Vehicle off-road mode exit control method, device, equipment and readable storage medium

Abstract

The present application relates to a vehicle off-road mode exit control method, device, equipment and readable storage medium, and relates to the field of vehicle control technology, including when the vehicle is in off-road mode and detects that the real-time vehicle speed is greater than an exit threshold, judging whether the vehicle is in a slipping state; if the vehicle is in a slipping state, controlling the vehicle to continue in the off-road mode; if the vehicle is not in a slipping state, controlling the vehicle to exit the off-road mode. The present application controls whether the vehicle exits the off-road mode when the vehicle speed exceeds the exit threshold by judging the vehicle slipping state, thereby avoiding the problem of the vehicle hitting the bottom due to the accidental exit of the off-road mode caused by the calculated vehicle speed being greater than the actual vehicle speed due to wheel slippage when the vehicle is driving on an intersecting axle road or stuck in a mud pit.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle off-road mode exit control method, device, equipment and readable storage medium. Background Art

[0002] For vehicles equipped with air suspension, off-road mode typically improves vehicle maneuverability by adjusting the vehicle's height to its highest setting. However, when the vehicle is in its highest position, the suspension's downward travel is often shortened, reducing handling stability at high speeds and posing a potential safety hazard. Therefore, the vehicle's off-road mode is configured with a speed-dependent exit condition (typically, exiting off-road mode occurs when the vehicle speed exceeds 40 km / h). This means that when the vehicle speed exceeds the corresponding exit threshold, the vehicle automatically exits off-road mode and lowers its height to normal.

[0003] Among them, the vehicle speed is usually calculated using the average wheel speed of the left and right wheels of the vehicle's driving wheels. If the vehicle is driving off-road on a cross-axle road or a single wheel is stuck in a mud pit, the wheels will often slip. At this time, the actual vehicle speed may be lower, and the vehicle speed calculated by the average wheel speed is greater than the actual vehicle speed, that is, there is a deviation between the actual vehicle speed and the calculated vehicle speed. However, when the vehicle determines whether to exit the off-road mode, it determines the relationship between the calculated vehicle speed and the exit threshold corresponding to the off-road mode. Therefore, when the vehicle is in a slipping state and is actually still in an off-road environment, the calculated vehicle speed will be greater than the exit threshold corresponding to the off-road mode, causing the entire vehicle to exit the off-road mode and lower the vehicle height, that is, causing the off-road mode to exit unexpectedly, which in turn causes the vehicle to hit the bottom and be unable to escape. Summary of the Invention

[0004] The present application provides a vehicle off-road mode exit control method, device, equipment and readable storage medium to solve the problem in the related art that the off-road mode is unexpectedly exited due to a deviation between the actual vehicle speed and the calculated vehicle speed caused by wheel slippage, which causes the vehicle to hit the bottom and be unable to escape smoothly.

[0005] In a first aspect, a method for controlling exiting an off-road mode of a vehicle is provided, comprising the following steps:

[0006] When the vehicle is in off-road mode and detects that the real-time vehicle speed is greater than the exit threshold, determine whether the vehicle is in a skidding state;

[0007] If the vehicle is in a skidding state, the vehicle is controlled to continue in off-road mode;

[0008] If the vehicle is not in a slipping state, the vehicle is controlled to exit the off-road mode.

[0009] In some embodiments, determining whether the vehicle is in a slipping state includes:

[0010] The wheel slip rate is calculated based on the vehicle's real-time speed, real-time wheel speed and wheel radius;

[0011] When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state;

[0012] When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

[0013] In some embodiments, after the step of controlling the vehicle to continue in the off-road mode if the vehicle is in a slipping state, the method further includes:

[0014] Determine whether the vehicle is in a pothole-prone road condition;

[0015] If the vehicle is on a bumpy road, the air suspension is controlled to lift to reduce friction between the bottom of the vehicle and the bumpy road surface;

[0016] If the vehicle is not on a bumpy road, the height of the vehicle's air suspension is controlled to be consistent with the height threshold corresponding to the off-road mode.

