A vehicle control method and device, vehicle and storage medium

Abstract

A vehicle control method, vehicle, device and storage medium, wherein the method comprises: acquiring a driving environment in front of a vehicle and environment information of the driving environment; acquiring a current driving state of the vehicle; controlling a negative pressure system of the vehicle according to the environment information and the current driving state, and improving stability of vehicle driving.

Description

Technical Field

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

[0002] With the development of mechanical manufacturing technology, in order to meet people's demands for vehicle performance, some vehicles have begun to be equipped with active negative pressure systems. Some Formula One race cars and performance sports cars are equipped with diffusers to provide negative pressure, that is, downward pressure, to provide greater grip and thus make the vehicle more stable at high speeds.

[0003] However, some commonly used diffusers in vehicles only provide negative pressure by arranging airflow through their mechanical structure, and do not offer active negative pressure control. Systems that achieve active negative pressure control by adjusting the diffuser's mechanical structure typically require driver intervention. As vehicles become increasingly intelligent, traditional negative pressure control is no longer sufficient to meet people's needs. Therefore, it is necessary to provide a more intelligent vehicle negative pressure control system to offer a smarter and more comfortable driving experience. Summary of the Invention

[0004] This invention provides a vehicle control method, device, vehicle, and storage medium that can more intelligently achieve active negative pressure control and shock absorption control, thereby improving vehicle driving stability and enhancing the driving experience.

[0005] In a first aspect, embodiments of the present invention provide a vehicle control method, the method comprising:

[0006] Obtain the driving environment ahead of the vehicle and the environmental information of the driving environment;

[0007] Obtain the current driving status of the vehicle;

[0008] The negative pressure system of the vehicle is controlled based on the environmental information and the current driving status.

[0009] Secondly, embodiments of the present invention provide a vehicle control device, including a memory and a processor;

[0010] The memory is used to store program instructions;

[0011] The processor executes program instructions stored in the memory. When the program instructions are executed, the processor performs the following steps:

[0012] Obtain the driving environment ahead of the vehicle and the environmental information of the driving environment;

[0013] Obtain the current driving status of the vehicle;

[0014] The negative pressure system of the vehicle is controlled based on the environmental information and the current driving status.

[0015] Thirdly, embodiments of the present invention provide a vehicle, including: a negative pressure system, a shock absorption system, and the vehicle control device described in the second aspect, wherein the negative pressure system is used to provide negative pressure, and the shock absorption system is used to provide shock absorption for the vehicle.

[0016] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described in the first aspect.

[0017] In this embodiment of the invention, the vehicle control device can actively control the negative pressure of the vehicle based on the driving environment, environmental information, and the current driving status. This embodiment of the invention can also actively control the vehicle's shock absorption, thereby improving vehicle stability, reducing the probability of traffic accidents, and enabling automated and intelligent vehicle control, providing users with a better driving experience. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0019] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic flowchart of another vehicle control method provided in an embodiment of the present invention;

[0022] Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of another vehicle control device provided in an embodiment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0026] To improve vehicle driving stability, this application provides a vehicle control method and a vehicle control device. The vehicle can be a sedan, automobile, truck, or locomotive, etc. The vehicle includes at least a negative pressure system, sensors, and a shock absorption system. The negative pressure system provides negative or positive pressure to the vehicle, and the shock absorption system absorbs vibrations to improve vehicle driving stability. The sensors acquire information about the driving environment ahead of the vehicle and the surrounding environment. The vehicle control device can be integrated into the vehicle, in one or more locations, or deployed on the vehicle, such as an in-vehicle device. Alternatively, the vehicle control device can be a device connected to the vehicle and located within the vehicle, such as a mobile phone or tablet computer.

[0027] The vehicle control method and related equipment provided in this application will be further described below.

[0028] Please see Figure 1 , Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention. Optionally, the method can be executed by a vehicle control device. Figure 1 As shown, the vehicle control method may include the following steps.

[0029] S101. Obtain the driving environment ahead of the vehicle and the environmental information of the driving environment.

[0030] Optionally, when the vehicle is detected to be in motion, or when the vehicle is detected to be traveling in a special scenario, the driving environment ahead of the vehicle and environmental information of the driving environment can be obtained. For example, the special scenario may include a specific road segment and / or a specific time period. The specific road segment may include a road segment with a high probability of traffic accidents or a road segment with a high density of pedestrians or vehicles; the specific time period may refer to a time period when the driver's attention is relatively low (such as a time period when the driver is fatigued) or a time period when the road lighting is poor (such as at night).

