driving mode of the vehicle to be crossed; when it is detected that the vehicle to be crossed meets the first preset wheel lifting condition, the front wheels are raised and lowered based on the preset lifting stroke; when it is detected that the first driving distance of the vehicle to be crossed reaches the first preset distance, the driving mode of the vehicle to be crossed is updated to the second driving mode; when it is detected that the vehicle to be crossed meets the second preset wheel lifting condition, the rear wheels are raised and lowered based on the preset lifting stroke; when it is detected that the second driving distance of the vehicle to be crossed reaches the second preset distance, the vehicle to be crossed is restored to the initial vehicle height. This technical solution realizes the effect of vehicle obstacle crossing based on the existing actuators and sensor information of the vehicle chassis.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle obstacle crossing control method, device, electronic equipment and storage medium. Background Art

[0002] When driving in wild environments and remote areas, small and medium-sized vehicles often encounter deteriorating road conditions (mud, deep potholes, etc.) caused by natural factors (weather, geology, etc.). Such situations usually cause the vehicle to break down, skid, and other failures, making it unable to move forward.

[0003] At present, traditional vehicle obstacle crossing methods usually require the use of perception systems such as cameras or radars to achieve obstacle crossing, which requires additional costs and R&D investment. Summary of the Invention

[0004] The present invention provides a vehicle obstacle crossing control method, device, electronic device and storage medium, so as to achieve the effect of vehicle obstacle crossing based on the existing actuators and sensor information of the vehicle chassis, thereby improving the mobility of the vehicle chassis. In addition, it does not need to rely on additional perception systems such as cameras and radars, thereby reducing costs and saving the workload of perception system development and joint debugging.

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

[0006] In response to a vehicle obstacle overcoming request, updating an initial vehicle height of the vehicle to be overcoming the obstacle, and determining a first driving mode of the vehicle to be overcoming the obstacle;

[0007] In the process of controlling the movement of the vehicle to be surmounted based on the first driving mode, when it is detected that the vehicle to be surmounted meets a first preset wheel lifting condition, the front wheels are raised and lowered based on a preset lifting stroke;

[0008] In the process of controlling the vehicle to be overcoming the obstacle to continue traveling, when it is detected that the first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance, updating the driving mode of the vehicle to be overcoming the obstacle to continue traveling to a second driving mode;

[0009] During the process of controlling the movement of the vehicle to be surmounted based on the second driving mode, when it is detected that the vehicle to be surmounted meets a second preset wheel lifting condition, the rear wheels are raised and lowered based on the preset lifting stroke;

[0010] During the process of controlling the vehicle to be overcoming the obstacle to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcoming the obstacle reaches a second preset distance, the vehicle body height of the vehicle to be overcoming the obstacle is restored to the initial vehicle body height.

[0011] According to another aspect of the present invention, a vehicle obstacle control device is provided, the device comprising:

[0012] a vehicle obstacle overcoming request response module, configured to update an initial vehicle height of the vehicle to be overcoming the obstacle in response to the vehicle obstacle overcoming request, and determine a first driving mode of the vehicle to be overcoming the obstacle;

[0013] a front wheel lifting module, configured to lift the front wheels based on a preset lifting stroke when detecting that the vehicle to be overcame an obstacle satisfies a first preset wheel lifting condition during the process of controlling the movement of the vehicle to be overcame an obstacle based on the first driving mode;

[0014] a driving mode updating module, configured to update the driving mode of the vehicle to be overcoming the obstacle to be overcoming to a second driving mode when detecting that a first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue traveling;

[0015] a rear wheel lifting module, configured to, during the process of controlling the movement of the vehicle to be overcame an obstacle based on the second driving mode, lift the rear wheels based on the preset lifting stroke when detecting that the vehicle to be overcame an obstacle meets a second preset wheel lifting condition;

[0016] The vehicle body height recovery module is used to recover the vehicle body height of the vehicle to be overcoming the obstacle to be overcoming to the initial vehicle body height when it is detected that the second driving distance of the vehicle to be overcoming the obstacle reaches a second preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue driving in accordance with the second driving mode.

[0017] According to another aspect of the present invention, an electronic device is provided, comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the vehicle obstacle control method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle obstacle overcoming control method according to any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention is to update the initial vehicle height of the vehicle to be overcame in response to a vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcame. Then, in the process of controlling the movement of the vehicle to be overcame based on the first driving mode, when it is detected that the vehicle to be overcame meets the first preset wheel lifting condition, the front wheels are lifted and lowered based on the preset lifting stroke. Thereafter, in the process of controlling the vehicle to be overcame to continue traveling, when it is detected that the first driving distance of the vehicle to be overcame to reach the first preset distance, the driving mode of the vehicle to be overcame to be updated to the second driving mode. Furthermore, in the process of controlling the movement of the vehicle to be overcame based on the second driving mode, when it is detected that the vehicle to be overcame to meet the second preset wheel lifting condition, When the obstacle is overcome, the rear wheels are raised and lowered based on the preset lifting stroke. Finally, in the process of controlling the vehicle to be overcome to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcome reaches the second preset distance, the body height of the vehicle to be overcome is restored to the initial body height. This solves the problem that the existing technology needs to use a perception system such as a camera or radar to achieve obstacle overcoming, which requires additional costs and R&D investment. It realizes the effect of vehicle obstacle overcoming based on the existing actuators and sensor information of the vehicle chassis, improves the mobility of the vehicle chassis, and does not need to rely on additional perception systems such as cameras and radars. While reducing costs, it saves the workload of perception system development and joint debugging.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a flow chart of a vehicle obstacle crossing control method provided according to the first embodiment of the present invention;

[0026] Figure 2 This is a flow chart of a vehicle obstacle crossing control method provided according to the second embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of a step height determination method provided according to a second embodiment of the present invention;

[0028] Figure 4is a schematic diagram of the initial body posture of a vehicle to overcome an obstacle provided in accordance with the second embodiment of the present invention;

[0029] Figure 5 1 is a schematic diagram of a process of raising the vehicle height of a vehicle to be surmounted by an obstacle according to a second embodiment of the present invention;

[0030] Figure 6 2 is a schematic diagram of a vehicle to be surmounted by an obstacle meeting a first preset wheel lifting condition provided in accordance with a second embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the process of raising the front wheels of a vehicle to overcome an obstacle according to the second embodiment of the present invention;

[0032] Figure 8 is a schematic diagram showing a vehicle to be surmounted by an obstacle in a horizontal position according to a second embodiment of the present invention;

[0033] Figure 9 is a schematic diagram of a driving process of a vehicle to overcome an obstacle provided in accordance with the second embodiment of the present invention;

[0034] Figure 10 2 is a schematic diagram of a vehicle to be surmounted by an obstacle meeting a second preset wheel lifting condition provided by the second embodiment of the present invention;

[0035] Figure 11 Schematic diagram of the rear wheel lifting process of a vehicle to overcome an obstacle according to the second embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram showing the completion of the process of a vehicle climbing up a step to overcome an obstacle according to the second embodiment of the present invention;

[0037] Figure 13 2 is a schematic diagram of a vehicle height recovery process for a vehicle to overcome an obstacle according to a second embodiment of the present invention;

[0038] Figure 14 This is a flow chart of a vehicle obstacle crossing control method provided according to the third embodiment of the present invention;

[0039] Figure 15 is a schematic diagram of the initial body posture of a vehicle to overcome an obstacle provided in accordance with the third embodiment of the present invention;

[0040] Figure 16 1 is a schematic diagram of a process of lowering the vehicle height of a vehicle to be surmounted according to a third embodiment of the present invention;

[0041] Figure 17 is a schematic diagram of a vehicle to be cleared according to a third embodiment of the present invention when the rear wheels are in a stationary state;

[0042] Figure 182 is a schematic diagram of a vehicle to be surmounted according to a third embodiment of the present invention, wherein the front wheels are completely suspended in the air;

[0043] Figure 19 1 is a schematic diagram of the process of lowering the front wheels of a vehicle to overcome an obstacle according to the third embodiment of the present invention;

[0044] Figure 20 is a schematic diagram of a vehicle to be cleared according to a third embodiment of the present invention, wherein the front wheels are in a stationary state;

