Road detection method and device, electronic equipment and storage medium

Abstract

A road detection method and device, electronic equipment and storage medium are disclosed. The method comprises: receiving a driving route of a pathfinder vehicle configured and sent by a target vehicle, the pathfinder vehicle being located at a preset distance in front of the target vehicle for detecting road conditions; driving along the driving route and collecting real-time driving data of the pathfinder vehicle; determining the road conditions according to the real-time driving data and sending the road conditions to the target vehicle. The technical scheme of the present application analyzes the real-time driving data collected by the pathfinder vehicle when driving along the driving route, thereby accurately determining the road conditions and solving the problem that the perception level of the unmanned vehicle on the off-road surface is difficult to meet the off-road driving requirements when driving on the off-road surface.

Description

Technical Field

[0001] This invention relates to the field of road detection technology, and in particular to a road detection method, apparatus, electronic device, and storage medium. Background Technology

[0002] The application of autonomous driving technology is more promising in off-road scenarios because autonomous driving in off-road scenarios has the advantages of cost savings and improved safety compared to autonomous driving on good roads.

[0003] Currently, autonomous vehicles detect road conditions using sensors carried by off-road vehicles. These sensors perceive the surrounding environment and determine road conditions based on the data. However, this method is relatively slow in terms of road perception, making autonomous vehicles prone to difficulties and even dangerous situations due to complex road conditions. Therefore, it is crucial to address the issue of autonomous vehicles' inability to meet the demands of off-road driving. Summary of the Invention

[0004] This invention provides a road detection method, device, electronic device, and storage medium to address the problem that the road perception level of unmanned vehicles is insufficient to meet the needs of off-road driving when driving on off-road surfaces.

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

[0006] The system receives the driving route of a scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance ahead of the target vehicle and is used to detect road conditions.

[0007] The vehicle travels along the route and collects real-time driving data.

[0008] The road conditions are determined based on the real-time driving data, and the road conditions are sent to the target vehicle.

[0009] According to another aspect of the present invention, a road detection device is provided, the device comprising:

[0010] The route determination module is used to receive the driving route of the scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance in front of the target vehicle and is used to detect road conditions.

[0011] The data acquisition module is used to collect real-time driving data of the exploration vehicle while traveling along the driving route.

[0012] The road condition determination module is used to determine the road condition based on the real-time driving data and send the road condition to the target vehicle.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the road detection method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the road detection method according to any embodiment of the present invention.

[0018] The technical solution of this invention involves a pathfinder vehicle receiving a driving route configured and sent by the target vehicle. The pathfinder vehicle then travels along the route, collecting real-time driving data. Based on this data, the road conditions are determined, and the road conditions are transmitted to the target vehicle. This solution analyzes the real-time driving data collected by the pathfinder vehicle while traveling along the route, thereby accurately determining road conditions and solving the problem that autonomous vehicles often lack sufficient road perception for off-road driving.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a road detection method provided according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of an independent suspension system applicable to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a road detection device according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the road detection method of this invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," "third," and "target," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] Figure 1 This is a flowchart illustrating a road detection method provided in an embodiment of the present invention. This embodiment is applicable to detecting road conditions on off-road roads. The method can be executed by a road detection device, which can be implemented in hardware and / or software. This road detection device can be configured in an electronic device that has a road detection method. Figure 1 As shown, the method includes:

[0029] S110. Receive the driving route of the scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance in front of the target vehicle and is used to detect road conditions.

[0030] The target vehicle is a vehicle designed for off-road driving, such as an SUV. The scout vehicle is used to explore the route for the target vehicle, providing timely updates on road conditions and preventing it from getting into danger. The preset distance is determined based on the actual situation and can be 15-20 meters.

[0031] Optionally, the design of the exploration vehicle should meet the following conditions: 1. The wheelbase should be the same as the target vehicle; 2. The tire size should ideally be the same as the target vehicle to ensure that the target vehicle can also pass through the same road surface as the exploration vehicle. If the tire sizes are different, the contact pressure at the contact point should be approximately the same as that of the target vehicle; 3. With the same tire size, the weight distribution of the exploration vehicle should be close to that of the target vehicle. If the tire sizes are different, the weight distribution of the exploration vehicle should be designed based on the ratio of the contact area of ​​the tires to that of the target vehicle; 4. The exploration vehicle can transmit data on the degree of bounce of each wheel back to the target vehicle; 5. In addition to the individual wheels, the exploration vehicle should have several non-load-bearing wheels added laterally to detect the degree of road bumps. Otherwise, if the trajectory of the target vehicle and the exploration vehicle differs significantly, the target vehicle may still get stuck even if the exploration vehicle passes safely. Detection wheels near the load-bearing wheels can prevent this; 6. The exploration vehicle's driving control is remotely controlled by the target vehicle; 7. The ground clearance of the exploration vehicle is the same as that of the target vehicle. 8. The height of the scout vehicle should be as low as possible to reduce obstruction of the target vehicle's field of vision.