[0031] The driving environment can refer to roads or off-road terrain. Off-road terrain includes mountains, lawns, or off-road courses, etc. Optionally, the driving environment can include at least one of uphill, downhill, turning, potholes, or bumps. Optionally, the environmental information of the driving environment can include three-dimensional information of the driving environment. Three-dimensional information refers to all information of the driving environment in space, such as its position and shape in the Earth coordinate system and vehicle coordinate system, as well as the surface information of the driving environment surface. For example, when the driving environment is uphill or downhill, the three-dimensional information can include the slope and length of the uphill or downhill slope; when the driving environment is turning, the three-dimensional information can include the curvature, length, and angle of the turn, and may also include the radial or tangential angle of the curve; when the driving environment is potholes or bumps, the three-dimensional information can include the depth or height, shape and area, and length in the vehicle's direction of travel of the potholes or bumps. For different driving environments, the three-dimensional information can also include surface information of the driving environment surface, such as surface roughness or surface bumps.

[0032] It should be noted that when a vehicle is moving forward, "driving forward" refers to the front of the vehicle; when a vehicle is reversing, "driving forward" refers to the rear of the vehicle.

[0033] In one embodiment, step S101 includes: acquiring the driving environment in front of the vehicle and environmental information of the driving environment by using at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor installed in the vehicle.

[0034] For example, visual sensors can include monocular, binocular, or multi-view vision sensors; laser sensors can include Time-of-Flight (ToF) rangefinders and lidar; radar sensors can include ultrasonic radar and millimeter-wave radar; and attitude sensors can include GNSS position sensors, IMU (Inertial Measurement Unit), and multi-axis attitude sensors. It is understood that the sensors are not limited to the types listed above; any sensor performing the same or similar function is acceptable. The vehicle control device can utilize one of the target sensors to acquire the driving environment ahead of the vehicle and its environmental information. Alternatively, the vehicle control device can acquire the driving environment and environmental information based on data from multiple sensors; using multiple sensors can improve the accuracy of acquiring the driving environment and environmental information.

[0035] In one embodiment, step S101 includes: obtaining the driving environment in front of the vehicle and environmental information of the driving environment based on a high-precision map corresponding to the vehicle's location.

[0036] For example, such as Figure 2 As shown, Figure 2 A system architecture is provided for an embodiment of this application, the system architecture including a vehicle 10 and a server 11. Figure 2 Taking a vehicle control device integrated into vehicle 10 as an example, the execution steps of the vehicle control device are illustrated using vehicle 10 as the main component. In one embodiment, vehicle 10 sends a request to server 11 to obtain a high-precision map. The request includes the current location information of vehicle 10 and the destination address. Server 11 plans a driving route for the vehicle based on the request and sends the high-precision map corresponding to the driving route to vehicle 10. Vehicle 10 receives the high-precision map, drives according to the driving route in the high-precision map, and obtains the driving environment ahead and environmental information of the driving environment through the high-precision map.

[0037] It is understood that the high-precision map may also refer to a map pre-stored in the vehicle. In this case, the vehicle 10 does not need to access the server and can directly complete the content of the present invention based on its own stored high-precision map. For example, the vehicle 10 can obtain its own position information and / or surrounding environmental information based on at least one of a visual sensor, laser sensor, radar sensor, and attitude sensor, and match it with the high-precision map to obtain the driving environment around itself in the map.

[0038] In one embodiment, this step can be implemented through a user interface, which includes a negative pressure control option. The user can touch this option to trigger the vehicle to activate a negative pressure system for controlling the vehicle's negative pressure. Specifically, after activating the negative pressure system, the driving environment ahead of the vehicle and its environmental information are acquired to automatically control the vehicle's negative pressure. The user interface and triggering operation can also take the form of buttons, levers, dials, etc., and are not limited here.

[0039] S102. Obtain the current driving status of the vehicle.

[0040] Optionally, the vehicle's current driving status includes its driving speed and / or the negative pressure value currently provided to the vehicle by the negative pressure system. Specifically, the vehicle control device can obtain the vehicle's current driving speed through the vehicle's wheel rotation speed or through a speed sensor.

[0041] S103. Control the negative pressure system of the vehicle based on the environmental information and the current driving status.