[0045] Figure 21 2 is a schematic diagram of a vehicle to be surmounted according to a third embodiment of the present invention, wherein the rear wheels of the vehicle are completely suspended in the air;

[0046] Figure 22 Schematic diagram of the process of lowering the rear wheels of a vehicle to overcome an obstacle according to the third embodiment of the present invention;

[0047] Figure 23 This is a schematic diagram showing the completion of the process of a vehicle going down a step to overcome an obstacle according to the third embodiment of the present invention;

[0048] Figure 24 1 is a schematic diagram of a vehicle height recovery process for a vehicle to overcome an obstacle provided in accordance with a third embodiment of the present invention;

[0049] Figure 25 2 is a schematic structural diagram of a vehicle obstacle crossing control device provided according to a fourth embodiment of the present invention;

[0050] Figure 26 It is a structural diagram of an electronic device for implementing the vehicle obstacle overcoming control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] Example 1

[0054] Figure 1 This is a flow chart of a vehicle obstacle crossing control method provided by the first embodiment of the present invention. This embodiment is applicable to the case where a vehicle is controlled to perform obstacle crossing operations without the aid of an on-board camera device or an on-board radar. The method can be executed by a vehicle obstacle crossing control device, which can be implemented in the form of hardware and / or software and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0055] S110 : In response to a vehicle obstacle overcoming request, updating an initial vehicle height of the vehicle to overcome the obstacle, and determining a first driving mode of the vehicle to overcome the obstacle.

[0056] In this embodiment, the vehicle obstacle overcoming request can be a pre-programmed program code that can be used to trigger the vehicle to perform an obstacle overcoming operation. The obstacle overcoming operation can be the process of the vehicle overcoming an obstacle on the road. Optionally, the vehicle obstacle overcoming request includes ascending or descending a step. The vehicle to be overcame can be a vehicle requiring the obstacle overcoming operation. The vehicle to be overcame can be an unmanned vehicle. The initial vehicle height can be the vehicle height corresponding to normal driving of the vehicle to be overcame. Optionally, updating the initial vehicle height of the vehicle to be overcame can include lowering or raising the initial vehicle height. In actual applications, the process of updating the initial vehicle height of the vehicle to be overcame can correspond to the vehicle obstacle overcoming request. That is, if the vehicle obstacle overcoming request is ascending a step, the initial vehicle height of the vehicle to be overcame can be raised; if the vehicle obstacle overcoming request is descending a step, the initial vehicle height of the vehicle to be overcame can be lowered.

[0057] In this embodiment, the first driving mode can characterize the wheel driving condition corresponding to the vehicle to be overcome when it is driving. The first driving mode can include the front wheels being driven and the rear wheels being driven or the front wheels being driven and the rear wheels being driven. The first driving mode can correspond to the vehicle obstacle overcoming request. Specifically, if the vehicle obstacle overcoming request is to overcome the obstacles on the stairs, the first driving mode can be the front wheels being driven and the rear wheels being driven, that is, the driving mode in which the power of the engine is directly transmitted to the rear wheels to drive the vehicle forward. It can also be understood that when moving forward, the rear wheels drive the front wheels to drive the vehicle forward. The advantage of such a setting is that, generally speaking, the obstacle overcoming on the stairs means that the height of the obstacle is higher than the height of the ground where the vehicle to be overcome is currently located. In the process of the vehicle to be overcome driving towards the obstacle, since the front wheels have no power, it can be determined by judging whether the front wheels have obvious displacement or speed changes. Whether the obstacle-overcoming vehicle has reached the obstacle; if the vehicle obstacle-overcoming request is to go down a step to overcome the obstacle, the first driving mode can be front-wheel drive and rear-wheel driven, that is, the power of the engine is directly transmitted to the front wheels to drive the vehicle forward. It can also be understood that when moving forward, the front wheels drive the rear wheels to drive the vehicle forward. The advantage of this setting is that going down a step to overcome the obstacle means that the height of the obstacle must be lower than the height of the ground where the vehicle to be overcome is currently located. In the process of the vehicle to be overcome driving towards the obstacle, since the rear wheels have no power, it is possible to determine whether the front wheels of the vehicle to be overcome are suspended in the air by judging whether there is obvious displacement or speed change of the rear wheels.

[0058] In actual applications, when the vehicle controller receives a vehicle obstacle overcoming request, it can parse the vehicle obstacle overcoming request to determine whether the vehicle obstacle overcoming request is to go up steps or down steps. Then, based on the analysis result, the update process of the initial vehicle body height of the vehicle to be overcoming the obstacle can be determined. At the same time, the first driving mode of the vehicle to be overcoming the obstacle can also be determined based on the analysis result.

[0059] S120. During the process of controlling the movement of the vehicle to be overcame an obstacle based on the first driving mode, when it is detected that the vehicle to be overcame an obstacle meets a first preset wheel lifting condition, lifting the front wheels based on a preset lifting stroke.

[0060] In this embodiment, the first preset wheel lifting condition may be a pre-set condition used to determine whether a wheel needs to be lifted or lowered. Optionally, the first preset wheel lifting condition may include a first preset wheel raising condition and a first preset wheel lowering condition, and may correspond to the vehicle's obstacle surmounting request. Specifically, if the vehicle's obstacle surmounting request is to ascend a step, the first preset wheel lifting condition may be a first preset wheel raising condition, where the first preset wheel raising condition requires the front wheels of the vehicle to be surmounted to be stationary. If the vehicle's obstacle surmounting request is to descend a step, the first preset wheel lifting condition may be a first preset wheel lowering condition, where the first preset wheel lowering condition requires the rear wheels of the vehicle to be surmounted to be stationary and the front wheels to be completely suspended. A stationary state can be understood as a state in which the wheels are relatively stationary relative to the ground surface on which the vehicle is in contact. There are various ways to determine whether a wheel is stationary, including, for example, determining whether there has been a change in wheel displacement or a change in wheel speed. A completely suspended state can be understood as a state in which the wheel is not in contact with any surface and is suspended in mid-air. The preset lifting stroke can be a pre-set distance that the bottom surface of the target wheel moves relative to the bottom surface of the vehicle body when performing an obstacle overcoming operation. The preset lifting stroke corresponds to the vehicle's obstacle overcoming request. Specifically, if the vehicle's obstacle overcoming request is to ascend a step, the preset lifting stroke can be a preset ascending stroke; if the vehicle's obstacle overcoming request is to descend a step, the preset lifting stroke can be a preset descending stroke.

[0061] In actual applications, after updating the initial vehicle height of the vehicle to be overcame the obstacle and determining the first driving mode of the vehicle to be overcame the obstacle, the vehicle to be overcame the obstacle can be controlled to travel according to the updated initial vehicle height based on the first driving mode. During the driving process of the vehicle to be overcame the obstacle, when it is detected that the vehicle to be overcame the obstacle meets the first preset wheel lifting condition, the front wheels can be lifted or lowered according to the preset lifting stroke pre-deployed in the vehicle to be overcame the obstacle, so that the front wheels rise or fall to the target position.

[0062] S130. During the process of controlling the vehicle to overcome the obstacle to continue traveling, when it is detected that a first driving distance of the vehicle to overcome the obstacle to continue traveling reaches a first preset distance, updating the driving mode of the vehicle to overcome the obstacle to a second driving mode.

[0063] In this embodiment, the first travel distance may be the distance traveled by the vehicle after the front wheels have been raised or lowered. The first preset distance may be a pre-set distance used to determine whether the front wheels of the vehicle are completely in the corresponding position. The first preset distance corresponds to the vehicle's obstacle overcoming request. Specifically, if the vehicle's obstacle overcoming request is to ascend a step, the first preset distance may be the distance used to determine whether the front wheels are completely flat on the top of the step. If the vehicle's obstacle overcoming request is to descend a step, the first preset distance may be the distance used to determine whether the front wheels are completely suspended and the vehicle remains balanced. The second drive mode may be the opposite of the first drive mode for the same vehicle obstacle overcoming request. Specifically, if the first drive mode is front-wheel driven and rear-wheel driven, the corresponding second drive mode is front-wheel driven and rear-wheel driven. If the first drive mode is front-wheel driven and rear-wheel driven, the corresponding second drive mode may be front-wheel driven and rear-wheel driven.

