A vehicle control method and device, electronic equipment and storage medium

Abstract

The application discloses a vehicle control method and device, electronic equipment and storage medium. The application belongs to the technical field of vehicle design, and the method comprises the following steps: determining at least two image information of a speed bump; determining first height information of the speed bump based on any one of the at least two image information and a determination model of the height of the speed bump; determining second height information of the speed bump based on the at least two image information, collection parameters of an image collector and position information of the at least two image collectors; determining target height information of the speed bump based on the first height information and the second height information; and determining operation parameters of a vehicle based on the target height information and controlling the vehicle to operate based on the operation parameters. The application determines the target height information of the speed bump based on the two height information of the speed bump, adjusts the operation parameters of the vehicle based on the target height information of the speed bump, can accurately determine the height of the speed bump, timely adjusts the operation parameters of the vehicle, and improves the use experience of a user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the continuous improvement of material living standards, users have higher and higher performance requirements for vehicles. When the vehicle encounters obstacles such as speed bumps, the parameter adjustment performance of the vehicle is of great concern to automobile users.

[0003] The parameter adjustment scheme when the vehicle encounters obstacles needs to be based on the information of the concave-convex objects on the road, such as the information of the convex objects such as speed bumps, and the information of the pits with uneven surfaces. At present, the determination method of the concave-convex object information includes sensor measurement and image recognition measurement. The sensor measurement scheme uses the acceleration sensor loaded on the vehicle to read the acceleration information, and determines the information of the concave-convex objects such as speed bumps based on the read acceleration information. The image recognition measurement scheme uses the information collected by the image collector to infer the residual motion of the road surface, reversely infers the true height of the undulating elements on the road according to the residual motion, and determines the information of the concave-convex objects such as speed bumps and the height of the speed bumps based on the true height of the undulating elements.

[0004] However, the sensor measurement scheme can only measure the information of the concave-convex objects passed by the vehicle, and cannot predict the concave-convex objects, and the vehicle cannot timely adjust the operating parameters. The image recognition measurement scheme is too dependent on the environment. Once the environmental information is unstable, the concave-convex object information determined by the scheme will have a large deviation, and the vehicle cannot reasonably and accurately adjust the operating parameters. SUMMARY

[0005] The present application provides a vehicle control method, device, electronic equipment and storage medium, which can accurately determine the height information of the concave-convex objects such as speed bumps, timely adjust the operating parameters of the vehicle, and improve the user's experience.

[0006] According to an aspect of the present application, a vehicle control method is provided, which comprises:

[0007] determining at least two image information of the speed bump;

[0008] determining first height information of the speed bump based on any one of the at least two image information and a determination model of the height of the speed bump;

[0009] determining second height information of the speed bump based on the at least two image information, the collection parameters of the image collector and the position information of the at least two image collectors, the position information of the image collector corresponding to the image information one by one;

[0010] determining target height information of the speed bump based on the first height information and the second height information;

[0011] The operation parameter of the vehicle is determined based on the target height information, and the vehicle is controlled to operate based on the operation parameter.

[0012] Optionally, when the number of the image information is 2, the at least two image information comprises first image information and second image information, and the position information of the at least two image collectors comprises first position information and second position information.

[0013] Optionally, the second height information of the speed bump is determined based on the at least two image information, the collection parameter of the image collector and the position information of the at least two image collectors, comprising: determining the collection range of the image collector based on the collection parameter of the image collector, the collection range comprising a collection angle and a collection distance; determining the first included angle, the first height and the first centrifugal distance of the speed bump based on the first image information and the first position information; determining the second included angle, the second height and the second centrifugal distance of the speed bump based on the second image information and the second position information; and determining the second height information of the speed bump based on the first included angle, the first height, the first centrifugal distance, the second included angle, the second height, the second centrifugal distance, the collection angle and the collection distance.

[0014] Optionally, the target height information of the speed bump is determined based on the first height information and the second height information, comprising: determining whether the difference between the first height information and the second height information is greater than a preset deviation value; if the difference between the first height information and the second height information is greater than the preset deviation value, determining the target height information based on the first height information; and if the difference between the first height information and the second height information is less than or equal to the preset deviation value, determining the target height information based on the second height information.

[0015] Optionally, before the first height information of the speed bump is determined based on any one of the at least two image information and the determination model of the speed bump height, the method further comprises: determining the determination model of the speed bump height.