[0017] In some embodiments, after the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes:

[0018] adjusting the height of the vehicle's air suspension to the height threshold corresponding to the previous driving mode adjacent to the Off-Road mode, or;

[0019] Adjusts the height of the vehicle's air suspension to the height threshold corresponding to the preset driving mode.

[0020] In some embodiments, after the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes:

[0021] Determine the type of road condition on which the vehicle is located;

[0022] Determine a target driving mode based on a mapping relationship between the road condition type and the driving mode;

[0023] Adjust the height of the vehicle's air suspension to a height threshold corresponding to the target driving mode.

[0024] In some embodiments, before the step of determining whether the vehicle is in a slipping state when the vehicle is in the off-road mode and the real-time vehicle speed is detected to be greater than the exit threshold, the method further includes:

[0025] When an instruction that the driving mode is off-road mode is received, the height of the vehicle's air suspension is adjusted to a height threshold corresponding to the off-road mode, and the vehicle is controlled to enter the off-road mode.

[0026] In a second aspect, a vehicle off-road mode exit control device is provided, comprising: a vehicle skidding determination module and a driving mode control module;

[0027] The vehicle skidding judgment module is used to judge whether the vehicle is in a skidding state when the vehicle is in an off-road mode and detects that the real-time vehicle speed is greater than an exit threshold;

[0028] The driving mode control module is used to control the vehicle to continue in the off-road mode if the vehicle is in a slipping state; and to control the vehicle to exit the off-road mode if the vehicle is not in a slipping state.

[0029] In some embodiments, the vehicle skidding determination module is specifically configured to:

[0030] The wheel slip rate is calculated based on the vehicle's real-time speed, real-time wheel speed and wheel radius;

[0031] When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state;

[0032] When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

[0033] In some embodiments, the driving mode control module is further configured to:

[0034] Determine whether the vehicle is in a pothole-prone road condition;

[0035] If the vehicle is on a bumpy road, the vehicle height adjustment module is controlled to raise the vehicle's air suspension to reduce friction between the vehicle's bottom and the bumpy road surface.

[0036] If the vehicle is not on a bumpy road, the vehicle height adjustment module is controlled to keep the height of the vehicle air suspension consistent with the height threshold corresponding to the off-road mode.

[0037] In some embodiments, the vehicle height adjustment module is further configured to:

[0038] adjusting the height of the vehicle's air suspension to the height threshold corresponding to the previous driving mode adjacent to the Off-Road mode, or;

[0039] Adjusts the height of the vehicle's air suspension to the height threshold corresponding to the preset driving mode.

[0040] In some embodiments, the driving mode control module is also used to determine the road condition type of the road on which the vehicle is located; determine the target driving mode based on the mapping relationship between the road condition type and the driving mode, and send the target driving mode and its corresponding height threshold to the vehicle height adjustment module; the vehicle height adjustment module is also used to adjust the height of the vehicle air suspension to the height threshold corresponding to the target driving mode.

[0041] In some embodiments, the device also includes a driving mode selection module, which is used to control the driving mode control module to make the vehicle height adjustment module adjust the height of the vehicle air suspension to a height threshold corresponding to the off-road mode after receiving an instruction that the driving mode is an off-road mode, and control the vehicle to enter the off-road mode.

[0042] In a third aspect, a vehicle off-road mode exit control device is provided, comprising: a memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the aforementioned vehicle off-road mode exit control method.

[0043] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned vehicle off-road mode exit control method is implemented.

[0044] The beneficial effects brought about by the technical solution provided by this application include: it can effectively avoid the problem of vehicle bottoming out caused by accidental exit of off-road mode due to wheel slippage causing the calculated vehicle speed to be greater than the actual vehicle speed.