[0064] In actual application, after the front wheels of the vehicle to be overcoming the obstacle are raised and lowered according to a preset lifting stroke, the vehicle to be overcoming the obstacle can be controlled to continue traveling. When the vehicle to be overcoming the obstacle starts to continue traveling, the traveling distance of the vehicle to be overcoming the obstacle can be detected. When it is detected that the first traveling distance of the vehicle to be overcoming the obstacle reaches a first preset distance, the driving mode of the vehicle to be overcoming the obstacle can be updated from the first driving mode to the second driving mode, thereby controlling the vehicle to be overcoming the obstacle to continue traveling according to the second driving mode.

[0065] S140: During the process of controlling the movement of the vehicle to be overcame an obstacle based on the second driving mode, when it is detected that the vehicle to be overcame an obstacle meets a second preset wheel lifting condition, lift the rear wheels based on a preset lifting stroke.

[0066] In this embodiment, the second preset wheel lifting condition may be a pre-set condition used to determine whether the wheel needs to be lifted or lowered. Optionally, the first preset wheel lifting condition may include a second preset wheel raising condition and a second preset wheel lowering condition, and may correspond to the vehicle obstacle overcoming request. Specifically, if the vehicle obstacle overcoming request is to overcome an obstacle by ascending a step, the second preset wheel lifting condition may be a second preset wheel raising condition, where the second preset wheel raising condition may require that the rear wheels of the vehicle to be overcome are stationary. If the vehicle obstacle overcoming request is to overcome an obstacle by descending a step, the second preset wheel lifting condition may be a second preset wheel lowering condition, where the second preset wheel lowering condition may require that the front wheels of the vehicle to be overcome are stationary and the rear wheels are completely suspended.

[0067] In actual application, after the driving mode of the vehicle to be overcoming the obstacle is updated from the first driving mode to the second driving mode, the vehicle to be overcoming the obstacle can be controlled to continue traveling in the second driving mode. During the process of the vehicle to be overcoming the obstacle continuing to travel in the second driving mode, when it is detected that the vehicle to be overcoming the obstacle meets the second preset wheel lifting condition, the rear wheels can be lifted and lowered according to the preset lifting stroke pre-deployed in the vehicle to be overcoming the obstacle, so that the rear wheels rise or fall to the target position.

[0068] S150. During the process of controlling the vehicle to overcome the obstacle to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to overcome the obstacle to continue traveling reaches a second preset distance, restore the vehicle body height of the vehicle to overcome the obstacle to the initial vehicle body height.

[0069] In this embodiment, the second travel distance may be the distance traveled by the vehicle after the wheels other than the target wheel have been raised or lowered. The second preset distance may be a pre-set distance used to determine whether the rear wheels of the vehicle are completely in their corresponding positions. Optionally, if the obstacle overcoming request is to ascend a step, the second preset distance may be used to determine whether the rear wheels are completely flat on the top of the step; if the obstacle overcoming request is to descend a step, the second preset distance may be used to determine whether the vehicle is completely clear of the step.

[0070] In actual application, after the rear wheels of the vehicle to be overcoming the obstacle are raised and lowered, the vehicle to be overcoming the obstacle can be controlled to continue traveling in the second driving mode. When the vehicle to be overcoming the obstacle starts to continue traveling, the traveling distance of the vehicle to be overcoming the obstacle can be detected. When it is detected that the second traveling distance of the vehicle to be overcoming the obstacle reaches a second preset distance, a vehicle body height recovery instruction can be generated. Based on the vehicle body height recovery instruction, the vehicle body height of the vehicle to be overcoming the obstacle is controlled to be restored to the initial vehicle body height.

[0071] The technical solution of the embodiment of the present invention is to update the initial vehicle height of the vehicle to be overcame in response to a vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcame. Then, in the process of controlling the movement of the vehicle to be overcame based on the first driving mode, when it is detected that the vehicle to be overcame meets the first preset wheel lifting condition, the front wheels are lifted and lowered based on the preset lifting stroke. Thereafter, in the process of controlling the vehicle to be overcame to continue traveling, when it is detected that the first driving distance of the vehicle to be overcame to reach the first preset distance, the driving mode of the vehicle to be overcame to be updated to the second driving mode. Furthermore, in the process of controlling the movement of the vehicle to be overcame based on the second driving mode, when it is detected that the vehicle to be overcame to meet the second preset wheel lifting condition, When the obstacle is overcome, the rear wheels are raised and lowered based on the preset lifting stroke. Finally, in the process of controlling the vehicle to be overcome to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcome reaches the second preset distance, the body height of the vehicle to be overcome is restored to the initial body height. This solves the problem that the existing technology needs to use a perception system such as a camera or radar to achieve obstacle overcoming, which requires additional costs and R&D investment. It realizes the effect of vehicle obstacle overcoming based on the existing actuators and sensor information of the vehicle chassis, improves the mobility of the vehicle chassis, and does not need to rely on additional perception systems such as cameras and radars. While reducing costs, it saves the workload of perception system development and joint debugging.

[0072] Example 2

[0073] Figure 2 This is a flow chart of a vehicle obstacle surmounting control method provided in Example 2 of the present invention. Based on the previous embodiment, the vehicle obstacle surmounting request can be a stair surmounting operation. Furthermore, a response to the stair surmounting operation can be provided, thereby controlling the vehicle to be surmounted to complete the stair surmounting operation. Technical terms that are identical or corresponding to those in the previous embodiment are not repeated here.

[0074] like Figure 2 As shown, the method includes:

[0075] S210: In response to a step-up obstacle surmounting request, the entire vehicle body of the vehicle to be surmounted is raised to update an initial vehicle body height, and a first driving mode of the vehicle to be surmounted is determined to be front-wheel driven and rear-wheel drive.

[0076] In actual application, when the vehicle to be overcoming the obstacle receives a request to go up the steps to overcome the obstacle, it can respond to the request and generate a body raising instruction. Based on the body raising instruction, the wheel lifting mechanism pre-installed in the vehicle to be overcoming the obstacle is controlled to extend the vehicle body to raise the entire body of the vehicle to be overcoming the obstacle, thereby updating the initial body height of the vehicle to be overcoming the obstacle. At the same time, when the request to go up the steps to overcome the obstacle is received, the driving mode of the vehicle to be overcoming the obstacle can be determined as front-wheel driven and rear-wheel drive, so that the rear wheels can drive the front wheels to move, and the vehicle to be overcoming the obstacle can be controlled to move forward.

[0077] S220. During the process of controlling the movement of the vehicle to be overcame an obstacle based on the first driving mode, when it is detected that the vehicle to be overcame an obstacle meets a first preset wheel raising condition, a front axle retraction instruction is generated, and based on the front axle retraction instruction, the front axle lifting mechanism is controlled to retract according to a preset raising stroke, so as to control the front wheel to rise based on the retracted front axle lifting mechanism.

[0078] In this embodiment, the front axle retraction instruction can be a pre-written program code, which can be used to trigger the front axle to perform a retraction operation. The front axle retraction instruction can include the retraction stroke of the front axle lifting mechanism, that is, the front axle retraction instruction includes a preset lifting stroke. The front axle lifting mechanism can be a lifting device that controls the front axle to perform lifting actions. In actual applications, the front axle lifting mechanism can be pre-installed at the front wheels of the vehicle to be surmounted, and at the same time, the rear axle lifting mechanism can be installed at the rear wheels of the vehicle to be surmounted. Then, when the corresponding vehicle obstacle surmounting request is received and it is detected that the vehicle to be surmounted meets the lifting conditions of the lifting mechanism, the corresponding upgrading mechanism can be controlled to perform lifting processing.

[0079] In practical applications, after the vehicle's driving mode is determined to be a first driving mode with front wheels driven and rear wheels driven, the vehicle can be controlled to travel forward according to the first driving mode. During the vehicle's forward movement according to the first driving mode, if no significant displacement or speed change of the vehicle's front wheels is detected, the vehicle's front wheels can be determined to be stationary, thus satisfying the first preset wheel lift condition. At this point, a front axle retraction command can be generated. Based on the front axle retraction command, the vehicle's front axle lifting mechanism can be controlled to retract according to the preset lift stroke included in the command, so that the retraction distance of the front axle lifting mechanism equals the preset lift stroke. This allows the front wheels of the vehicle to be raised to a preset position based on the retracted front axle lifting mechanism. For example, the preset position can be the position corresponding to when the bottom of the front wheel is flush with the bottom of a pre-installed auxiliary wheel on the vehicle.