[0016] Optionally, the determination model of the speed bump height is determined, comprising: determining an initial speed bump set based on historical data of the vehicle, the initial speed bump set comprising at least one initial speed bump and an initial image of the at least one initial speed bump; determining an initial height of each initial image based on vehicle impact information corresponding to each initial speed bump; and determining the determination model of the speed bump height based on the initial image, the initial height of the initial image and the determination model of the initial speed bump height.

[0017] Optionally, the method further comprises: updating the determination model of the speed bump height based on the image information of the speed bump, vehicle impact information corresponding to the speed bump and a preset condition.

[0018] According to another aspect of the present application, there is provided a vehicle control device, the device comprising:

[0019] an information acquisition module configured to determine at least two image information of the speed bump;

[0020] a first determination module configured to determine first height information of the speed bump based on any one of the at least two image information and a determination model of the height of the speed bump;

[0021] a second determination module configured to determine second height information of the speed bump based on the at least two image information, acquisition parameters of the image collector and position information of the at least two image collectors, the position information of the image collector corresponding to the image information one by one;

[0022] a height determination module configured to determine target height information of the speed bump based on the first height information and the second height information;

[0023] a vehicle control module configured to determine operation parameters of the vehicle based on the target height information and control the vehicle to operate based on the operation parameters.

[0024] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0025] at least one processor; and a memory connected with the at least one processor in communication;

[0026] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle control method according to any one of the embodiments of the present application.

[0027] According to another aspect of the present application, a computer readable storage medium is provided, the computer readable storage medium storing computer instructions for enabling a processor to execute the vehicle control method according to any one of the embodiments of the present application when the computer instructions are executed by the processor.

[0028] The technical scheme of the embodiment of the present application determines at least two image information of the speed bump; determines first height information of the speed bump based on any one of the at least two image information and a determination model of the height of the speed bump; determines second height information of the speed bump based on the at least two image information, a collection parameter of the image collector and position information of the at least two image collectors, the position information of the image collector corresponding to the image information one by one; determines target height information of the speed bump based on the first height information and the second height information; determines the operation parameter of the vehicle based on the target height information, and controls the vehicle to operate based on the operation parameter. The height information of the speed bump is determined in two different ways, the target height information of the speed bump is determined based on the two height information of the speed bump, and the operation parameter of the vehicle is adjusted based on the target height information of the speed bump, so that the height of the speed bump can be accurately determined, the operation parameter of the vehicle can be timely adjusted, and the use experience of the user is improved. The problems that the sensor measurement scheme can only measure the information of the concave-convex object passed by the vehicle, cannot predict the concave-convex object, the operation parameter of the vehicle cannot be timely adjusted, and the image recognition measurement scheme is too dependent on the environment, once the environment information is unstable, the concave-convex object information determined by the scheme will have a large deviation, and the operation parameter of the vehicle cannot be reasonably and accurately adjusted are solved.

[0029] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] Figure 1 is a flow diagram of a vehicle control method provided by the first embodiment of the present application;

[0032] Figure 2 is a flow diagram of a vehicle control method provided by the second embodiment of the present application;

[0033] Figure 3 is a measurement diagram of the height of the speed bump provided by the second embodiment of the present application;

[0034] Figure 4 is a structural diagram of a vehicle control device provided by the third embodiment of the present application;

[0035] Figure 5This is a structural diagram of an electronic device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] Example 1

[0039] Figure 1 This is a flow chart of a vehicle control method provided by the first embodiment of the present invention. This embodiment is applicable to situations such as determining the height of speed bumps and adjusting vehicle operating parameters. The method can be executed by the vehicle control device provided by the present invention. The device can be implemented in the form of hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device. The following embodiments will be described using the device integrated into an electronic device as an example. Figure 1 , the method specifically comprises the following steps:

[0040] S101: Determine at least two pieces of image information of a speed bump.

[0041] The image information can be understood as an image containing parameter information of speed bumps on the vehicle's intended travel path. Specifically, the vehicle is equipped with an image collector, which includes a monocular camera, an image recognition device, a camera, etc., for collecting environmental information on the vehicle's intended travel path.