[0042] Specifically, the negative pressure of the vehicle can be reduced or increased based on the environmental information and the current driving status.

[0043] In one embodiment, the vehicle control device stores the correspondence between target information and negative pressure control strategies, as well as multiple negative pressure control strategies. The vehicle control device can call the corresponding negative pressure control strategy according to the current target information and control the negative pressure of the vehicle through the negative pressure control strategy. The target information includes the driving environment, environmental information of the driving environment, and the driving status of the vehicle.

[0044] In one embodiment, the vehicle control device can determine whether the driving environment is a preset driving environment. If the driving environment is the preset driving environment, then step S103.

[0045] When a vehicle is traveling in a relatively flat driving environment, its stability is high, and negative pressure control is not required. However, when the vehicle is traveling in an uneven driving environment or at high speed, the instability of the driving environment or the high speed effect leads to instability, necessitating negative pressure control. Specifically, the vehicle control device determines whether the driving environment is a preset driving environment. If the driving environment is not the preset driving environment, negative pressure control is not performed. If the driving environment is the preset driving environment, step S103 is executed to control the negative pressure. The preset driving environment includes at least one of the following: uphill, downhill, turning, potholes, or bumps.

[0046] It is evident that through implementation Figure 1 The described method allows the vehicle control device to automatically control the vehicle's negative pressure based on the driving environment, environmental information, and current driving status, thereby improving vehicle driving stability, reducing the probability of traffic accidents, and enabling automated and intelligent vehicle control, providing users with a better driving experience.

[0047] Please see Figure 3 , Figure 3 This is a schematic flowchart of another vehicle control method provided by an embodiment of the present invention. Optionally, the method can be executed by a vehicle control device. The embodiments of the present invention and... Figure 1 The difference in the embodiments is that, in the embodiments of the present invention, the negative pressure system of the vehicle is controlled before reaching the preset driving environment to prepare for a smooth passage through the preset driving environment in advance. Examples of embodiments of the present invention include... Figure 3 As shown, the vehicle control method may include the following steps.

[0048] S301. Obtain the driving environment ahead of the vehicle and environmental information of the driving environment, including the distance from the vehicle's current position to the driving environment. For instructions on how to obtain the driving environment and environmental information, please refer to the description corresponding to S101. The distance from the vehicle's current position to the driving environment can be obtained through sensors or through a high-precision map.

[0049] S302. Obtain the current driving status of the vehicle. For instructions on how to obtain the current driving status, please refer to the description corresponding to S102; it will not be repeated here.

[0050] S303. Determine the first time the vehicle arrives at the driving environment based on the vehicle's speed and the distance. The environmental information includes the distance from the vehicle's current position to the driving environment, and the current driving status includes the driving speed.

[0051] The vehicle control device can determine the first moment of arrival at the driving environment based on the distance between the vehicle's current location and the driving environment, as well as the current driving speed.

[0052] Before the first time is reached, S304 controls the vehicle's negative pressure system based on environmental information and current driving status.

[0053] The environmental information also includes three-dimensional information about the driving environment. Before the first time interval is reached, the vehicle control device can control the vehicle's negative pressure system based on the environmental information and the current driving state to prepare for passing through the driving environment smoothly. For example, the vehicle control device can control the vehicle's negative pressure system two minutes before the first time interval is reached, based on the environmental information and the current driving state.

[0054] It is evident that through implementation Figure 3 The described method allows the vehicle control device to control the vehicle's negative pressure system based on environmental information and current driving status before the vehicle reaches the preset driving environment, thus preparing for a smooth passage through the environment in advance.

[0055] Please see Figure 4 , Figure 4 This is a schematic flowchart of another vehicle control method provided by an embodiment of the present invention. Optionally, the method can be executed by a vehicle control device. The embodiments of the present invention and... Figure 3 The difference in the embodiments lies in that the embodiments of the present invention control the vehicle's negative pressure system and shock absorption system through environmental information and current driving status, thereby further improving the vehicle's driving stability. Examples of embodiments of the present invention include... Figure 4 As shown, the vehicle control method may include the following steps.

[0056] S401. Obtain the driving environment ahead of the vehicle and environmental information of the driving environment, including the distance from the vehicle's current position to the driving environment. For instructions on how to obtain the driving environment and environmental information, please refer to the corresponding description in S301; it will not be repeated here.