[0045] The present application provides a method, apparatus, device, and readable storage medium for controlling vehicle off-road mode exit. The method includes determining whether the vehicle is in a slipping state when the vehicle is in off-road mode and detects that the real-time vehicle speed is greater than an exit threshold; controlling the vehicle to remain in off-road mode if the vehicle is in a slipping state; and controlling the vehicle to exit off-road mode if the vehicle is not in a slipping state. The present application controls whether the vehicle exits off-road mode when the speed exceeds the exit threshold by determining the vehicle's slipping state. This avoids the problem of the vehicle bottoming out due to accidental exit from off-road mode caused by wheel slippage resulting in a calculated vehicle speed greater than the actual vehicle speed when the vehicle is traveling on an intersecting axle road or stuck in a mud pit. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A flowchart of a vehicle off-road mode exit control method provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a specific process flow for controlling the vehicle's off-road mode exit provided in an embodiment of the present application;

[0049] Figure 3 A schematic structural diagram of a vehicle off-road mode exit control device provided in an embodiment of the present application;

[0050] Figure 4 A schematic structural diagram of a vehicle off-road mode exit control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] The embodiments of the present application provide a vehicle off-road mode exit control method, device, equipment and readable storage medium, which can solve the problem in the related art that due to wheel slippage, there is a deviation between the actual vehicle speed and the calculated vehicle speed, resulting in unexpected exit of the off-road mode, and then the vehicle hits the bottom and cannot be successfully escaped.

[0053] To achieve the above objectives, the overall idea of ​​this application is as follows:

[0054] A method for controlling exiting an off-road mode of a vehicle, the method comprising the following steps:

[0055] Step S10: When the vehicle is in the off-road mode and the real-time vehicle speed is detected to be greater than the exit threshold, determining whether the vehicle is in a skidding state;

[0056] Step S20: If the vehicle is in a slipping state, controlling the vehicle to continue in the off-road mode;

[0057] Step S30: If the vehicle is not in a slipping state, the vehicle is controlled to exit the off-road mode.

[0058] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0059] See also Figure 1 As shown, the embodiment of the present application provides a vehicle off-road mode exit control method, comprising the following steps:

[0060] Step S10: When the vehicle is in the off-road mode and the real-time vehicle speed is detected to be greater than the exit threshold, determining whether the vehicle is in a skidding state;

[0061] For example, it is understood that, to ensure safety, when a vehicle is in off-road mode, a speed-dependent exit condition is often set. Specifically, an exit threshold corresponding to the off-road mode is preset to ensure the vehicle exits the off-road mode promptly. It should be noted that this exit threshold can be determined based on actual needs and is not limited herein. For example, the exit threshold can be set to 40 km / h.

[0062] In this embodiment, after the driver selects off-road mode and the vehicle enters off-road mode, the vehicle's speed is monitored in real time. As long as the real-time speed does not exceed the exit threshold corresponding to off-road mode, the vehicle remains in off-road mode. However, if the real-time speed exceeds the exit threshold, a further determination is made as to whether the vehicle is in a slipping state. Specifically, the determination is made as to whether the vehicle is experiencing wheel slippage when driving. Based on the slip results, the determination is made as to whether the real-time speed exceeding the exit threshold is due to wheel slippage or to the vehicle accelerating after exiting the off-road condition.

[0063] Furthermore, before the step of determining whether the vehicle is in a slipping state when the vehicle is in the off-road mode and the real-time vehicle speed is detected to be greater than the exit threshold, the method further includes:

[0064] When an instruction that the driving mode is off-road mode is received, the height of the vehicle's air suspension is adjusted to a height threshold corresponding to the off-road mode, and the vehicle is controlled to enter the off-road mode.

[0065] For example, in this embodiment, the driving mode selection module allows the driver to select different driving modes (it should be noted that the driving modes include but are not limited to sport mode, comfort mode, economy mode and off-road mode), and this module can be used to enable the vehicle to enter various driving modes; the height thresholds corresponding to the selected different driving modes are sent to the driving mode control module, and then sent by the driving mode control module to the vehicle height adjustment module, so that the vehicle height adjustment module can adjust the air suspension height to the corresponding height threshold; at the same time, the driving mode selection module will also receive height information fed back by the driving mode control module to determine whether the vehicle height meets the requirements of the target driving mode selected by the driver. If so, the vehicle is controlled to enter the target driving mode. If not, the driving mode control module is notified to cause the vehicle height adjustment module to readjust the vehicle height until the vehicle height reaches the height threshold corresponding to the target driving mode.

[0066] Specifically, when an instruction is received that the driving mode is off-road mode, the height of the vehicle's air suspension will be adjusted to the height threshold corresponding to the off-road mode through the vehicle height adjustment module, so that the vehicle height meets the requirements of the off-road mode selected by the driver, and then the vehicle is controlled to enter the off-road mode.