[0032] Specifically, the scout vehicle's route is determined based on the target vehicle's route. This ensures that the scout vehicle detects the road conditions ahead of the target vehicle, transmitting this information in advance. The target vehicle then decides whether to continue along its original route or change course based on the actual road conditions, sending its route decision back to the scout vehicle so it knows which route to follow. The scout vehicle travels at a predetermined distance ahead of the target vehicle. By placing the scout vehicle ahead of the target vehicle, it mitigates the risks associated with undetected obstacles.

[0033] S120. Drive along the driving route and collect real-time driving data of the exploration vehicle.

[0034] Specifically, after obtaining the driving route, the exploration vehicle will drive according to the driving route and collect real-time driving data in order to detect the road conditions ahead of the target vehicle.

[0035] Optionally, the scout vehicle travels along the driving route, and its movement is controlled by the target vehicle. Specifically, it receives driving instructions sent by the target vehicle. The driving instructions are used to control the movement of the scout vehicle and include at least drive instructions, braking instructions, and steering instructions. Then, based on the driving instructions, the scout vehicle is controlled to travel along the driving route.

[0036] For example, the driving command calculation for the scout vehicle can be performed using a PID controller. Specifically, the target vehicle detects the distance and speed of the scout vehicle. The distance error can be calculated by the difference between the detected distance and the preset distance. The speed error can be calculated by the difference between the detected speed of the scout vehicle and the speed of the target vehicle. These two errors are calculated by the PID controller to obtain the drive command and braking command based on the distance and speed, respectively. Then, the two commands are weighted and calculated to finally obtain the drive command and braking command for controlling the scout vehicle.

[0037] Lateral control of the exploration vehicle can be achieved using predictive PID control. The specific idea is to set a preset distance, such as 20m. Based on the planned route of the target vehicle, the lateral position the exploration vehicle should reach 20m ahead can be determined. Based on the target vehicle's speed and steering wheel angle, the actual target position the exploration vehicle should reach after traveling 20m can be calculated. The difference between these two positions is then processed by the PID controller to obtain the desired steering wheel angle command for the exploration vehicle.

[0038] This technical solution controls the exploration vehicle to travel along the route by the target vehicle, which reduces the need to install control systems and environmental perception systems on the exploration vehicle. The exploration vehicle's environmental perception only needs to be obtained from the target vehicle's perception, thereby reducing costs.

[0039] S130. Determine the road conditions based on the real-time driving data and send the road conditions to the target vehicle.

[0040] Specifically, by analyzing the acquired real-time driving data, the road conditions of the current route being traveled by the exploration vehicle can be accurately determined and sent to the target vehicle to avoid risks to the target vehicle due to road obstacles.

[0041] Optionally, road condition analysis can be performed, which can be divided into at least the detection of road unevenness, road slippage, and road obstacles, as detailed below:

[0042] Road unevenness detection: Road unevenness detection is mainly achieved through the four load-bearing wheels of the detection vehicle and the detection wheel installed in the middle of the vehicle. Real-time driving data includes the independent suspension angle; if the independent suspension angle exceeds the preset range, the road surface is determined to be uneven. For example, Figure 2As shown, the independent suspension consists of a first suspension rod connecting the wheel connection point and a second suspension rod connecting the vehicle body connection point. It is a suspension system where the left and right wheels move independently relative to the vehicle body. The independent suspension angle is the angle between the first and second suspension rods. Unevenness detection can be achieved using a height sensor. The height sensor works by using two connected arms, one end connected to the vehicle body and the other end connected to the suspension arm. When the wheels move, the angle between the two arms of the height sensor changes, i.e., as shown... Figure 2 In this configuration, the height sensor can detect changes in the angle of the independent suspension.

[0043] Road slippage detection: Real-time driving data includes wheel speed. Based on the collected wheel speeds of the left and right wheels of the exploration vehicle, the vehicle speed is determined. Based on the wheel speed and vehicle speed, the wheel slip ratio is determined. If the wheel slip ratio is greater than a preset slip ratio, the road surface is determined to be slippery. The preset slip ratio is set according to actual conditions, such as 10%.