[0057] S402. Obtain the current driving status of the vehicle, including its driving speed. For instructions on how to obtain the current driving status, please refer to the description corresponding to S102; details will not be repeated here.

[0058] S403. Determine the first time the vehicle arrives at the driving environment based on the vehicle's speed and the distance.

[0059] S404. Before the first time is reached, control the vehicle's negative pressure system based on the three-dimensional information of the driving environment and the current driving status.

[0060] In one embodiment, when the driving environment is uphill, step S404 includes: the vehicle control device can control the negative pressure system to reduce the negative pressure on the vehicle.

[0061] When the driving environment is uphill, the vehicle's speed is relatively low, resulting in relatively high stability. This means that when the negative pressure value of the vehicle's negative pressure system is low, the vehicle can smoothly traverse the uphill section. Therefore, the vehicle control device can control the negative pressure system to reduce the negative pressure experienced by the vehicle.

[0062] In one embodiment, the environmental information includes the slope and length of the uphill slope, and the current driving status includes the vehicle's speed.

[0063] Generally, the steeper the uphill slope and / or the longer the slope, the worse the vehicle's stability when traversing such an incline. Therefore, the steeper the uphill slope and / or the longer the slope, the smaller the reduction in negative pressure value can be, allowing the vehicle to maintain a closer contact with the slope and improve stability. Conversely, the gentler the uphill slope and / or the shorter the slope, the better the vehicle's stability when traversing such an incline, thus requiring less negative pressure value to control stability, and allowing for a greater reduction in negative pressure value. Similarly, higher vehicle speeds are more prone to rollover; therefore, higher vehicle speeds require less negative pressure value to maintain a closer contact with the slope and improve stability. Lower vehicle speeds generally result in better vehicle stability, thus requiring less negative pressure value to control stability, and allowing for a greater reduction in negative pressure value.

[0064] In one embodiment, the driving environment is downhill. The three-dimensional information includes at least one of the following: slope and slope length.

[0065] In one embodiment, the current driving state includes the vehicle's speed.

[0066] In one embodiment, the driving environment is downhill, and step S404 includes: controlling the negative pressure system to increase the negative pressure on the vehicle.

[0067] When the driving environment is downhill, the vehicle's speed is relatively high, resulting in relatively low stability and a higher risk of rollover. Therefore, a larger negative pressure value is needed to increase the vehicle's stability when traversing a downhill slope. Thus, the vehicle control device can, based on environmental information and the current driving state, control the negative pressure system to increase the negative pressure on the vehicle when the driving environment is downhill.

[0068] Generally, the steeper the downhill slope and / or the longer the slope, the worse the vehicle's stability is. Therefore, a greater increase in negative pressure is needed to keep the vehicle more firmly on the slope and improve stability. Conversely, the gentler the downhill slope and / or the shorter the slope, the better the vehicle's stability is, requiring less negative pressure to control stability, and thus a smaller increase in negative pressure is needed. Similarly, higher vehicle speeds increase the risk of rollover, requiring a greater increase in negative pressure to keep the vehicle more firmly on the slope and improve stability. Conversely, lower vehicle speeds generally result in better vehicle stability, requiring less negative pressure to control stability, and thus a smaller increase in negative pressure is needed.

[0069] In one embodiment, the driving environment is a turning direction, and the three-dimensional information includes at least one of the following: the curvature of the turn, the length of the turn, and the angle of the turn.

[0070] In one embodiment, step S404 includes: the vehicle control device can acquire a first direction of the turn in which the vehicle is traveling on the turn; and control the negative pressure system to increase the negative pressure on the vehicle in the first direction.

[0071] When the driving environment is turning, the vehicle's driving direction is prone to deviate from the turning direction. Therefore, based on the driving environment, the environmental information, and the current driving state, the vehicle control device can control the negative pressure system to increase the negative pressure on the vehicle in the first direction, that is, increase the negative pressure value of the vehicle in the turning direction, so as to improve the stability of the vehicle driving.

[0072] Generally, the greater the curvature and / or length and / or angle of a turn, the worse the vehicle's stability when navigating such a turn. Therefore, a greater increase in negative pressure is needed to keep the vehicle closer to the inside of the turn and improve stability. Conversely, the smaller the curvature and / or length and / or angle of a turn, the better the vehicle's stability when navigating such a turn. Therefore, a smaller increase in negative pressure is needed to control vehicle stability. Similarly, the higher the vehicle speed, the more likely it is to veer off course. Therefore, a larger increase in negative pressure is needed to keep the vehicle closer to the inside of the turn and improve stability. Conversely, the lower the vehicle speed, the better its inherent stability. Therefore, a smaller increase in negative pressure is needed to control vehicle stability.