[0042] Furthermore, the vehicle's intended path can be understood as the road the vehicle will travel. Environmental information along the intended path includes not only information about speed bumps, other vehicles, pedestrians, and other concave and convex objects along the path, but also natural environmental information such as weather and trees along the road. After the image collector collects environmental information about the vehicle's intended path, the onboard processor processes the environmental information and identifies speed bumps within the environmental information. This setup allows for the identification of multiple speed bumps, allowing for accurate determination of their height.

[0043] S102: Determine first height information of the speed bump based on any one of the at least two pieces of image information and a speed bump height determination model.

[0044] The speed bump height determination model can be understood as an algorithm that determines the speed bump height based on a speed bump image. Specifically, the first height information can be understood as the speed bump height determined based on the speed bump height determination model and the speed bump image information. For example, after the speed bump image is input into the speed bump height determination model, the speed bump height determination model processes the speed bump image, determines, and outputs the speed bump height.

[0045] The advantage of this setting is that the height of the speed bump can be predicted based on the speed bump image and the speed bump height determination model.

[0046] S103: Determine second height information of the speed bump based on at least two pieces of image information, acquisition parameters of the image collector, and position information of the at least two image collectors.

[0047] The image collector will periodically acquire environmental information on the vehicle's travel path. The time interval for acquiring environmental information is related to the image collector's information acquisition rate, information processing speed, and speed bump information acquisition requirements, which are not limited in this embodiment of the present invention.

[0048] Among them, at least two image information can be understood as speed bump images collected by the vehicle at different times, the position information of the image collector can be understood as the position of the image collector when collecting image information, and the position information of the image collector corresponds one to one with the image information; the acquisition parameters of the image collector can be understood as the performance parameters of the image collector, including information acquisition rate, information processing speed, information acquisition range, etc., and the embodiment does not limit this.

[0049] For example, for any speed bump, the speed bump image captured by the image collector can determine the position of the speed bump and the relative angle and relative height of the image collector. Based on the acquisition parameters of the image collector, the positions of at least two image collectors, the relative angle and relative height of the speed bump and the image collector, the height of the speed bump, the relative distance between the speed bump and the current vehicle and other information can be determined.

[0050] The advantage of this setting is that the height of the speed bump can be predicted based on the image information acquired by the image collector at different times, the acquisition parameters of the image collector and the position of the image collector when acquiring the image information.

[0051] S104: Determine target height information of the speed bump based on the first height information and the second height information.

[0052] The target height information can be understood as speed bump height information, indicating the height of the speed bump on the intended route. The target height information can be either the speed bump height data or the speed bump height level, which is not limited in this embodiment. Similarly, the first height information and the second height information can be either the speed bump height data or the speed bump height level.

[0053] The height data can be understood as a height value, and the height level can be used to indicate the height range of the speed bump. The height levels include low level, lower level, medium level, higher level, and high level. Specifically, the height level classification is related to information such as the vehicle's processing logic and the specifications of the speed bump. The height level can be set and adjusted based on information such as the vehicle's processing logic and the specifications of the speed bump, and this embodiment does not limit this.

[0054] For example, after the height of the speed bump is determined, the height level of the speed bump can be determined based on a mapping relationship between the speed bump height and the height level.

[0055] The second height information is determined based on at least two image information of the speed bump. The speed bump may be an unconventional speed bump or a conventional speed bump. When the speed bump is an unconventional speed bump, the speed bump height determination model has the ability to determine the height of various types of speed bumps. Therefore, the speed bump height determined based on the speed bump height determination model and the image of the speed bump is more accurate, while the speed bump height determined based on at least two collected speed bump images may have a large deviation (the same height determination method cannot determine the height of different types of speed bumps); when the speed bump is a conventional speed bump, both methods can calculate the speed bump height, but when determining the speed bump height based on at least two collected speed bump images, the two image information can be calibrated with each other. Therefore, the speed bump height determined based on at least two image information of the speed bump is more accurate.

[0056] For example, determining the target height of the speed bump based on the first and second height information can be understood as evaluating the accuracy of the first and second height information, and determining the height of the speed bump based on the accuracy of the two. For example, when the first and second height information are similar, the speed bump is considered a conventional speed bump, and the target height is determined based on the second height information. When the first and second height information differ significantly, the speed bump is considered an unconventional speed bump, and the target height is determined based on the first height information.

[0057] The advantage of this setting is that the speed bump height determined by the two speed bump height determination methods can be selected, which can improve the accuracy of the speed bump height.