[0067] Furthermore, determining whether the vehicle is in a slipping state includes:

[0068] The wheel slip rate is calculated based on the vehicle's real-time speed, real-time wheel speed and wheel radius;

[0069] When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state;

[0070] When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

[0071] For example, in this embodiment, the vehicle slip judgment module can determine whether the vehicle is in a slipping state by calculating the vehicle speed collected by the wheel speed sensor and the real-time vehicle speed calculated by the braking system. Specifically, the slip rate of each driving wheel can be calculated to determine whether the vehicle is in a slipping state.

[0072] Substituting the calculated real-time vehicle speed, real-time wheel speed, and wheel radius into the following formula, the wheel slip ratio S can be calculated: S = (w × rV) / w × r × 100%, where w represents the real-time wheel speed, r represents the wheel radius, and V represents the real-time vehicle speed. Once the slip ratio is calculated, the relationship between the slip ratio and a pre-calibrated slip ratio threshold can be used to determine whether the vehicle is slipping. It should be noted that the slip ratio threshold can be determined based on actual needs and is not specified here.

[0073] Specifically, if the slip rate is greater than the slip rate threshold, the vehicle is determined to be in a slipping state, and if the slip rate is less than or equal to the slip rate threshold, the vehicle is determined to be not in a slipping state, and the judgment result is sent to the driving mode control module for the driving mode control module to determine whether the vehicle needs to exit the off-road mode based on the judgment result.

[0074] Step S20: If the vehicle is in a slipping state, controlling the vehicle to continue in the off-road mode;

[0075] For example, in this embodiment, when the real-time vehicle speed is greater than the exit threshold corresponding to the off-road mode, if the vehicle is in a slipping state, it means that the reason why the real-time vehicle speed is greater than the exit threshold is due to wheel slippage, that is, the vehicle has not yet exited the off-road road condition. At this time, the off-road mode should not be exited, but the vehicle should be controlled to continue to operate in the off-road mode to avoid the problem of the vehicle body height being reduced due to unexpected exit of the off-road mode, which in turn causes the vehicle to hit the bottom and be unable to escape smoothly.

[0076] Furthermore, after the step of controlling the vehicle to continue in the off-road mode if the vehicle is in a slipping state, the method further includes:

[0077] Determine whether the vehicle is in a pothole-prone road condition;

[0078] If the vehicle is on a bumpy road, the air suspension is controlled to lift to reduce friction between the bottom of the vehicle and the bumpy road surface;

[0079] If the vehicle is not on a bumpy road, the height of the vehicle's air suspension is controlled to be consistent with the height threshold corresponding to the off-road mode.

[0080] For example, in this embodiment, since the vehicle is in a slipping state, it is controlled to continue operating in off-road mode. However, when the vehicle is stuck in a muddy or deep pit, the underbody of the vehicle is likely to rub against the pothole, causing wear and tear. To address this issue, this embodiment can identify the vehicle's road conditions to determine whether the vehicle is in a pothole, that is, whether the vehicle is stuck in a pothole. If the vehicle is stuck in a pothole, the driving mode control module controls the vehicle height adjustment module to control the air suspension to raise the vehicle body height, thereby reducing the possibility of friction between the vehicle underbody and the pothole. If the vehicle is not stuck in a pothole, it may indicate that the vehicle is traveling on a cross-axle road, in which case the underbody of the vehicle will not rub against the road surface. Therefore, the height of the air suspension is directly controlled to be consistent with the height threshold corresponding to off-road mode.

[0081] It should be noted that road conditions include, but are not limited to, pothole conditions, non-pothole conditions, pothole area, and pothole depth. Recognition of road conditions can be achieved through a combination of image recognition technology and radar sensors, or the specific implementation method can be determined based on actual needs. Furthermore, the height to which the air suspension is raised when a vehicle stagnates in a pothole can be pre-set to a fixed value or determined by a pre-calibrated mapping between the lift height and the pothole depth, without limitation. For example, a pre-set setting of 10 cm for the air suspension when a vehicle stagnates in a pothole is merely an example embodiment, and can be determined based on actual needs.