[0073] In one embodiment, the driving environment is a pothole, and the three-dimensional information includes at least one of the following: the depth of the pothole and the length of the pothole in the direction of vehicle travel.

[0074] In one embodiment, the driving environment is a pothole, and step S404 includes: controlling the negative pressure system to reduce the negative pressure on the vehicle.

[0075] When the driving environment is a pothole, the vehicle wheels are prone to getting stuck in the pothole. Therefore, in order to prevent the vehicle wheels from getting stuck in the pothole and to enable the vehicle to pass through the pothole smoothly, the vehicle control device can control the negative pressure system to reduce the negative pressure on the vehicle based on the environmental information and the current driving state.

[0076] Generally, the deeper the pothole and / or the longer its length in the direction of vehicle travel, the more difficult it is for the vehicle to traverse it, and therefore, the greater the reduction in negative pressure. Conversely, the shallower the pothole and / or the shorter its length in the direction of vehicle travel, the easier it is for the vehicle to traverse it, and the smaller the reduction in negative pressure, allowing the vehicle to pass through the pothole smoothly. Generally, the higher the vehicle speed, the greater the risk of rollover; therefore, the smaller the reduction in negative pressure, the closer the vehicle stays to the ground, improving stability. Conversely, the lower the vehicle speed, the better its inherent stability, thus requiring less positive pressure to control stability, and resulting in a greater reduction in negative pressure.

[0077] In one embodiment, the driving environment is a protrusion, and the three-dimensional information includes at least one of the following: the height of the protrusion and the length of the protrusion in the vehicle's driving direction.

[0078] In one embodiment, the driving environment is a raised area, and step S404 includes: controlling the negative pressure system includes: controlling the negative pressure system to increase the negative pressure on the vehicle.

[0079] When the driving environment is uneven, it is more difficult for the vehicle to pass over the unevenness and the vehicle's driving stability is poor. Therefore, the vehicle control device can control the negative pressure system to increase the negative pressure on the vehicle based on the environmental information and the current driving state.

[0080] Generally, the higher the height of a protrusion and / or the longer its length in the vehicle's direction of travel, the worse the vehicle's stability when passing over such a protrusion. Therefore, the greater the decrease in negative pressure, the closer the vehicle stays with the protrusion, thus improving stability. Conversely, the lower the height of a protrusion and / or the shorter its length in the vehicle's direction of travel, the better the vehicle's stability when passing over such a protrusion. Therefore, a smaller decrease in negative pressure is needed to control vehicle stability. Generally, the higher the vehicle's speed, the more prone it is to rollover. Therefore, a larger decrease in negative pressure is needed to keep the vehicle closer to the protrusion, improving stability. Conversely, the lower the vehicle's speed, the better its inherent stability. Therefore, a smaller decrease in negative pressure is needed to control vehicle stability.

[0081] S405. Before the first time is reached, control the shock absorption system based on the three-dimensional information of the driving environment and the current driving status.

[0082] It should be noted that step S405 is optional, meaning that only the vehicle's negative pressure system can be controlled based on the three-dimensional information of the driving environment and the current driving state, while the shock absorption system is not controlled based on the three-dimensional information of the driving environment and the current driving state.

[0083] In one embodiment, controlling the shock absorption system includes: the vehicle control device can adjust the first shock absorption assembly to raise the vehicle body and / or adjust the second shock absorption assembly to lower the vehicle body before reaching the uphill slope; wherein the first shock absorption assembly is a front shock absorption assembly and the second shock absorption assembly is a rear shock absorption assembly.

[0084] Before the vehicle reaches the uphill section, the vehicle control device can raise the front shock absorber assembly and lower the rear shock absorber assembly to further improve the vehicle's stability.

[0085] In one embodiment, when the vehicle is going uphill, the vehicle control unit can increase the negative pressure value of the vehicle's negative pressure system and increase the damping of the shock absorption system so that the vehicle control unit can smoothly pass through the uphill point and avoid the vehicle bouncing.