[0058] S105 : Determine operating parameters of the vehicle based on the target height information, and control the vehicle to operate based on the operating parameters.

[0059] Among them, the vehicle's operating parameters can be understood as the vehicle's control data, which can be parameters such as the vehicle's driving direction, driving speed, driving acceleration, etc., or the vehicle's driving mode. This embodiment does not limit this.

[0060] Specifically, for different speed bump heights, the vehicle's operating parameters are different. For example, when the speed bump height is higher, or the speed bump height level is higher, the vehicle's driving speed and other parameters are reduced to a greater extent; when the speed bump height is lower, or the speed bump height level is lower, the vehicle's driving speed and other parameters are reduced to a smaller extent.

[0061] The advantage of this setting is that it can ensure vehicle stability and improve user experience.

[0062] Optionally, the present invention further includes: updating a speed bump height determination model based on image information of the speed bump, vehicle impact information corresponding to the speed bump, and preset conditions.

[0063] The vehicle impact information may be understood as the amount of impact received by the vehicle when passing over a speed bump. The preset conditions may be a preset time, a preset amount of data, etc., which are not limited in this embodiment.

[0064] Specifically, when the speed bump height determination model has been in use for a preset period of time or has generated a preset amount of predicted data, the model is updated based on the speed bump image and the corresponding vehicle impact information. This ensures the real-time and accuracy of the speed bump height determination model, allowing for precise speed bump height determination and vehicle operating parameters adjustment, improving user experience.

[0065] The technical solution of this embodiment determines at least two images of a speed bump; determines first speed bump height information based on any one of the at least two images and a speed bump height determination model; determines second speed bump height information based on the at least two images, acquisition parameters of an image collector, and position information of at least two image collectors, with the position information of the image collectors corresponding one-to-one with the image information; determines target speed bump height information based on the first and second height information; determines vehicle operating parameters based on the target height information, and controls vehicle operation based on the operating parameters. By using two different methods to determine speed bump height information, determining target speed bump height information based on the two speed bump height information, and adjusting vehicle operating parameters based on the target speed bump height information, the system accurately determines speed bump height, allows for timely adjustment of vehicle operating parameters, and improves user experience. This solution addresses the issues of sensor measurement solutions that can only measure information about bumps and concave / convex objects passed by the vehicle, but cannot predict bumps and concave / convex objects, preventing the vehicle from adjusting operating parameters in a timely manner; and image recognition measurement solutions that are highly dependent on the environment. If the environmental information is unstable, the bump and concave information determined by this solution will have significant deviations, making it impossible for the vehicle to reasonably and accurately adjust operating parameters.

[0066] Example 2

[0067] Figure 2 This is a flow chart of a vehicle control method provided by the second embodiment of the present invention. This embodiment is applicable to situations such as determining the height of speed bumps and adjusting vehicle operating parameters. The method can be executed by the vehicle control device provided by the present invention. The device can be implemented in the form of hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device. The following embodiments will be described using the device integrated into an electronic device as an example. Figure 2 , the method specifically comprises the following steps:

[0068] S201: Determine at least two pieces of image information of a speed bump.

[0069] Specifically, determining at least two image information of the speed bump can be understood as acquiring multiple images containing parameter information of the speed bump on the path to be traveled by the vehicle based on the vehicle's image collector, and transmitting the acquired images to the vehicle's processor, so that the vehicle's processor analyzes the parameter information of the speed bump based on the acquired images, wherein the parameter information of the speed bump can be image information of the speed bump or point cloud information of the speed bump, which is not limited in the embodiments of the present invention.

[0070] Optionally, when the amount of image information is 2, the at least two pieces of image information include first image information and second image information, and the position information of the at least two image collectors includes first position information and second position information.

[0071] The image collector will periodically acquire environmental information on the vehicle's travel path. The time interval for acquiring environmental information is related to the image collector's information acquisition rate and the acquisition requirements of speed bump information, which is not limited in this embodiment of the present invention.

[0072] Among them, the first image information and the second image information can be understood as images of speed bumps collected by the vehicle at different times, the first position information can be understood as the position of the image collector when collecting the first image information, and the second position information can be understood as the position of the image collector when collecting the second image information.

[0073] S202: Determine first height information of the speed bump based on any one of the at least two pieces of image information and a speed bump height determination model.