[0080] In actual application, when the front axle lifting mechanism retracts, the body of the vehicle to be overcame the obstacle will gradually be in a pitch state, and the height of the front of the vehicle will gradually be lower than the height of the rear of the vehicle. When the front wheels of the vehicle to be overcame the obstacle rise to the highest position according to the preset lifting height, the front of the vehicle or the forward auxiliary wheels of the front wheels of the vehicle to be overcame the obstacle will contact the upper surface of the step. If the vehicle to be overcame the obstacle continues to travel based on the current posture, the front of the vehicle may be worn. Therefore, after controlling the front wheels of the vehicle to be overcame the obstacle to be overcame to rise according to the preset lifting stroke, the vehicle posture of the vehicle to be overcame the obstacle can also be adjusted to continue traveling based on the adjusted vehicle posture.

[0081] Based on this, after controlling the front axle lifting mechanism to retract according to the preset rising stroke to control the front wheel to rise based on the retracted front axle lifting mechanism, it also includes: if it is detected that the body posture of the vehicle to be overcome is not in a horizontal state, based on the inertial sensor pre-set in the vehicle to be overcome, determining the target posture change parameter; based on the target posture change parameter, the preset lifting stroke and the body parameters of the vehicle to be overcome, determining the step height, and based on the step height, adjusting the body posture of the vehicle to be overcome, and updating the step height to the preset rising stroke.

[0082] Among them, the inertial sensor, also known as the Inertial Measurement Unit (IMU), is a sensor used to detect and measure acceleration and rotational motion. It is usually composed of a gyroscope, an accelerometer, and an algorithm processing unit. By measuring the vehicle's acceleration and rotation angle, the vehicle's motion trajectory and body posture are determined. The target posture change parameter can be a parameter measured by the inertial sensor during the process of the vehicle's body posture changing when the obstacle is overcome. It can also be understood as a parameter used to characterize the vehicle's posture change when the vehicle's posture changes when the obstacle is overcome. Exemplarily, the vehicle posture change parameter can be the vehicle's longitudinal acceleration. The body parameter can be a basic parameter that characterizes the body structure of the vehicle to overcome the obstacle. Exemplarily, the body parameter can be the distance between each wheel of the vehicle to overcome the obstacle. The wheels can include the front wheel, two front auxiliary wheels, the rear wheel, and two rear auxiliary wheels.

[0083] In actual applications, when the body of the vehicle to be overcame is in a horizontal state, the vehicle posture change parameters measured by the inertial sensors pre-installed in the vehicle to be overcame are near 0. During the rising process of the front wheels of the vehicle to be overcame, the body of the vehicle to be overcame will gradually tilt and be in a pitch state. At this time, the vehicle posture change parameters measured by the inertial sensors will also change accordingly. When it is detected that the vehicle posture change parameters measured by the inertial sensors no longer change and reach stability, it can be said that the vehicle posture of the vehicle to be overcame no longer changes with the rising of the front wheels. At this time, the vehicle posture change parameters measured by the inertial sensors can be obtained and used as the target posture change parameters. Furthermore, the preset rising stroke and preset descending stroke in the preset lifting stroke and the body parameters of the vehicle to be overcame can be obtained, so that the step height can be determined according to the target posture change parameters, the preset rising stroke, the preset descending stroke and the body parameters of the vehicle to be overcame.

[0084] For example, it can be combined with Figure 3 The following describes the process of determining the step height. For example, the target posture change parameter is the longitudinal acceleration, and the vehicle body parameter is the distance between the front wheel forward auxiliary wheel and the rear wheel. The process specifically includes the following steps:

[0085] 1. During the retraction of the front axle lift mechanism, the IMU longitudinal acceleration signal will change with the vehicle body pitch. When the IMU longitudinal acceleration value stops changing, the longitudinal acceleration value is set to -X meters per second squared. X is a positive number; a negative sign indicates that the front of the vehicle is lower than the rear, indicating a nose-down position.

[0086] 2. Draw a common tangent line through the bottom of the four auxiliary wheels. This common tangent line intersects the forward outer auxiliary wheel at point B (i.e. Figure 3 Point B shown in a);

[0087] 3. Draw a perpendicular line to the common tangent through the center of the rear wheel circle, and mark the intersection of the two lines as point A (i.e. Figure 3 At the same time, the vertical line intersects the ground at point D (i.e. Figure 3 Point D shown in a);

[0088] 4. Draw a vertical line through point A that is perpendicular to the ground and intersects the ground at point C (i.e. Figure 3 Point C shown in a);

[0089] 5. Draw a perpendicular line through point B to line AC, and have it intersect line AC at point E. (The point where the front training wheel contacts the ground should actually be point B' near point B. Since the radius of the training wheel is very small, the distances between B and B' are very close. Therefore, the two points are considered the same point B.)

[0090] 6. Line DA is perpendicular to line AB, and line AC is perpendicular to line BE. Therefore, ∠DAC is equal to ∠ABE, and right triangle ACD is similar to right triangle BEA. Figure 3 As shown in a;

[0091] 7. The longitudinal acceleration is the gravity (i.e. Figure 3 In b ) along the front-rear direction of the vehicle body (i.e. Figure 3 In b ), so the longitudinal acceleration direction is parallel to the front-rear direction of the vehicle body and also parallel to the direction of the line AB. Moreover, based on the force decomposition relationship, it can be concluded that Among them, X is the longitudinal acceleration value, and 9.8 is the gravity acceleration value;

[0092] 8. Since the center of mass of the vehicle to be crossed (i.e. Figure 3 The direction of gravity on point O) in b is perpendicular to the ground, so Parallel to line AE (or line AC). Therefore, the force decomposition triangle of the center of mass (i.e. Figure 3 The triangle OPQ in b) and Figure 3 The right triangles ABE in a are similar, so θ=∠ABE=∠DAC, that is, Where AB is the distance between the front auxiliary wheel and the rear wheel of the vehicle to be overcome. Therefore, the value of the connecting line AE can be determined based on the above formula;

[0093] 9. Based on the preset ascent height and the preset descent height, the value of line AD is determined. Then, based on the above formula, the value of line CD can be determined.

[0094] 10. Since triangle ACD is a right triangle, after determining the values ​​of line AD and line CD, we can determine the value of line AC according to the Pythagorean theorem.

[0095] 11. CE = AC - CE. Determine the value of line CE and use it as the step height.

[0096] Furthermore, after determining the step height, the retraction distance of the front axle lifting mechanism can be adjusted according to the step height so that the retraction distance of the front axle lifting mechanism is the same as the step height, thereby adjusting the body posture of the vehicle to be overcoming the obstacle so that the body posture of the vehicle to be overcoming the obstacle remains in a horizontal state. At the same time, the step height is updated to the preset rising stroke so that subsequent operations can be continued with the step height as the new preset rising stroke.

[0097] S230: During the process of controlling the vehicle to overcome the obstacle to continue traveling, when it is detected that the first driving distance of the vehicle to overcome the obstacle to continue traveling reaches a first preset distance, updating the driving mode of the vehicle to overcome the obstacle to a second driving mode.

[0098] In this embodiment, the first driving mode is front-wheel driven and rear-wheel driven, and the second driving mode is front-wheel driven and rear-wheel driven.

[0099] In actual application, after controlling the front wheels of the vehicle to be overcame the obstacle to rise according to a preset rising stroke, the vehicle to be overcame the obstacle can be controlled to continue traveling in a first driving mode in which the front wheels are driven and the rear wheels are driven, and when the vehicle to be overcame the obstacle continues to travel, the distance that the vehicle to be overcame the obstacle continues to travel is recorded. When it is detected that the first driving distance that the vehicle to be overcame the obstacle continues to travel reaches a first preset distance, the driving mode of the vehicle to be overcame the obstacle can be updated from the first driving mode to the second driving mode in which the front wheels are driven and the rear wheels are driven, so that the vehicle to be overcame the obstacle can be controlled to travel forward in the second driving mode.