[0086] In one embodiment, controlling the shock absorption system includes: adjusting the first shock absorber assembly to lower the vehicle body and / or adjusting the second shock absorber assembly to raise the vehicle body before reaching the downhill slope; wherein the first shock absorber assembly is a front shock absorber assembly and the second shock absorber assembly is a rear shock absorber assembly. Both the front and rear shock absorber assemblies may include one, two, or more shock absorber components.

[0087] Before the vehicle reaches the downhill slope, the vehicle control device can lower the front shock absorber and raise the rear shock absorber to further improve the vehicle's stability.

[0088] In one embodiment, when the vehicle is going downhill, the vehicle control unit can reduce the negative pressure value of the vehicle's negative pressure system and reduce the damping of the shock absorption system so that the vehicle control unit can smoothly pass through the downhill point and avoid vehicle bouncing.

[0089] In one embodiment, when the driving environment is a turn, the vehicle control device can obtain the first direction in which the vehicle is turning on the turn; reduce the damping of the first shock absorber assembly, and / or increase the damping of the second shock absorber assembly; wherein, the first shock absorber assembly is the shock absorber assembly of the vehicle in the first direction, and the second shock absorber assembly is the shock absorber assembly of the vehicle away from the first direction.

[0090] For example, when the vehicle turns left, the vehicle control unit can determine that the first direction of the turn is left, thereby reducing the damping of the left-side shock absorber and / or increasing the damping of the shock absorber opposite to the left side. In this case, the first shock absorber can be one, two, or more shock absorbers on the left side of the vehicle, and the second shock absorber can be one, two, or more shock absorbers on the right side of the vehicle.

[0091] In one embodiment, when the driving environment is turning, the vehicle control device can obtain the vehicle's driving speed through wheel speed sensors. When the driving speed is greater than a preset speed threshold, the vehicle control device can apply intermittent braking to the wheels of the vehicle in the first direction to prevent the vehicle from overspeeding in the first direction and causing the vehicle to roll over, thereby improving the vehicle's driving stability.

[0092] It is evident that through implementation Figure 4 The described method allows the vehicle control device to control the vehicle's negative pressure control system and shock absorption system based on environmental information and current driving status, so that the vehicle can smoothly pass through various driving environments, improve vehicle driving stability, and bring users a better driving experience.

[0093] Please see Figure 5 , Figure 5This is a schematic diagram of a vehicle control device provided in an embodiment of the present invention. Specifically, the vehicle control device includes: a processor 501, a memory 502, and a negative pressure control system 503.

[0094] The negative pressure control system 503 is used to control the vehicle's negative pressure system to provide negative pressure to the vehicle.

[0095] The memory 502 may include volatile memory; the memory 502 may also include non-volatile memory; the memory 502 may also include a combination of the above types of memory. The processor 501 may be a central processing unit (CPU). The processor 501 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

[0096] Optionally, the vehicle control device may further include a communication interface, wherein the communication interface is used to send information to the server, such as sending a request to the server to obtain a high-precision map.

[0097] Please see Figure 6 , Figure 6 This is a schematic diagram of another vehicle control device provided in an embodiment of the present invention. Specifically, the vehicle control device includes: a processor 601, a memory 602, and a negative pressure control system 603. The vehicle control device may also include a shock absorption control system 604, which is used to control the vehicle's shock absorption system to perform shock absorption for the vehicle.

[0098] In other embodiments, the vehicle control device may further include sensors (not shown in the figure) in addition to the foregoing, for acquiring the driving environment in front of the vehicle and environmental information of the driving environment. The sensors may include at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor, which have been specifically described above and will not be repeated here.

[0099] Optionally, in the above embodiments, the memory is used to store program instructions. The processor can call the program instructions stored in the memory to perform the following steps:

[0100] Obtain the driving environment ahead of the vehicle and the environmental information of the driving environment;

[0101] Obtain the current driving status of the vehicle;

[0102] The negative pressure system of the vehicle is controlled based on the environmental information and the current driving status.

[0103] Optionally, the processor may invoke program instructions stored in memory to perform the following steps:

[0104] The vehicle's shock absorption system is controlled based on the environmental information and the current driving status.

[0105] Optionally, the processor may invoke program instructions stored in memory to perform the following steps:

[0106] Based on the environmental information and the current driving status, control the vehicle's shock absorption system;

[0107] The shock absorption system includes a first shock absorption component and a second shock absorption component.