[0074] The speed bump height determination model may determine the speed bump height based on the speed bump image. Specifically, after the speed bump image is input into the speed bump height determination model, the speed bump height determination model processes the speed bump image, determines, and outputs the speed bump height.

[0075] Furthermore, the speed bump height determination model can process speed bump images taken at different angles and distances. This allows for the processing of speed bump images captured by the image collector at various angles and positions, and the determination of the speed bump height based on the results. This allows for high accuracy in determining the height of speed bumps, and can even determine the height of unconventional speed bumps.

[0076] Optionally, before determining the first height information of the speed bump based on any one of the at least two pieces of image information and the speed bump height determination model, the method further includes: determining the speed bump height determination model.

[0077] Specifically, the speed bump height determination model is obtained by optimizing the initial speed bump height determination model based on the speed bump image and information such as the impact received by the vehicle when passing the speed bump.

[0078] A determination model for speed bump heights includes: determining an initial speed bump set based on historical vehicle data, the initial speed bump set including at least one initial speed bump and at least one initial image of the initial speed bump; determining an initial height of each initial image based on vehicle impact information corresponding to each initial speed bump; and determining a speed bump height determination model based on the initial image, the initial height of the initial image, and a determination model for the initial speed bump height.

[0079] The vehicle can store various parameter information during its operation. Historical data can be understood as data such as speed bump information stored on the vehicle and the impact information experienced by the vehicle when passing over the speed bump. The initial speed bump can be understood as a speed bump that the vehicle has already traveled over. The initial image of the initial speed bump can be understood as an image of the speed bump that the vehicle has traveled over. The initial speed bump and the initial image have a one-to-one correspondence. The vehicle impact information corresponding to the initial speed bump can be understood as the impact experienced by the vehicle when passing over the initial speed bump. The initial height can be understood as the height information of the speed bump determined based on the impact experienced by the vehicle when passing over the speed bump.

[0080] In one specific embodiment, a method for determining the impact a vehicle experiences when passing over a speed bump and the height of the speed bump is described. The vehicle is equipped with an acceleration detector that can detect the vertical acceleration of the vehicle's left and right front wheels. When both the vertical accelerations of the left and right front wheels exceed an impact threshold within a preset detection time, the vehicle is considered to have likely passed over a speed bump. The method further determines whether the uneven object the vehicle passed over is a speed bump. The determination method involves determining the number of times the vertical acceleration of the left and right front wheels exceeded the impact threshold within the preset detection time, and determining whether the ratio of the two is between 0.8 and 1.25. If the ratio is between 0.8 and 1.25 and both numbers are less than a preset impact count, the vehicle is confirmed to have passed over a speed bump. Otherwise, the vehicle is considered to have passed over an uneven object other than a speed bump, such as an uneven road surface or a gravel road. If a vehicle passes over a speed bump, the height of the vehicle is determined based on the power spectral density value of the impact on the vehicle and the vehicle speed within a preset detection time. For example, the impact level is determined based on the power spectral density value of the impact on the vehicle and the square of the vehicle speed, and the height of the speed bump is determined based on the corresponding relationship between the impact level and the height.

[0081] Furthermore, the present invention determines the height of the speed bump based on the impact received by the vehicle when passing over the speed bump, labels the speed bump image according to the calculated speed bump height, and inputs the labeled speed bump image into the initial speed bump height determination model for training, thereby obtaining a model that can determine the speed bump height based on the speed bump image without labels, that is, the speed bump height determination model.

[0082] S203: Determine second height information of the speed bump based on at least two pieces of image information, acquisition parameters of the image collector, and position information of the at least two image collectors.

[0083] The position information of the image collector corresponds to the image information one by one.

[0084] Specifically, the image of the speed bump collected by the image collector can determine the position of the speed bump and the relative angle, the relative height and other information of the image collector, and based on the collection parameters of the image collector, the positions of the at least two image collectors, the relative angle and the relative height of the speed bump and the image collector, the height of the speed bump, the relative distance between the speed bump and the current vehicle and other information can be determined.

[0085] In an embodiment, S203 can specifically include: determining the collection range of the image collector based on the collection parameters of the image collector, the collection range including the collection angle and the collection distance; determining the first included angle, the first height and the first centrifugal distance of the speed bump based on the first image information and the first position information; determining the second included angle, the second height and the second centrifugal distance of the speed bump based on the second image information and the second position information; determining the second height information of the speed bump based on the first included angle, the first height, the first centrifugal distance, the second included angle, the second height, the second centrifugal distance, the collection angle and the collection distance.