[0100] S240. During the process of controlling the movement of the vehicle to be overcame an obstacle based on the second driving mode, when it is detected that the vehicle to be overcame an obstacle meets the second preset wheel raising condition, a rear axle retraction instruction is generated, and based on the rear axle retraction instruction, the rear axle lifting mechanism is controlled to retract according to the preset raising stroke, so as to control the rear wheel to rise based on the rear axle lifting mechanism during retraction.

[0101] In this embodiment, the rear axle retraction instruction may be a pre-written program code that can be used to trigger the rear axle to perform a retraction operation. The rear axle retraction instruction may include the retraction stroke of the rear axle lifting mechanism, that is, the rear axle retraction instruction includes a preset rising stroke. The rear axle lifting mechanism may be a lifting device that controls the rear axle to perform a lifting action. It should be noted that the preset rising stroke included in the rear axle retraction instruction is the preset rising stroke corresponding to the horizontal posture of the vehicle body after the front wheel to be surmounted is lifted and lowered. That is, if the preset rising stroke is updated based on the step height after the front wheel to be surmounted is lifted and lowered, the preset rising stroke included in the rear axle retraction instruction is the updated preset rising stroke; if the preset rising stroke is not updated after the front wheel to be surmounted is lifted and lowered, the preset rising stroke included in the rear axle retraction instruction is the same as the preset rising stroke included in the front axle retraction instruction.

[0102] In practical applications, after the drive mode of the vehicle to be overtaken is updated from the first drive mode to the second drive mode, the vehicle to be overtaken can be controlled to continue moving forward in the second drive mode, with the front wheels driven and the rear wheels driven. During the forward movement of the vehicle to be overtaken in the second drive mode, if no significant displacement or speed change of the rear wheels of the vehicle to be overtaken is detected, it can be determined that the rear wheels of the vehicle to be overtaken are stationary, and the vehicle to be overtaken can be determined to have met the second preset wheel lift condition. At this time, a rear axle retraction instruction can be generated. Based on the rear axle retraction instruction, the rear axle lifting mechanism of the vehicle to be overtaken can be controlled to retract according to the preset lift stroke included in the rear axle retraction instruction, so that the retraction distance of the rear axle lifting mechanism is equal to the preset lift stroke. This allows the rear wheels of the vehicle to be overtaken to be raised to a preset position based on the retracted rear axle lifting mechanism. For example, the preset position can be the position corresponding to when the bottom of the rear wheel is flush with the bottom of the auxiliary wheel pre-installed on the vehicle to be overtaken.

[0103] S250: During the process of controlling the vehicle to be overcame the obstacle to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcame the obstacle reaches a second preset distance, restoring the vehicle body height of the vehicle to be overcame the obstacle to return to the initial vehicle body height.

[0104] For example, it can be combined with Figures 4 to 13 The following describes the process of a vehicle climbing a step to overcome an obstacle. Taking the step height as the maximum travel value of the lifting mechanism of the vehicle to overcome the obstacle as an example, the process may include the following steps:

[0105] 1. When the vehicle to be surmounted is in the initial state (i.e., the vehicle body height is the initial vehicle body height and is in a horizontal state) and is on a level road, a step-up obstacle surmounting request is received, such as Figure 4 As shown;

[0106] 2. In response to the step-up obstacle crossing request, the vehicle body to be crossed is raised to the highest travel. At this time, the body of the vehicle to be crossed is always in a horizontal state (i.e., the longitudinal acceleration signal of the IMU is near 0). Figure 5 As shown;

[0107] 3. Determine the driving mode of the vehicle to be overtaken as the first driving mode in which the front wheels are driven and the rear wheels are driven, and control the vehicle to be overtaken to move forward according to the first driving mode (i.e. Figure 6 When it is detected that the front wheel of the vehicle to be cleared has no obvious displacement or speed change, it can be determined that the front wheel has hit the edge of the step, such as Figure 6 As shown;

[0108] 4. Control the front axle lifting mechanism of the vehicle to be cleared to retract according to the preset lifting stroke so that the front wheels rise (i.e. Figure 7In the direction indicated by the middle arrow), when the front axle lifting mechanism is retracted, the front outer auxiliary wheel will be supported on the upper surface of the step, such as Figure 7 As shown;

[0109] 5. Determine the step height and adjust the vehicle's posture according to the step height so that the vehicle remains level again. Figure 8 shown.

[0110] 6. Control the vehicle to be cleared to continue to move forward in the first driving mode, and when it is detected that the first driving distance of the vehicle to be cleared to continue to move exceeds the distance between the two front auxiliary wheels (such as Figure 9 the position of the vehicle in the middle), updating the driving mode of the vehicle to be overtaken to a second driving mode of front-wheel drive and rear-wheel driven, and controlling the vehicle to be overtaken to continue traveling in the second driving mode;

[0111] 7. When it is detected that the rear wheels of the vehicle to be cleared are stationary, it can be determined that the rear wheels have hit the edge of the step. Figure 10 As shown;

[0112] 8. Control the rear axle lifting mechanism of the vehicle to be cleared to retract until the rear wheels are flush with the bottom of the vehicle body. Figure 11 As shown;

[0113] 9. Control the vehicle to be crossed to move forward a distance of one wheel diameter so that the vehicle body is completely on the step and the process of crossing the step is completed. Figure 12 As shown;

[0114] 10. Restore the vehicle height to the initial height, such as Figure 13 shown.

[0115] The technical solution of the embodiment of the present invention is to update the initial vehicle height of the vehicle to be overcame in response to a vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcame. Then, in the process of controlling the movement of the vehicle to be overcame based on the first driving mode, when it is detected that the vehicle to be overcame meets the first preset wheel lifting condition, a front axle retraction instruction is generated, and based on the front axle retraction instruction, the front axle lifting mechanism is controlled to retract according to the preset lifting stroke, so as to control the front wheels to be raised based on the front axle lifting mechanism during retraction. Thereafter, in the process of controlling the vehicle to be overcame to continue traveling, when it is detected that the first driving distance of the vehicle to be overcame to continue traveling reaches the first preset distance, the driving mode of the vehicle to be overcame to be updated to the second driving mode. Furthermore, in the process of controlling the movement of the vehicle to be overcame based on the second driving mode, when it is detected that the vehicle to be overcame to meet the second preset wheel lifting condition, A rear axle retraction instruction is generated, and based on the rear axle retraction instruction, the rear axle lifting mechanism is controlled to retract according to a preset rising stroke, so as to control the rear wheels to rise based on the rear axle lifting mechanism during retraction. Finally, in the process of controlling the vehicle to be overcame by continuing to travel in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcame by continuing to travel reaches a second preset distance, the body height of the vehicle to be overcame by the obstacle is restored to the initial body height, which solves the problem that the existing technology needs to use a perception system such as a camera or radar to realize the obstacle overcoming action, which requires additional costs and R&D investment. It realizes the effect of the vehicle going up the steps and overcoming obstacles based on the existing actuators and sensor information of the vehicle chassis, thereby improving the mobility of the vehicle chassis. In addition, there is no need to rely on additional perception systems such as cameras and radars, which reduces costs and saves the workload of perception system development and joint debugging.

[0116] Example 3

[0117] Figure 14 This is a flowchart of a vehicle obstacle overcoming control method provided in Example 3 of the present invention. Based on the previous example, the vehicle obstacle overcoming request can be a step-down obstacle overcoming operation. Furthermore, a response to the step-down obstacle overcoming operation can be provided, thereby controlling the vehicle to be overcame to complete the step-down obstacle overcoming operation. Technical terms that are identical or corresponding to those in the previous example are not repeated here.

[0118] like Figure 14 As shown, the method includes:

[0119] S310: In response to a step-down obstacle-overcoming request, lower the entire vehicle body of the vehicle to be overcoming the obstacle to update the initial vehicle body height, and determine the first driving mode of the vehicle to be overcoming the obstacle to be front-wheel drive and rear-wheel driven.