[0044] Specifically, the wheel speed of the exploration vehicle can be measured using wheel speed sensors. The principle of the wheel speed sensor is to install a toothed ring on the wheel, which rotates with the wheel. Using electromagnetic or Hall effect sensors, the number of teeth the wheel rotates per unit time can be measured, i.e., the angle the wheel rotates. Based on the angle the wheel rotates per unit time, the wheel angular velocity can be measured, and the equivalent wheel speed can be calculated. The vehicle speed of the exploration vehicle can be calculated by combining the wheel speeds of all four wheels. The main idea of ​​this calculation is to eliminate slipping wheels, and the wheel speeds of the remaining wheels can represent the vehicle speed. Finally, the wheel slip ratio can be expressed as (wheel speed - vehicle speed) / vehicle speed. By accurately determining the slip ratio, the road slippage situation can be accurately determined.

[0045] Road obstacle detection: Real-time driving data includes independent suspension angle and vehicle acceleration. The angle change rate is determined based on the independent suspension angle; the acceleration change value is determined based on the vehicle acceleration. The acceleration change value is used to describe the change in vehicle acceleration. If the angle change rate is greater than the preset change rate and / or the acceleration change value is greater than the preset acceleration change value, then an obstacle is determined to exist on the road.

[0046] Specifically, the angle change rate is the rate of change between the independent suspension angle at the current moment and the independent suspension angle at the previous moment. This rate of change is more advantageous for detecting small obstacles (such as rocks); the angle change rate will be significant after the exploration vehicle hits a small obstacle. While acceleration change can also detect small obstacles, the change may be less pronounced, making it more suitable for detecting larger obstacles. For example, when a vehicle hits a large obstacle (such as a wall), a sharp change in acceleration signal can be detected on the vehicle body. By calculating the acceleration, the acceleration change value can be accurately obtained. Comparing this value with a preset acceleration change value allows for accurate obstacle identification. Combining the angle change rate and acceleration change value for road obstacle detection provides a more comprehensive coverage of obstacles of all sizes, resulting in more accurate road condition detection and improved driving safety and comfort for the target vehicle.

[0047] Among them, the difference between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value, or the rate of change between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value.

[0048] Optionally, if the scout vehicle fails to pass due to potholes or slippage, the target vehicle can pull it to "rescue" it and change the planned route to start driving again.

[0049] The technical solution of this invention involves a pathfinder vehicle receiving a driving route configured and sent by the target vehicle. The pathfinder vehicle then travels along the route, collecting real-time driving data. Based on this data, the road conditions are determined, and the road conditions are transmitted to the target vehicle. This solution analyzes the real-time driving data collected by the pathfinder vehicle while traveling along the route, thereby accurately determining road conditions and solving the problem that autonomous vehicles often lack sufficient road perception for off-road driving.

[0050] Example 2

[0051] Figure 3 This is a schematic diagram of a road detection device provided in an embodiment of the present invention. Figure 3 As shown, the device includes:

[0052] The route determination module 210 is used to receive the driving route of the scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance in front of the target vehicle and is used to detect road conditions.

[0053] The data acquisition module 220 is used to travel along the driving route and collect real-time driving data of the exploration vehicle;

[0054] The road condition determination module 230 is used to determine the road condition based on the real-time driving data and send the road condition to the target vehicle.

[0055] Optionally, the data acquisition module includes a driving control unit, specifically used for:

[0056] Receive driving instructions sent by the target vehicle; wherein, the driving instructions are used to control the driving of the exploration vehicle;

[0057] Based on the driving instructions, the exploration vehicle is controlled to travel along the driving route.

[0058] Optionally, real-time driving data includes independent suspension angles, and the road condition determination module includes a first road condition determination unit, specifically used for:

[0059] If the angle of the independent suspension exceeds the preset angle range, the road surface is determined to be uneven; wherein, the independent suspension is composed of a first suspension rod connecting the wheel connection point and a second suspension rod connecting the vehicle body connection point, and is a suspension form in which the left and right wheels bounce independently relative to the vehicle body; the angle of the independent suspension is the angle between the first suspension rod and the second suspension rod.

[0060] Optionally, the real-time driving data includes wheel speed, and the road condition determination module includes a second road condition determination unit, specifically used for:

[0061] The vehicle speed of the exploration vehicle is determined based on the wheel speeds of the left and right wheels collected from the data.