[0086] Wherein, the collection parameters of the image collector can be understood as the performance information of the image collector, including the size, the collection angle, the collection distance and other information of the image collector.

[0087] Figure 3 is a measurement diagram of the height of the speed bump provided by the second embodiment of the application, 1 in the figure represents the first position information, 2 can be understood as the image collected by the image collector at the first position, that is, the first image information, 3 represents the second position information, 4 can be understood as the image collected by the image collector at the second position, that is, the second image information, 5 represents the ground, 6 represents the speed bump, 7 represents the running track of the image collector, w represents the width of the speed bump, h represents the height of the speed bump, VFOV represents the collection angle of the image collector in the vertical ground direction, and pixel represents the collection distance of the image collector. Specifically, in combination with Figure 3 The parameters in the embodiment are explained and described, the first included angle can be understood as the included angle of the corresponding line of sight of the uppermost edge of the speed bump and the ground when the image collector is at the first position, that is, Figure 3 α1 in the formula, the first height can be understood as the projection size of the speed bump in the direction of the image sensor when the image collector is at the first position, that is, Figure 3 L1 in the formula, l1 is the number of pixels occupied by the width of the speed bump in the image, and the first centrifugal distance can be understood as the pixel distance of the upper edge of the speed bump in the image from the image center (the point on the running track of the image collector) when the image collector is at the first position, that is, Figure 3 d pic1 The second included angle can be understood as the included angle of the corresponding line of sight of the uppermost edge of the speed bump and the ground when the image collector is at the second position, that is, Figure 3The second height can be understood as the projection size of the speed bump toward the image sensor when the image collector is in the second position, that is, Figure 3 Where L2 is the number of pixels occupied by the speed bump width in the image. The second eccentric distance can be understood as the pixel distance between the upper edge of the speed bump and the image center (the point on the running track of the image collector) when the image collector is in the second position, that is, Figure 3 d in pic2 The first position in the present invention substantially refers to the first position information, and the second position substantially refers to the second position information.

[0088]

[0089]

[0090] Furthermore, the present invention can also calculate a plurality of second position information, and after calculating the plurality of second position information, perform average value filtering on each second position information. The advantage of such a setting is that the accuracy of the second position information can be improved.

[0091] S204: Determine whether the difference between the first height information and the second height information is greater than a preset deviation value.

[0092] Among them, the preset deviation value can be understood as a parameter for determining the similarity between the first height information and the second height information. The preset deviation value can be set and adjusted according to data such as the type of speed bump, the accuracy of the speed bump height, etc., and the embodiment of the present invention does not limit this.

[0093] Specifically, if the difference between the first height information and the second height information is greater than the preset deviation value, step S205 is executed; if the difference between the first height information and the second height information is less than or equal to the preset deviation value, step S206 is executed.

[0094] Exemplarily, when the difference between the first height information and the second height information is greater than the preset deviation value, it is considered that the similarity between the first height information and the second height information is low, that is, the speed bump is an unconventional speed bump, and the speed bump height determined based on the speed bump height determination model and the image of the speed bump is more accurate; when the difference between the first height information and the second height information is less than or equal to the preset deviation value, it is considered that the similarity between the first height information and the second height information is high, that is, the speed bump is a conventional speed bump, and the speed bump height determined based on at least two image information of the speed bump is more accurate.

[0095] The advantage of this setting is that the speed bump height determined by the two speed bump height determination methods can be selected, which can improve the accuracy of the speed bump height.

[0096] S205: Determine target height information based on the first height information.

[0097] Specifically, determining the target height information based on the first height information may be understood as determining the target height information as the first height information.

[0098] S206: Determine target height information based on the second height information.

[0099] Specifically, determining the target height information based on the second height information may be understood as determining the target height information as the second height information.

[0100] S207 : Determine operating parameters of the vehicle based on the target height information, and control the vehicle to operate based on the operating parameters.

[0101] Specifically, determining the vehicle's operating parameters based on the target height information can be understood as determining the vehicle's driving mode or parameters such as the vehicle's driving direction, driving speed, and driving acceleration based on the height of the speed bump. This embodiment does not limit this.