[0120] In actual application, when the vehicle to be overcoming the obstacle receives a step-down obstacle overcoming request, it can respond to the step-down obstacle overcoming request and generate a body lowering instruction. Based on the body lowering instruction, the wheel lifting mechanism pre-installed in the vehicle to be overcoming the obstacle is controlled to retract, so that the entire body of the vehicle to be overcoming the obstacle is lowered, thereby updating the initial body height of the vehicle to be overcoming the obstacle. At the same time, when the step-down obstacle overcoming request is received, the driving mode of the vehicle to be overcoming the obstacle can be determined as front-wheel drive and rear-wheel driven, so that the front wheels can drive the rear wheels to move, and the vehicle to be overcoming the obstacle can be controlled to move forward.

[0121] S320. During the process of controlling the movement of the vehicle to be overcome based on the first driving mode, when it is detected that the vehicle to be overcome meets the first preset wheel lowering condition, a front axle extension instruction is generated, and based on the front axle extension instruction, the front axle lifting mechanism is controlled to extend according to the preset lowering stroke, so as to control the front wheel to be lowered based on the front axle lifting mechanism when extended.

[0122] In this embodiment, the front axle extension command may be a pre-programmed program code that can be used to trigger the front axle to extend. The front axle extension command may include the extension stroke of the front axle lifting mechanism, that is, the front axle extension command includes a preset lowering stroke. The preset lowering stroke may be a pre-set distance that the underside of the wheel moves relative to the underside of the vehicle body during the lowering operation. In practical applications, the preset lowering stroke can be determined based on an inertial sensor in the vehicle to be surmounted. Specifically, when the rear wheels of the vehicle to be surmounted are stationary, the vehicle body posture is horizontal, and the vehicle posture change parameter measured by the inertial sensor is near zero. Furthermore, during the process of lowering the front wheels of the vehicle to be surmounted, the vehicle body posture remains horizontal. When the front wheels of the vehicle to be surmounted contact the ground, the vehicle body posture begins to change, and the vehicle posture change parameter begins to change. The height to which the front wheels descend when the vehicle posture change parameter begins to change can be used as the preset lowering height and stored in the vehicle to be surmounted.

[0123] In practical applications, after the vehicle's driving mode is determined to be a first driving mode with front-wheel drive and rear-wheel driven, the vehicle can be controlled to travel forward according to the first driving mode. During the forward movement of the vehicle according to the first driving mode, if no significant displacement or speed change of the vehicle's rear wheels is detected, the vehicle's rear wheels can be determined to be stationary. Furthermore, if the vehicle's front wheels are detected to be completely suspended, the vehicle can be determined to have met the first preset wheel lowering condition. At this point, a front axle extension command can be generated. Based on the front axle extension command, the vehicle's front axle lifting mechanism can be controlled to extend according to the preset lowering stroke included in the front axle extension command, so that the retracted distance of the front axle lifting mechanism equals the preset lowering stroke. This allows the front wheels of the vehicle to be controlled to descend to a preset position based on the extended front axle lifting mechanism. For example, the preset position can be the position corresponding to when the bottom of the front wheels touch the ground.

[0124] S330: During the process of controlling the vehicle to be overcoming the obstacle to continue traveling, when it is detected that the first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance, updating the driving mode of the vehicle to be overcoming the obstacle to be overcoming the obstacle to a second driving mode.

[0125] In this embodiment, the first driving mode is front-wheel drive and rear-wheel driven, and the second driving mode is front-wheel driven and rear-wheel drive.

[0126] In actual application, after controlling the front wheels of the vehicle to be overcame the obstacle to be overcome to descend according to a preset descending stroke, the vehicle to be overcame the obstacle to be overcome can be controlled to continue traveling in a first driving mode in which the front wheels are driven and the rear wheels are driven, and when the vehicle to be overcame the obstacle to be overcome continues to travel, the distance that the vehicle to be overcame the obstacle to be overcome continues to travel is recorded. When it is detected that the first driving distance that the vehicle to be overcame the obstacle to be overcome continues to travel reaches a first preset distance, the driving mode of the vehicle to be overcame the obstacle to be overcome can be updated from the first driving mode to the second driving mode in which the front wheels are driven and the rear wheels are driven, so that the vehicle to be overcame the obstacle to be overcome can be controlled to travel forward in the second driving mode.

[0127] S340. During the process of controlling the movement of the vehicle to be overcome based on the second driving mode, when it is detected that the vehicle to be overcome meets the second preset wheel lowering condition, a rear axle extension instruction is generated, and based on the rear axle extension instruction, the rear axle lifting mechanism is controlled to extend according to the preset lowering stroke, so as to control the rear wheel to be lowered based on the rear axle lifting mechanism when extended.

[0128] In this embodiment, the rear axle extension instruction may be a pre-written program code that can be used to trigger the rear axle to perform an extension operation. The rear axle extension instruction may include the extension stroke of the rear axle lifting mechanism, that is, the rear axle extension instruction includes a preset lowering stroke.

[0129] In practical applications, after the vehicle's driving mode is updated from the first to the second, the vehicle can be controlled to continue forward in the second driving mode, with the front wheels driven and the rear wheels driving. While the vehicle is traveling forward in the second driving mode, if no significant displacement or speed change is detected for the front wheels, the vehicle's front wheels can be determined to be stationary. Simultaneously, if the rear wheels are detected to be completely suspended, the vehicle can be determined to have met the second preset wheel lowering condition. At this point, a rear axle extension command can be generated. Based on the rear axle extension command, the vehicle's rear axle lift mechanism can be controlled to extend according to the preset lowering stroke included in the rear axle extension command, so that the retraction distance of the rear axle lift mechanism equals the preset lifting stroke. This allows the rear wheels of the vehicle to be lowered to a preset position based on the extended rear axle lift mechanism. For example, the preset position can be the position corresponding to when the bottom of the rear wheel contacts the ground.

[0130] S350: During the process of controlling the vehicle to be overcame an obstacle to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcame an obstacle reaches a second preset distance, restoring the vehicle body height of the vehicle to be overcame an obstacle to continue traveling to the initial vehicle body height.

[0131] For example, it can be combined with Figures 15 to 24 The following is a detailed description of the process of the vehicle descending the step to overcome the obstacle. Taking the step height as the maximum travel value of the lifting mechanism of the vehicle to overcome the obstacle as an example, the process may include the following steps:

[0132] 1. When the vehicle to be cleared is in the initial state (i.e., the vehicle body height is the initial vehicle body height and is in a horizontal state) and is on a level road, a step-down obstacle clearance request is received, such as Figure 15 As shown;

[0133] 2. In response to the step-down obstacle-crossing request, lower the vehicle's body height until the wheels are flush with the bottom of the vehicle, such as Figure 16 As shown;

[0134] 3. Determine the driving mode of the vehicle to be overtaken as the first driving mode in which the front wheels are driven and the rear wheels are driven, and control the vehicle to be overtaken to move forward according to the first driving mode (i.e. Figure 17 When it is detected that the rear wheels of the vehicle to be cleared have no obvious displacement or speed change, it can be said that the front wheels of the vehicle to be cleared have been suspended. Figure 17 As shown;

[0135] 4. Control the vehicle to be cleared to continue driving for a certain distance so that the front wheels of the vehicle to be cleared are completely suspended in the air and the vehicle to be cleared is still in a horizontal state. Figure 18 As shown;

[0136] 5. Control the front axle lifting mechanism of the vehicle to be cleared to extend according to the preset descending stroke so that the front wheels can descend (i.e. Figure 19 the direction indicated by the arrow);

[0137] 6. Update the driving mode of the vehicle to be overtaken to the second driving mode of front-wheel driven and rear-wheel driven, and control the vehicle to be overtaken to continue driving in the second driving mode, such as Figure 20 As shown;

[0138] 7. When it is detected that the front wheels of the vehicle to be cleared are stationary, it can be determined that the rear wheels are suspended, such as Figure 20 As shown;

[0139] 8. Control the vehicle to be cleared to continue to move forward for a certain distance in the front-wheel drive and rear-wheel driven mode, so that the rear wheels are completely suspended and the vehicle to be cleared is still in a horizontal state. Figure 21 As shown;

[0140] 9. Control the rear axle lifting mechanism of the vehicle to be cleared to extend according to the preset descending stroke, such as Figure 22 As shown;

[0141] 9. Control the vehicle to be cleared to continue moving forward for a certain distance so that the vehicle can completely leave the steps. Figure 23 As shown;

[0142] 10. Restore the vehicle height to the initial height, such as Figure 24 shown.