[0062] Determine the wheel slip ratio based on the wheel speed and vehicle speed;

[0063] If the wheel slip ratio is greater than the preset slip ratio, the road surface is determined to be in a slipping state.

[0064] Optionally, the real-time driving data includes independent suspension angle and vehicle acceleration, and the road condition determination module includes a third road condition determination unit, specifically used for:

[0065] The rate of change of the included angle is determined based on the included angle of the independent suspension.

[0066] The acceleration change value is determined based on the vehicle acceleration; wherein the acceleration change value is used to describe the change in vehicle acceleration;

[0067] If the angle change rate is greater than a preset change rate and / or the acceleration change value is greater than a preset acceleration change value, then it is determined that there is an obstacle on the road.

[0068] Optionally, the third road condition determination unit includes an acceleration change value determination unit, specifically used for:

[0069] The difference between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value, or the rate of change between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value.

[0070] The road detection device provided in the embodiments of the present invention can execute the road detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0071] The acquisition, storage, use, and processing of data in this application comply with relevant national laws and regulations and do not violate public order and good morals.

[0072] Example 3

[0073] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0074] Figure 4 A schematic diagram of an electronic device that can be used to implement the road detection method of embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0075] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0076] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0077] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as road detection methods.

[0078] In some embodiments, the road detection method may 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 may 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 road detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the road detection method by any other suitable means (e.g., by means of firmware).

[0079] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0081] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0082] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0083] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0084] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0085] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0086] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A road detection method, characterized in that, include: The system receives the driving route of a scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance ahead of the target vehicle and is used to detect road conditions. The vehicle travels along the route and collects real-time driving data. The road conditions are determined based on the real-time driving data, and the road conditions are sent to the target vehicle. The real-time driving data includes the independent suspension angle, and the road conditions are determined based on the real-time driving data, including: If the angle of the independent suspension exceeds the preset angle range, the road surface is determined to be uneven; wherein, the independent suspension is composed of a first suspension rod connecting the wheel connection point and a second suspension rod connecting the vehicle body connection point, and is a suspension form in which the left and right wheels bounce independently relative to the vehicle body; the angle of the independent suspension is the angle between the first suspension rod and the second suspension rod. Alternatively, the real-time driving data includes wheel speed, and determining road conditions based on the real-time driving data includes: The vehicle speed of the exploration vehicle is determined based on the wheel speeds of the left and right wheels collected from the data. Determine the wheel slip ratio based on the wheel speed and vehicle speed; If the wheel slip ratio is greater than the preset slip ratio, the road surface is determined to be in a slipping state; Alternatively, the real-time driving data includes independent suspension angles and vehicle acceleration. Determining road conditions based on the real-time driving data includes: The rate of change of the included angle is determined based on the included angle of the independent suspension. The acceleration change value is determined based on the vehicle acceleration; wherein the acceleration change value is used to describe the change in vehicle acceleration; If the angle change rate is greater than a preset change rate and / or the acceleration change value is greater than a preset acceleration change value, then it is determined that there is an obstacle on the road.

2. The method according to claim 1, characterized in that, Traveling along the aforementioned route includes: Receive driving instructions sent by the target vehicle; wherein, the driving instructions are used to control the driving of the exploration vehicle; According to the driving instructions, the exploration vehicle is controlled to travel along the driving route.

3. The method according to claim 1, characterized in that, Determining the acceleration change value based on the vehicle acceleration includes: The difference between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value, or the rate of change between the acceleration at the current moment and the acceleration at the previous moment can be used as the acceleration change value.

4. A road detection device, characterized in that, For performing the road detection method according to any one of claims 1-3, comprising: The route determination module is used to receive the driving route of the scout vehicle configured and sent by the target vehicle. The scout vehicle is located at a preset distance in front of the target vehicle and is used to detect road conditions. The data acquisition module is used to collect real-time driving data of the exploration vehicle while traveling along the driving route. The road condition determination module is used to determine the road condition based on the real-time driving data and send the road condition to the target vehicle.

5. The apparatus according to claim 4, characterized in that, The data acquisition module includes a driving control unit, specifically used for: Receive driving instructions sent by the target vehicle; wherein, the driving instructions are used to control the driving of the exploration vehicle; According to the driving instructions, the exploration vehicle is controlled to travel along the driving route.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the road detection method according to any one of claims 1-3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the road detection method according to any one of claims 1-3.

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