[0102] For example, when the speed bump is high or has a high level, the vehicle's operating speed is significantly reduced; when the speed bump is low or has a low level, the vehicle's operating speed is slightly reduced. The benefit of controlling the vehicle based on adjusted operating parameters is that it reduces the impact of speed bumps on the vehicle, ensures vehicle stability, and improves the user experience.

[0103] Furthermore, when this embodiment detects a speed bump on the road ahead, it can also adjust the damping and stiffness parameters of the vehicle's active suspension based on the speed bump's height. Specifically, the direction of adjustment of the suspension's damping and stiffness parameters is inversely proportional to the speed bump's height. For example, the higher the speed bump's height, the smaller the suspension's damping and stiffness parameters are adjusted. The benefit of controlling the vehicle's operation based on adjusted operating parameters is that it reduces the vehicle's impact on speed bumps, improves ride comfort, and enhances the user experience.

[0104] The technical solution of this embodiment determines at least two images of a speed bump; determines first height information of the speed bump based on any one of the at least two images and a speed bump height determination model; determines second height information of the speed bump based on the at least two images, acquisition parameters of an image collector, and position information of at least two image collectors, where the position information of the image collectors corresponds one-to-one with the image information; determines whether the difference between the first height information and the second height information is greater than a preset deviation value; if the difference between the first height information and the second height information is greater than the preset deviation value, determines target height information based on the first height information; if the difference between the first height information and the second height information is less than or equal to the preset deviation value, determines target height information based on the second height information; determines vehicle operating parameters based on the target height information, and controls vehicle operation based on the operating parameters. By using two different methods to determine the speed bump height information, determining the target height information of the speed bump based on the difference between the two speed bump height information and the preset deviation value, and adjusting the vehicle operating parameters based on the target height information of the speed bump, the system can accurately determine the speed bump height, adjust the vehicle operating parameters in a timely manner, and improve the user experience. The solution solves the problems that the sensor measurement solution can only measure the information of bumps and concave objects passed by the vehicle, but cannot predict bumps and concave objects, and the vehicle cannot adjust its operating parameters in time; and the image recognition measurement solution is too dependent on the environment. Once the environmental information is unstable, the bump and concave object information determined by the solution will have large deviations, and the vehicle cannot reasonably and accurately adjust its operating parameters.

[0105] Example 3

[0106] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided by the third embodiment of the present invention. Figure 4 As shown, the device includes: an information acquisition module 401 , a first determination module 402 , a second determination module 403 , a height determination module 404 and a vehicle control module 405 .

[0107] The information acquisition module 401 is used to determine at least two pieces of image information of the speed bump.

[0108] The first determination module 402 is configured to determine first height information of the speed bump based on any one of the at least two pieces of image information and a speed bump height determination model.

[0109] The second determining module 403 is configured to determine second height information of the speed bump based on at least two pieces of image information, acquisition parameters of the image collector, and position information of at least two image collectors, wherein the position information of the image collector corresponds to the image information in a one-to-one manner.

[0110] The height determination module 404 is configured to determine target height information of the speed bump based on the first height information and the second height information.

[0111] The vehicle control module 405 is configured to determine operating parameters of the vehicle based on the target height information and control the vehicle to operate based on the operating parameters.

[0112] Optionally, when the amount of image information is 2, the at least two pieces of image information include first image information and second image information, and the position information of the at least two image collectors includes first position information and second position information.

[0113] Optionally, the second determination module 403 is specifically used to determine the acquisition range of the image acquirer based on the acquisition parameters of the image acquirer, the acquisition range including the acquisition angle and the acquisition distance; determine the first angle, first height and first centrifugal distance of the speed bump based on the first image information and the first position information; determine the second angle, second height and second centrifugal distance of the speed bump based on the second image information and the second position information; determine the second height information of the speed bump based on the first angle, first height, first centrifugal distance, second angle, second height, second centrifugal distance, acquisition angle and acquisition distance.

[0114] Optionally, the height determination module 404 is specifically used to determine whether the difference between the first height information and the second height information is greater than a preset deviation value; if the difference between the first height information and the second height information is greater than the preset deviation value, the target height information is determined based on the first height information; if the difference between the first height information and the second height information is less than or equal to the preset deviation value, the target height information is determined based on the second height information.

[0115] Optionally, the device further includes a model determination module for determining a model for determining the speed bump height.