[0082] Step S30: If the vehicle is not in a slipping state, the vehicle is controlled to exit the off-road mode.

[0083] For example, in this embodiment, when the real-time vehicle speed is greater than the exit threshold corresponding to the off-road mode, if the vehicle is not in a slipping state, it means that the reason why the real-time vehicle speed is greater than the exit threshold is not due to wheel slippage, but due to the acceleration of the vehicle after leaving the off-road condition, that is, the vehicle has left the off-road road condition, and the off-road mode should be exited at this time, that is, the vehicle can be controlled to exit the off-road mode.

[0084] Furthermore, after the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes:

[0085] adjusting the height of the vehicle's air suspension to the height threshold corresponding to the previous driving mode adjacent to the Off-Road mode, or;

[0086] Adjusts the height of the vehicle's air suspension to the height threshold corresponding to the preset driving mode.

[0087] For example, in this embodiment, after the driving mode control module exits off-road mode based on the vehicle slip determination module's determination, it determines the desired air suspension height level based on pre-set input from the driving mode selection module and outputs this information to the vehicle height adjustment module, which then lowers the air suspension to the target height level. Specifically, the desired air suspension height level can be determined in two ways: directly adjusting the air suspension height to the height threshold corresponding to the driving mode immediately preceding off-road mode, or directly adjusting the air suspension height to the height threshold corresponding to a pre-set driving mode.

[0088] In the first solution, after the driving mode selection module determines that the driver has selected off-road mode, it sends information about the previous driving mode adjacent to off-road mode to the driving mode control module for storage and memory. For example, if the driver controls the vehicle in sport mode before entering off-road mode, the sport mode and the corresponding height threshold will be sent to the driving mode control module. Therefore, when the vehicle exits off-road mode, the driving mode control module will determine based on memory that the air suspension height should be adjusted to the height threshold corresponding to sport mode, and send this height threshold to the vehicle height adjustment module, which then adjusts the air suspension height accordingly.

[0089] In the second solution, a fixed, pre-set driving mode is used to adjust the air suspension height after exiting off-road mode. Specifically, before the vehicle enters off-road mode, the driving mode selection module pre-sets a fixed driving mode height threshold for adjusting the air suspension height upon exiting off-road mode. This fixed driving mode and its corresponding height threshold are then sent to the driving mode control module for storage. For example, if the pre-set driving mode is comfort mode, then whenever off-road mode is exited, the driving mode control module will determine that the air suspension height should be adjusted to the height threshold corresponding to comfort mode. This height threshold is then sent to the vehicle height adjustment module, which then adjusts the air suspension height accordingly.

[0090] Furthermore, after the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes:

[0091] Determine the type of road condition on which the vehicle is located;

[0092] Determine a target driving mode based on a mapping relationship between the road condition type and the driving mode;

[0093] Adjust the height of the vehicle's air suspension to a height threshold corresponding to the target driving mode.

[0094] For example, in this embodiment, after the vehicle exits off-road mode, the height to which the air suspension needs to be lowered can also be determined by pre-calibrating the mapping relationship between road condition type and driving mode (for example, the driving mode corresponding to highways is sport mode, etc.), then determining the actual road condition type of the road on which the vehicle is located by using map matching or a combination of image recognition technology and sensors such as radar, and then determining the target driving mode that the vehicle may enter next based on the actual road condition type and the preset mapping relationship. The target driving mode and its corresponding height threshold are sent to the vehicle body height adjustment module, so that the vehicle body height adjustment module can adjust the height of the air suspension to the height threshold corresponding to the target driving mode.

[0095] It can be seen that the present application controls whether the vehicle exits the off-road mode when the vehicle speed exceeds the exit threshold by judging the vehicle's slipping state, thereby avoiding the problem of the vehicle hitting the bottom caused by the vehicle accidentally exiting the off-road mode due to the calculated speed being greater than the actual speed due to wheel slippage when the vehicle is driving on an intersecting axle road or stuck in a mud pit.

[0096] It should be noted that the identification of road condition types can not only be achieved through map matching or the combination of image recognition technology and sensors such as radar, but also the specific implementation method can be determined according to actual needs, which is not limited here.