[0143] The technical solution of the embodiment of the present invention is to update the initial vehicle height of the vehicle to be overcame in response to a vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcame. Then, in the process of controlling the movement of the vehicle to be overcame based on the first driving mode, when it is detected that the vehicle to be overcame meets the first preset wheel lowering condition, a front axle extension instruction is generated, and based on the front axle extension instruction, the front axle lifting mechanism is controlled to extend according to the preset lowering stroke, so as to control the front wheel to be lowered based on the front axle lifting mechanism when extended. Thereafter, in the process of controlling the vehicle to be overcame to continue traveling, when it is detected that the first driving distance of the vehicle to be overcame to continue traveling reaches the first preset distance, the driving mode of the vehicle to be overcame to be updated to the second driving mode. Furthermore, in the process of controlling the movement of the vehicle to be overcame based on the second driving mode, when it is detected that the vehicle to be overcame to meet the second preset wheel lowering condition , generate a rear axle extension command, and based on the rear axle extension command, control the rear axle lifting mechanism to extend according to the preset descending stroke, so as to control the rear wheel to descend based on the rear axle lifting mechanism when extended. Finally, in the process of controlling the vehicle to be overcame the obstacle to continue traveling according to the second driving mode, when it is detected that the second driving distance of the vehicle to be overcame the obstacle reaches the second preset distance, the body height of the vehicle to be overcame the obstacle is restored to the initial body height, which solves the problem that the existing technology needs to use a perception system such as a camera or radar to realize the obstacle overcoming action, which requires additional cost and R&D investment. It realizes the effect of the vehicle descending the step to overcome the obstacle according to the existing actuator and sensor information of the vehicle chassis, improves the mobility of the vehicle chassis, and does not need to rely on additional perception systems such as cameras and radars. While reducing costs, it saves the workload of perception system development and joint debugging.

[0144] Example 4

[0145] Figure 25 This is a schematic diagram of the structure of a vehicle obstacle control device provided by the fourth embodiment of the present invention. Figure 25 As shown, the device includes: a vehicle obstacle overcoming request response module 410, a front wheel lifting module 420, a driving mode updating module 430, a rear wheel lifting module 440 and a vehicle body height recovery module 450.

[0146] The vehicle obstacle overcoming request response module 410 is configured to update the initial vehicle height of the vehicle to be overcoming the obstacle in response to the vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcoming the obstacle;

[0147] A front wheel lifting module 420 is configured to lift the front wheels based on a preset lifting stroke when detecting that the vehicle to be surmounted meets a first preset wheel lifting condition during the process of controlling the movement of the vehicle to be surmounted based on the first driving mode;

[0148] The driving mode updating module 430 is configured to update the driving mode of the vehicle to be overcoming the obstacle to be overcoming to a second driving mode when it is detected that the first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue traveling;

[0149] A rear wheel lifting module 440 is configured to lift the rear wheels based on a preset lifting stroke when detecting that the vehicle to be overcame an obstacle satisfies a second preset wheel lifting condition during the process of controlling the movement of the vehicle to be overcame an obstacle based on the second driving mode;

[0150] The vehicle body height recovery module 450 is configured to recover the vehicle body height of the vehicle to be overcoming the obstacle to be overcoming to the initial vehicle body height when it is detected that the second driving distance of the vehicle to be overcoming the obstacle reaches a second preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue driving in the second driving mode.

[0151] The technical solution of the embodiment of the present invention is to update the initial vehicle height of the vehicle to be overcame in response to a vehicle obstacle overcoming request, and determine the first driving mode of the vehicle to be overcame. Then, in the process of controlling the movement of the vehicle to be overcame based on the first driving mode, when it is detected that the vehicle to be overcame meets the first preset wheel lifting condition, the front wheels are lifted and lowered based on the preset lifting stroke. Thereafter, in the process of controlling the vehicle to be overcame to continue traveling, when it is detected that the first driving distance of the vehicle to be overcame to reach the first preset distance, the driving mode of the vehicle to be overcame to be updated to the second driving mode. Furthermore, in the process of controlling the movement of the vehicle to be overcame based on the second driving mode, when it is detected that the vehicle to be overcame to meet the second preset wheel lifting condition, When the obstacle is overcome, the rear wheels are raised and lowered based on the preset lifting stroke. Finally, in the process of controlling the vehicle to be overcome to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcome reaches the second preset distance, the body height of the vehicle to be overcome is restored to the initial body height. This solves the problem that the existing technology needs to use a perception system such as a camera or radar to achieve obstacle overcoming, which requires additional costs and R&D investment. It realizes the effect of vehicle obstacle overcoming based on the existing actuators and sensor information of the vehicle chassis, improves the mobility of the vehicle chassis, and does not need to rely on additional perception systems such as cameras and radars. While reducing costs, it saves the workload of perception system development and joint debugging.

[0152] Optionally, the obstacle crossing request response module 410 includes: a vehicle body raising unit and a vehicle body lowering unit.

[0153] a vehicle body raising unit, configured to raise the entire vehicle body of the vehicle to be surmounted to update the initial vehicle body height if the vehicle obstacle surmounting request is to ascend a step;

[0154] The vehicle body lowering unit is used to lower the entire vehicle body of the vehicle to be overcoming the obstacle if the vehicle obstacle overcoming request is to go down a step to overcome the obstacle, so as to update the initial vehicle body height.

[0155] Optionally, the obstacle crossing request response module 410 further includes: a first driving mode first determination unit and a first driving mode second determination unit.

[0156] a first driving mode first determining unit, configured to determine the first driving mode of the vehicle to be surmounted as front-wheel driven and rear-wheel driven if the vehicle obstacle surmounting request is to surmount a step;

[0157] The second first driving mode determining unit is configured to determine the first driving mode of the vehicle to be overcoming the obstacle as front-wheel drive and rear-wheel driven if the vehicle obstacle overcoming request is to overcome the obstacle by descending a step.

[0158] Optionally, the vehicle obstacle surmounting request is to ascend a step obstacle, the first preset wheel lifting condition includes a first preset wheel rising condition, and the preset lifting stroke is a preset rising stroke. Accordingly, the front wheel lifting module 420 generates a front axle retraction instruction when it is detected that the vehicle to be surmounted meets the first preset wheel rising condition, and controls the front axle lifting mechanism to retract according to the preset rising stroke based on the front axle retraction instruction, so as to control the front wheel to be lifted based on the retracted front axle lifting mechanism.

[0159] Optionally, the device further includes: a posture change parameter determination module and a step height determination module.

[0160] a posture change parameter determination module configured to determine a vehicle posture change parameter based on an inertial sensor pre-installed in the vehicle to overcome the obstacle, if it is detected that the vehicle body posture of the vehicle to overcome the obstacle is not in a horizontal state after the front axle lifting mechanism is controlled to retract according to the preset lifting stroke so as to control the front wheels to rise based on the retracted front axle lifting mechanism;

[0161] The step height determination module is used to determine the step height based on the vehicle posture change parameters, the preset lifting stroke and the body parameters of the vehicle to be overcome, and adjust the body posture of the vehicle to be overcome based on the step height, and update the step height to the preset lifting stroke.

[0162] Optionally, the second driving mode is front-wheel drive and rear-wheel driven, and the second preset wheel lifting condition includes a second preset wheel lifting condition. Accordingly, the rear wheel lifting module 440 is specifically used to generate a rear axle retraction instruction when it is detected that the vehicle to be overcoming the obstacle meets the second preset wheel lifting condition, and based on the rear axle retraction instruction, control the rear axle lifting mechanism to retract according to the preset lifting stroke, so as to control the rear wheel to rise based on the rear axle lifting mechanism during retraction.

[0163] Optionally, the vehicle obstacle overcoming request is to go down a step to overcome the obstacle, the first preset wheel lifting condition includes a first preset wheel lowering condition, and the preset lifting stroke is a preset lowering stroke. Accordingly, the front wheel lifting module 420 is further specifically used to generate a front axle extension instruction when it is detected that the vehicle to be overcoming the obstacle meets the first preset wheel lowering condition, and based on the front axle extension instruction, control the front axle lifting mechanism to extend according to the preset lowering stroke, so as to control the front wheel to be lowered based on the front axle lifting mechanism when extended.