[0116] Optionally, a model determination module is specifically used to determine an initial speed bump set based on historical data of the vehicle, the initial speed bump set including at least one initial speed bump and at least one initial image of the initial speed bump; determine the initial height of each initial image based on the vehicle impact information corresponding to each initial speed bump; and determine a speed bump height determination model based on the initial image, the initial height of the initial image and the determination model of the initial speed bump height.

[0117] Optionally, the model determination module is further used to update the speed bump height determination model based on the image information of the speed bump, the vehicle impact information corresponding to the speed bump, and preset conditions.

[0118] The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0119] Example 4

[0120] Figure 5 : is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. 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 may 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 required herein.

[0121] like Figure 5 As 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.

[0122] 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.

[0123] 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 that run machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle control method.

[0124] In some embodiments, the vehicle control method can be implemented as a computer program tangibly contained 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 control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the vehicle control method in any other suitable manner (e.g., via firmware).

[0125] 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 can be executed 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.

[0126] 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.

[0127] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device that has: 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).

[0129] 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 a 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.

[0130] 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.

[0131] 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.

[0132] 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 control method, characterized in that: include: determining at least two pieces of image information of a speed bump; determining first height information of the speed bump based on any one of the at least two pieces of image information and a speed bump height determination model; Determining second height information of the speed bump based on the at least two pieces of image information, acquisition parameters of the image collector, and position information of the at least two image collectors, wherein the position information of the image collectors corresponds one-to-one to the image information; determining target height information of the speed bump based on the first height information and the second height information; determining operating parameters of a vehicle based on the target height information, and controlling the vehicle to operate based on the operating parameters; When the number of the image information is 2, the at least two image information include first image information and second image information, and the position information of the at least two image collectors include first position information and second position information; The determining the second height information of the speed bump based on the at least two pieces of image information, acquisition parameters of the image collector, and position information of the at least two image collectors includes: Determining an acquisition range of the image collector based on acquisition parameters of the image collector, wherein the acquisition range includes an acquisition angle and an acquisition distance; determining a first angle, a first height, and a first eccentric distance of the speed bump based on the first image information and the first position information; determining a second angle, a second height, and a second eccentric distance of the speed bump based on the second image information and the second position information; Determining second height information of the speed bump based on the first angle, the first height, the first centrifugal distance, the second angle, the second height, the second centrifugal distance, the collection angle, and the collection distance; Before determining the first height information of the speed bump based on any one of the at least two pieces of image information and the speed bump height determination model, the method further includes: Determine a model for determining the speed bump height; The determination model for determining the speed bump height includes: determining an initial speed bump set based on historical data of the vehicle, the initial speed bump set comprising at least one initial speed bump and an initial image of the at least one initial speed bump; determining an initial height of each of the initial images based on vehicle impact information corresponding to each of the initial speed bumps; The speed bump height determination model is determined based on the initial image, the initial height of the initial image, and the initial speed bump height determination model.

2. The method according to claim 1, characterized in that The determining, based on the first height information and the second height information, target height information of the speed bump includes: Determining whether a difference between the first height information and the second height information is greater than a preset deviation value; If the difference between the first height information and the second height information is greater than a preset deviation value, determining the target height information based on the first height information; If the difference between the first height information and the second height information is less than or equal to a preset deviation value, the target height information is determined based on the second height information.

3. The method according to claim 1, characterized in that Also includes: The speed bump height determination model is updated based on image information of the speed bump, vehicle impact information corresponding to the speed bump, and preset conditions.

4. A vehicle control device, characterized in that: For implementing the vehicle control method according to any one of claims 1 to 3, the vehicle control device comprises: An information acquisition module, configured to determine at least two pieces of image information of a speed bump; a first determining module, configured to determine first height information of the speed bump based on any one of the at least two pieces of image information and a speed bump height determination model; a second determining module, configured to determine second height information of the speed bump based on the at least two pieces of image information, acquisition parameters of the image collector, and position information of the at least two image collectors, wherein the position information of the image collectors corresponds one-to-one to the image information; a height determination module, configured to determine target height information of the speed bump based on the first height information and the second height information; A vehicle control module is configured to determine operating parameters of the vehicle based on the target height information and control the vehicle to operate based on the operating parameters.

5. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method according to any one of claims 1 to 3 when executed.

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