[0097] The following combination Figure 2 The process and principle of the vehicle off-road mode exit control in this embodiment are explained.

[0098] Initialization is first performed to set the vehicle into off-road mode through the driving mode selection module; then the vehicle is adjusted into off-road mode and the vehicle height is adjusted to the highest level corresponding to the off-road mode through the driving mode control module and the vehicle height adjustment module.

[0099] The vehicle speed is monitored during driving. When the real-time vehicle speed is less than or equal to the exit threshold corresponding to the off-road mode, the vehicle continues to maintain the highest vehicle height level corresponding to the off-road mode.

[0100] When the real-time vehicle speed is greater than the exit threshold corresponding to the off-road mode, the vehicle slip judgment module determines whether the vehicle's drive wheels are slipping; if the vehicle's drive wheels are slipping, the driving mode control module will enable the vehicle to continue driving at the height level corresponding to the off-road mode; if the vehicle's drive wheels are not slipping, the driving mode control module will control the vehicle to exit the off-road mode, and enable the vehicle body height adjustment module to lower the vehicle height before driving again.

[0101] It should be noted that the step numbers of the steps in the embodiments of the present application do not limit the order of the operations in the technical solution of the present application.

[0102] Based on the same inventive concept as the method embodiment, see Figure 3 As shown, an embodiment of the present application provides a vehicle off-road mode exit control device, comprising: a vehicle slip judgment module and a driving mode control module;

[0103] The vehicle skidding judgment module is used to judge whether the vehicle is in a skidding state when the vehicle is in an off-road mode and detects that the real-time vehicle speed is greater than an exit threshold;

[0104] The driving mode control module is used to control the vehicle to continue in the off-road mode if the vehicle is in a slipping state; and to control the vehicle to exit the off-road mode if the vehicle is not in a slipping state.

[0105] Furthermore, the vehicle skidding judgment module is specifically used to:

[0106] The wheel slip rate is calculated based on the vehicle's real-time speed, real-time wheel speed and wheel radius;

[0107] When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state;

[0108] When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

[0109] Furthermore, the driving mode control module is further configured to:

[0110] Determine whether the vehicle is in a pothole-prone road condition;

[0111] If the vehicle is on a bumpy road, the vehicle height adjustment module is controlled to raise the vehicle's air suspension to reduce friction between the vehicle's bottom and the bumpy road surface.

[0112] If the vehicle is not on a bumpy road, the vehicle height adjustment module is controlled to keep the height of the vehicle air suspension consistent with the height threshold corresponding to the off-road mode.

[0113] Furthermore, the vehicle height adjustment module is also used for:

[0114] adjusting the height of the vehicle's air suspension to the height threshold corresponding to the previous driving mode adjacent to the Off-Road mode, or;

[0115] Adjusts the height of the vehicle's air suspension to the height threshold corresponding to the preset driving mode.

[0116] Furthermore, the driving mode control module is also used to determine the road condition type of the road on which the vehicle is located; determine the target driving mode based on the mapping relationship between the road condition type and the driving mode, and send the target driving mode and its corresponding height threshold to the vehicle height adjustment module; the vehicle height adjustment module is also used to adjust the height of the vehicle air suspension to the height threshold corresponding to the target driving mode.

[0117] Furthermore, the device also includes a driving mode selection module, which is used to control the driving mode control module to make the vehicle height adjustment module adjust the height of the vehicle air suspension to a height threshold corresponding to the off-road mode after receiving an instruction that the driving mode is off-road mode, and control the vehicle to enter the off-road mode.

[0118] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned vehicle off-road mode exit control method embodiment, and will not be repeated here.

[0119] The vehicle off-road mode exit control device provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 4 The vehicle is shown operating on the off-road mode exit control device.

[0120] An embodiment of the present application also provides a vehicle off-road mode exit control device, comprising: a memory, a processor, and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned vehicle off-road mode exit control method.

[0121] Among them, the network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0122] The processor may be a CPU, other general-purpose processors, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or any conventional processor. The processor is the control center of a computer device, connecting various components of the entire computer device using various interfaces and circuits.