[0164] Optionally, the second driving mode is front-wheel driven and rear-wheel driven, and the second preset wheel lifting condition includes a second preset wheel lowering condition. Accordingly, the rear wheel lifting module 440 is further specifically configured to generate a rear axle extension instruction when it is detected that the obstacle-crossing vehicle meets the second preset wheel lowering condition, and based on the rear axle extension instruction, control the rear axle lifting mechanism to extend according to the preset lowering stroke, so as to control the rear wheel to be lowered based on the rear axle lifting mechanism when extended.

[0165] The vehicle obstacle crossing control device provided by the embodiment of the present invention can execute the vehicle obstacle crossing control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0166] Example 5

[0167] Figure 26 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device 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 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, 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 examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0168] like Figure 26As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0169] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0170] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle obstacle avoidance control method.

[0171] In some embodiments, the vehicle obstacle control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle obstacle control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the vehicle obstacle control method in any other suitable manner (e.g., via firmware).

[0172] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0173] Computer programs for implementing 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 the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0174] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0175] 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 can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0176] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0177] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0178] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0179] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle obstacle control method, characterized in that: include: In response to a vehicle obstacle overcoming request, updating an initial vehicle height of the vehicle to be overcoming the obstacle, and determining a first driving mode of the vehicle to be overcoming the obstacle; In the process of controlling the movement of the vehicle to be surmounted based on the first driving mode, when it is detected that the vehicle to be surmounted meets a first preset wheel lifting condition, the front wheels are raised and lowered based on a preset lifting stroke; In the process of controlling the vehicle to be overcoming the obstacle to continue traveling, when it is detected that the first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance, updating the driving mode of the vehicle to be overcoming the obstacle to continue traveling to a second driving mode; During the process of controlling the movement of the vehicle to be surmounted based on the second driving mode, when it is detected that the vehicle to be surmounted meets a second preset wheel lifting condition, the rear wheels are raised and lowered based on the preset lifting stroke; During the process of controlling the vehicle to be overcoming the obstacle to continue traveling in the second driving mode, when it is detected that the second driving distance of the vehicle to be overcoming the obstacle reaches a second preset distance, the vehicle body height of the vehicle to be overcoming the obstacle is restored to the initial vehicle body height.

2. The method according to claim 1, characterized in that The vehicle obstacle overcoming request includes an ascending step obstacle overcoming request or a descending step obstacle overcoming request, and updating the initial vehicle height of the vehicle to be overcoming the obstacle based on the vehicle obstacle overcoming request includes: If the vehicle obstacle-crossing request is to cross a step, the entire vehicle body of the vehicle to be crossed is raised to update the initial vehicle body height; If the vehicle obstacle-crossing request is to cross a step, the entire vehicle body of the vehicle to be crossed is lowered to update the initial vehicle body height.

3. The method according to claim 2, characterized in that The determining, based on the vehicle obstacle overcoming request, a first driving mode of the vehicle to be overcoming the obstacle, includes: If the vehicle obstacle overcoming request is to go up steps to overcome the obstacle, the first driving mode of the vehicle to be overcoming the obstacle is determined to be front-wheel driven and rear-wheel driven; If the vehicle obstacle overcoming request is to overcome a step, the first driving mode of the vehicle to be overcoming the obstacle is determined to be front-wheel drive and rear-wheel driven.

4. The method according to claim 2, characterized in that The vehicle obstacle overcoming request is to go up a step to overcome the obstacle, the first preset wheel lifting condition includes a first preset wheel lifting condition, and the preset lifting stroke is a preset lifting stroke. Accordingly, when it is detected that the vehicle to be overcoming the obstacle meets the first preset wheel lifting condition, the front wheels are lifted and lowered based on the preset lifting stroke, including: When it is detected that the vehicle to overcome the obstacle meets the first preset wheel lifting condition, a front axle retraction instruction is generated, and based on the front axle retraction instruction, the front axle lifting mechanism is controlled to retract according to the preset lifting stroke, so as to control the front wheel to rise based on the retracted front axle lifting mechanism.

5. The method according to claim 4, characterized in that After controlling the front axle lifting mechanism to retract according to the preset lifting stroke so as to control the front wheel to rise based on the retracted front axle lifting mechanism, the method further includes: If it is detected that the body posture of the vehicle to be surmounted is not in a horizontal state, determining a vehicle posture change parameter based on an inertial sensor pre-installed in the vehicle to be surmounted; The step height is determined based on the vehicle posture change parameters, the preset lifting stroke and the body parameters of the vehicle to be overcome, and the body posture of the vehicle to be overcome is adjusted based on the step height, and the step height is updated to the preset lifting stroke.

6. The method according to claim 5, characterized in that The second driving mode is front-wheel drive and rear-wheel driven, and the second preset wheel lifting condition includes a second preset wheel lifting condition. Accordingly, when it is detected that the rear wheels of the vehicle to be overtaken are in a stationary state, the rear wheels are lifted and lowered based on the preset lifting stroke, including: When it is detected that the vehicle to overcome the obstacle meets the second preset wheel lifting condition, a rear axle retraction instruction is generated, and based on the rear axle retraction instruction, the rear axle lifting mechanism is controlled to retract according to the preset lifting stroke, so as to control the rear wheel to rise based on the rear axle lifting mechanism when retracted.

7. The method according to claim 2, characterized in that The vehicle obstacle overcoming request is to go down a step to overcome the obstacle, the first preset wheel lifting condition includes a first preset wheel descending condition, and the preset lifting stroke is a preset descending stroke. Accordingly, when it is detected that the vehicle to be overcoming the obstacle meets the first preset wheel lifting condition, the front wheels are lifted and lowered based on the preset lifting stroke, including: When it is detected that the vehicle to overcome the obstacle meets the first preset wheel lowering condition, a front axle extension instruction is generated, and based on the front axle extension instruction, the front axle lifting mechanism is controlled to extend according to the preset lowering stroke, so as to control the front wheel to be lowered based on the front axle lifting mechanism when extended.

8. The method according to claim 7, characterized in that The second driving mode is front-wheel driven and rear-wheel driven, and the second preset wheel lifting condition includes a second preset wheel lowering condition. Accordingly, when it is detected that the vehicle to be surmounted meets the second preset wheel lifting condition, the rear wheels are lifted and lowered based on the preset lifting stroke, including: When it is detected that the vehicle to overcome the obstacle meets the second preset wheel lowering condition, a rear axle extension instruction is generated, and based on the rear axle extension instruction, the rear axle lifting mechanism is controlled to extend according to the preset lowering stroke, so as to control the rear wheel to be lowered based on the rear axle lifting mechanism when extended.

9. A vehicle obstacle control device, characterized in that: include: a vehicle obstacle overcoming request response module, configured to update an initial vehicle height of the vehicle to be overcoming the obstacle in response to the vehicle obstacle overcoming request, and determine a first driving mode of the vehicle to be overcoming the obstacle; a front wheel lifting module, configured to lift the front wheels based on a preset lifting stroke when detecting that the vehicle to be overcame an obstacle satisfies a first preset wheel lifting condition during the process of controlling the movement of the vehicle to be overcame an obstacle based on the first driving mode; a driving mode updating module, configured to update the driving mode of the vehicle to be overcoming the obstacle to be overcoming to a second driving mode when detecting that a first driving distance of the vehicle to be overcoming the obstacle reaches a first preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue traveling; a rear wheel lifting module, configured to, during the process of controlling the movement of the vehicle to be overcame an obstacle based on the second driving mode, lift the rear wheels based on the preset lifting stroke when detecting that the vehicle to be overcame an obstacle meets a second preset wheel lifting condition; The vehicle body height recovery module is used to recover the vehicle body height of the vehicle to be overcoming the obstacle to be overcoming to the initial vehicle body height when it is detected that the second driving distance of the vehicle to be overcoming the obstacle reaches a second preset distance during the process of controlling the vehicle to be overcoming the obstacle to be overcoming to continue driving in accordance with the second driving mode.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle obstacle overcoming control method according to any one of claims 1 to 8.

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