[0108] Optionally, the processor may invoke program instructions stored in memory to perform the following steps:

[0109] Determine whether the driving environment is a preset driving environment;

[0110] If the driving environment is the preset driving environment, then the step of controlling the negative pressure system of the vehicle based on the environmental information and the current driving state is executed.

[0111] Optionally, the processor may invoke program instructions stored in memory to perform the following steps:

[0112] The first time the vehicle arrives at the driving environment is determined based on the vehicle's speed and the distance.

[0113] Before the first time is reached, the negative pressure system is controlled based on the environmental information and the current driving status.

[0114] Optionally, if the driving environment is uphill, the processor can call program instructions stored in the memory to execute the following steps:

[0115] Based on the three-dimensional information of the driving environment and the driving speed, the negative pressure system is controlled to adjust the negative pressure on the vehicle, and / or the vehicle's shock absorption system is controlled to adjust the vehicle's body height.

[0116] Optionally, the driving environment is uphill.

[0117] Optionally, the three-dimensional information includes at least one of the following: slope and slope length.

[0118] Optionally, if the driving environment is uphill, the processor can call program instructions stored in the memory to execute the following steps:

[0119] The negative pressure system is controlled to reduce the negative pressure on the vehicle.

[0120] Optionally, if the driving environment is uphill, the processor can call program instructions stored in the memory to execute the following steps:

[0121] Before reaching the uphill section, adjust the first shock absorber assembly to raise the vehicle body, and / or adjust the second shock absorber assembly to lower the vehicle body;

[0122] The first shock absorber is a front shock absorber, and the second shock absorber is a rear shock absorber.

[0123] Optionally, the driving environment is downhill.

[0124] Optionally, the three-dimensional information includes at least one of the following: slope and slope length.

[0125] Optionally, if the driving environment is downhill, the processor can call program instructions stored in the memory to execute the following steps:

[0126] The negative pressure system is controlled to increase the negative pressure on the vehicle.

[0127] Optionally, if the driving environment is downhill, the processor can call program instructions stored in the memory to execute the following steps:

[0128] Before reaching the downhill slope, adjust the first shock absorber assembly to lower the vehicle body, and / or adjust the second shock absorber assembly to raise the vehicle body;

[0129] The first shock absorber is a front shock absorber, and the second shock absorber is a rear shock absorber.

[0130] Optionally, the driving environment is a turning direction.

[0131] Optionally, the three-dimensional information includes at least one of the following: the curvature of the turn, the length of the turn, and the angle of the turn.

[0132] Optionally, if the driving environment is a turning direction, the processor can call program instructions stored in the memory to execute the following steps:

[0133] Obtain the first direction in which the vehicle turns while traveling on the turn;

[0134] The negative pressure system is controlled to increase the negative pressure on the vehicle in the first direction.

[0135] Optionally, if the driving environment is a turning direction, the processor can call program instructions stored in the memory to execute the following steps:

[0136] Obtain the first direction in which the vehicle turns while traveling on the turn;

[0137] Reduce the damping of the first shock absorber assembly, and / or increase the damping of the second shock absorber assembly;

[0138] Wherein, the first shock absorber is the shock absorber of the vehicle in the first direction, and the second shock absorber is the shock absorber of the vehicle away from the first direction.

[0139] Optionally, the driving environment is a pothole.

[0140] Optionally, the three-dimensional information includes at least one of the following: the depth of the pit and the length of the pit in the direction of vehicle travel.

[0141] Optionally, if the driving environment is a pothole, the processor can call program instructions stored in the memory to perform the following steps:

[0142] The negative pressure system is controlled to reduce the negative pressure on the vehicle.

[0143] Optionally, the driving environment is a raised area.

[0144] Optionally, the three-dimensional information includes at least one of the following: the height of the protrusion and the length of the protrusion in the direction of vehicle travel.

[0145] Optionally, the driving environment is a raised area, and the processor can call program instructions stored in the memory to perform the following steps:

[0146] The negative pressure system is controlled to increase the negative pressure on the vehicle.

[0147] In an embodiment of the present invention, a vehicle is also provided, the vehicle including a negative pressure system, a shock absorption system and a vehicle control device as described in the foregoing embodiments, wherein the negative pressure system is used to provide negative pressure to the vehicle, the shock absorption system is used to absorb shocks for the vehicle, and the vehicle control device is used to control the negative pressure system, and in some embodiments, it is also used to control the shock absorption system.