[0123] The memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. The memory may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a video playback function or an image playback function); the data storage area may store data generated based on the use of the mobile phone (such as video data or image data). In addition, the memory may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, an SMC (Smart Media Card), an SD (Secure Digital) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0124] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned vehicle off-road mode exit control method are implemented.

[0125] The embodiments of the present application implement all or part of the aforementioned processes, and may also be completed by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above methods may be implemented. The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, ROM (Read-Only Memory), RAM (Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium.

[0126] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0127] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A vehicle off-road mode exit control method, characterized in that: The following steps are involved: When the vehicle is in off-road mode and detects that the real-time vehicle speed is greater than the exit threshold, determine whether the vehicle is in a skidding state; If the vehicle is in a skidding state, the vehicle is controlled to remain in off-road mode to avoid a reduction in vehicle height due to unexpected exit from off-road mode; If the vehicle is not in a slipping state, the vehicle is controlled to exit the off-road mode; Wherein, before the step of determining whether the vehicle is in a slipping state when the vehicle is in the off-road mode and detecting that the real-time vehicle speed is greater than the exit threshold, the step further includes: When an instruction that the driving mode is the off-road mode is received, the height of the vehicle's air suspension is adjusted to a height threshold corresponding to the off-road mode, and the vehicle is controlled to enter the off-road mode.

2. The vehicle off-road mode exit control method according to claim 1, characterized in that: The step of determining whether the vehicle is in a slipping state comprises: The wheel slip rate is calculated based on the real-time vehicle speed, real-time wheel speed and wheel radius of the vehicle; When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state; When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

3. The vehicle off-road mode exit control method according to claim 1, characterized in that: After the step of controlling the vehicle to continue to be in the off-road mode if the vehicle is in a slipping state, the method further includes: Determine whether the vehicle is in a pothole situation; If the vehicle is on a pothole road, the vehicle air suspension is controlled to lift up to reduce the friction between the bottom of the vehicle and the pothole road; If the vehicle is not on a bumpy road, the height of the vehicle's air suspension is controlled to be consistent with the height threshold corresponding to the off-road mode.

4. The vehicle off-road mode exit control method according to claim 1, characterized in that: After the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes: adjusting the height of the vehicle's air suspension to a height threshold corresponding to the previous driving mode adjacent to the off-road mode, or; Adjusts the height of the vehicle's air suspension to the height threshold corresponding to the preset driving mode.

5. The vehicle off-road mode exit control method according to claim 1, characterized in that: After the step of controlling the vehicle to exit the off-road mode if the vehicle is not in a slipping state, the method further includes: Determine the type of road condition on which the vehicle is located; Determine a target driving mode according to a mapping relationship between the road condition type and the driving mode; The height of the vehicle's air suspension is adjusted to a height threshold corresponding to the target driving mode.

6. A vehicle off-road mode exit control device, characterized in that: include: Driving mode selection module, vehicle skidding judgment module and driving mode control module; The driving mode selection module is used for adjusting the height of the vehicle air suspension to a height threshold corresponding to the off-road mode and controlling the vehicle to enter the off-road mode after receiving an instruction that the driving mode is the off-road mode; The vehicle skidding judgment module is used to judge whether the vehicle is in a skidding state when the vehicle is in an off-road mode and detects that the real-time vehicle speed is greater than an exit threshold; The driving mode control module is used to control the vehicle to continue in off-road mode if the vehicle is in a slipping state, so as to avoid a reduction in vehicle height due to unexpected exit from the off-road mode; if the vehicle is not in a slipping state, control the vehicle to exit the off-road mode.

7. The vehicle off-road mode exit control device according to claim 6, characterized in that: The vehicle skidding judgment module is specifically used for: The wheel slip rate is calculated based on the real-time vehicle speed, real-time wheel speed and wheel radius of the vehicle; When the slip rate is greater than a slip rate threshold, it is determined that the vehicle is in a slipping state; When the slip rate is less than or equal to the slip rate threshold, it is determined that the vehicle is not in a slipping state.

8. A vehicle off-road mode exit control device, characterized in that: include: A memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the vehicle off-road mode exit control method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle off-road mode exit control method according to any one of claims 1 to 5 is implemented.

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