[0148] In an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program that, when executed by a processor, implements the present invention. Figures 2-4 The vehicle control method described in the corresponding embodiment can also be implemented. Figure 5 The vehicle control device described in the embodiments of the invention will not be further elaborated here.

[0149] The computer-readable storage medium can be an internal storage unit of the vehicle control device described in any of the foregoing embodiments, such as the device's hard drive or memory. The computer-readable storage medium can also be an external storage device of the vehicle control device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the device. Further, the computer-readable storage medium can include both internal and external storage units of the device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0150] An embodiment of the present invention also provides a vehicle, the vehicle including a negative pressure system and... Figure 5 The vehicle control device includes a negative pressure system for providing negative pressure to the vehicle.

[0151] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0152] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain the current driving status of the vehicle; Obtain environmental information ahead of the vehicle; Based on the environmental information, determine whether the driving environment ahead of the vehicle includes the preset driving environment; If the driving environment ahead of the vehicle includes the preset driving environment, then the vehicle's shock absorption system is controlled based on the environmental information and the current driving state. The shock absorption system controlling the vehicle includes one or more of the following operations: If the preset driving environment includes an uphill slope, then the front shock absorber assembly of the vehicle is adjusted to be raised, and / or the rear shock absorber assembly of the vehicle is adjusted to be lowered. If the preset driving environment includes a downhill slope, then the front shock absorber assembly of the vehicle is adjusted to be lowered, and / or the rear shock absorber assembly of the vehicle is adjusted to be raised. If the preset driving environment includes turning, the damping of the shock absorber assembly on the side of the turning direction is reduced, and / or the damping of the shock absorber assembly on the opposite side of the turning direction is increased.

2. The method according to claim 1, characterized in that, The shock absorption system that controls the vehicle includes: Control the vehicle to adjust its shock absorption system before reaching the preset driving environment.

3. The method according to claim 1, characterized in that, in, The environmental information includes the distance from the vehicle's current location to the driving environment, and the current driving status includes the driving speed.

4. The method according to claim 1, characterized in that, The step of obtaining environmental information ahead of the vehicle includes: The vehicle obtains environmental information ahead of it through its onboard sensors, and / or obtains environmental information ahead of it based on a high-precision map corresponding to the vehicle's location.

5. The method according to claim 1, characterized in that, The method further includes: If the driving environment ahead of the vehicle includes the preset driving environment, the negative pressure system of the vehicle is controlled according to the environmental information and the current driving state.

6. The method according to claim 5, characterized in that, The negative pressure system for controlling the vehicle includes: The vehicle's negative pressure system is adjusted before it reaches the preset driving environment.

7. The method according to claim 5, characterized in that, The negative pressure system for controlling the vehicle includes one or more of the following operations: If the preset driving environment includes uphill and / or potholes, the negative pressure system is controlled to reduce the negative pressure on the vehicle. If the preset driving environment includes downhill and / or bumps, the negative pressure system is controlled to increase the negative pressure on the vehicle. If the preset driving environment includes turning, the negative pressure system is controlled to increase the negative pressure on the side of the vehicle facing the turning direction.

8. The method according to any one of claims 5 to 7, characterized in that, The control range of the shock absorption system or the control range of the negative pressure system is determined based on the environmental information.

9. The method according to claim 8, characterized in that, in, The environmental information includes at least one of the following environmental parameters: slope, slope length, depth or height of a pit or bump, shape and area of ​​a pit or bump, length of a pit or bump in the direction of vehicle travel, turning radius, turning length, turning angle, and roughness of the environmental surface.

10. A vehicle control device, characterized in that, include: Shock absorption control system, memory, and processor; The shock absorption control system is used to control the vehicle's shock absorption system to provide shock absorption for the vehicle; The memory is used to store program instructions; The processor executes program instructions stored in the memory, and when the program instructions are executed, the processor is used to perform the method as described in any one of claims 1 to 9.

11. A vehicle, characterized in that, The vehicle includes: Vehicle body; A shock absorption system, the shock absorption system being used to absorb shocks for the vehicle; A vehicle control device, the vehicle control device including a processor and a memory for storing processor-executable program instructions, wherein the processor, when invoking the executable program instructions, implements the operation of the method according to any one of claims 1 to 9.

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