Vehicle control method and device, vehicle and storage medium

Abstract

The application discloses a vehicle control method and device, a vehicle and a storage medium. The vehicle control method comprises the following steps: acquiring a first type of image of a front marker and a second type of image of a rear marker through an image capturing device; analyzing the first type of image and the second type of image respectively to obtain first type of ground clearance information corresponding to the front marker and second type of ground clearance information corresponding to the rear marker; and adjusting the suspension of the vehicle according to the first type of ground clearance information and the second type of ground clearance information. Based on the application, the vibration can be effectively filtered when the vehicle passes through a regular road fluctuation, and the stability of the vehicle is improved.

Description

Technical Field

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

[0002] Nowadays, vehicles are becoming increasingly electronic and intelligent, with many vehicles equipped with dashcams, reversing cameras, front / rear cameras, and other image capture devices. The image information obtained by these devices can be used to achieve various vehicle control functions.

[0003] For example, to address potential road bumps, vehicles can use front / rear cameras to identify road undulations a certain distance ahead / behind, and then adjust the vehicle's suspension to filter out vibrations caused by these undulations, thus improving vehicle stability. However, roads may have regular road undulations such as speed bumps. Existing methods can only make simple suspension adjustments a short distance in advance, and cannot effectively filter vibrations when the vehicle passes over these regular road undulations. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle control method, device, vehicle, and storage medium, which aims to solve or improve the problem that vehicles cannot effectively filter vibrations when passing over regular road surface undulations.

[0005] To achieve the above objectives, this application provides a vehicle control method, wherein the vehicle is equipped with an image capture device, a front marker, and a rear marker, and the vehicle control method includes: The image capturing device acquires a first type of image of the front marker and a second type of image of the rear marker. The first type of image and the second type of image are analyzed respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; The vehicle's suspension is adjusted based on the first type of ground clearance information and the second type of ground clearance information.

[0006] Optionally, the step of analyzing the first type of image and the second type of image respectively to obtain the first type of ground clearance information corresponding to the front marker and the second type of ground clearance information corresponding to the rear marker includes: The first type of image and the second type of image are analyzed respectively to obtain the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker; Based on the first type of actual ground clearance and the first type of reference ground clearance of the front marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the first type of standardized ground clearance corresponding to the front marker is calculated. Based on the second type of actual ground clearance and the second type of reference ground clearance of the rear marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the second type of standardized ground clearance corresponding to the rear marker is calculated.

[0007] Optionally, the step of adjusting the vehicle's suspension based on the first type of ground clearance information and the second type of ground clearance information includes: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, the front and rear height difference information of the vehicle is obtained by analysis; The vehicle's suspension is adjusted based on the height difference between the front and rear sections.

[0008] Optionally, the step of analyzing and obtaining the front-rear height difference information of the vehicle based on the first type of standardized ground clearance and the second type of standardized ground clearance includes: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, determine the ground clearance points corresponding to the front marker and the rear marker respectively; Based on the ground clearance points corresponding to the front and rear markers, the vehicle body attitude plane is constructed. Determine whether the vehicle body attitude plane is level with the pre-constructed horizontal plane; If not, the vehicle body attitude plane is analyzed to obtain the height difference information between the front and rear of the vehicle.

[0009] Optionally, the vehicle's suspension includes a front suspension and a rear suspension, and the step of adjusting the vehicle's suspension based on the front-rear height difference information includes: If the vehicle is traveling in a forward direction, the rear suspension is adjusted based on the front-to-rear height difference information. If the vehicle is traveling in a rearward direction, the front suspension is adjusted based on the height difference information between the front and rear sections.

[0010] Optionally, if the vehicle's direction of travel is forward, the step of adjusting the rear suspension based on the front-rear height difference information includes: If the vehicle is traveling forward, and the number of effective changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold, then the rear suspension is adjusted based on the front and rear height difference information. If the vehicle is traveling in a rearward direction, the step of adjusting the front suspension based on the front-rear height difference information includes: If the vehicle is traveling in a rearward direction, and the number of effective changes in the second type of standardized ground clearance within a preset time range exceeds the preset threshold, then the front suspension is adjusted based on the front-rear height difference information.

[0011] Optionally, the vehicle control method further includes: Obtain the current tilt angle of the vehicle, and the reference tilt angle when unloaded; The vehicle body attitude offset is calculated based on the current tilt angle and the reference tilt angle. The first type of standardized ground clearance, the second type of standardized ground clearance, and the vehicle body attitude offset are matched with the vehicle weight data items in the preset vehicle weight calibration file. Based on the successfully matched vehicle weight data, the current weight of the vehicle is determined; If the current weight of the vehicle exceeds a preset weight threshold, an overweight alarm will be sent.

[0012] This application also proposes a vehicle control device, wherein the vehicle is equipped with an image capture device, a front marker, and a rear marker, and the vehicle control device includes: The acquisition module is used to acquire a first type of image of the front marker and a second type of image of the rear marker through the image capture device; The analysis module is used to analyze the first type of image and the second type of image respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; The adjustment module is used to adjust the suspension of the vehicle based on the first type of ground clearance information and the second type of ground clearance information.

[0013] This application also proposes a vehicle, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method described above.

[0014] This application also proposes a computer-readable storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0015] The vehicle control method, device, vehicle, and storage medium proposed in this application acquire a first type of image of the front marker and a second type of image of the rear marker using an image capture device. The first and second type images are analyzed to obtain first type of ground clearance information corresponding to the front marker and second type of ground clearance information corresponding to the rear marker. The vehicle suspension is adjusted based on these ground clearance information. Based on this solution, when a vehicle traverses regularly undulating road surfaces, its ground clearance dynamically changes. By acquiring images of the front and rear markers using an image capture device and analyzing these images to obtain corresponding ground clearance information, the system effectively reflects the height changes of the front and rear of the vehicle. This allows for adaptive adjustment of the vehicle suspension based on the ground clearance information. Thus, vibrations can be effectively filtered when the vehicle traverses regularly undulating road surfaces, improving vehicle stability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the functional modules of the vehicle to which the vehicle control device of this application belongs; Figure 2 This is a schematic flowchart of a first exemplary embodiment of the vehicle control method of this application; Figure 3 This is a schematic diagram of the hardware topology involved in the vehicle control method of this application; Figure 4a This is one of the schematic diagrams illustrating the first type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 4b This is the second schematic diagram of the first type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 4c This is the third schematic diagram of the first type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 5a This is one of the schematic diagrams illustrating the second type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 5b This is the second schematic diagram of the second type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 5c This is the third schematic diagram of the second type of actual ground clearance acquisition involved in the vehicle control method of this application; Figure 6 This is a schematic diagram of the second exemplary embodiment of the vehicle control method of this application; Figure 7 This is a schematic diagram illustrating the standardized ground clearance acquisition method involved in the vehicle control method of this application; Figure 8 This is a schematic flowchart of a third exemplary embodiment of the vehicle control method of this application; Figure 9 This is a schematic flowchart of the fourth exemplary embodiment of the vehicle control method of this application; Figure 10 This is a planar schematic diagram of the vehicle body attitude involved in the vehicle control method of this application; Figure 11 This is a schematic flowchart of the fifth exemplary embodiment of the vehicle control method of this application; Figure 12 This is a schematic diagram illustrating the vibration filtering effect of regular road surface undulations involved in the vehicle control method of this application. Figure 13 This is a schematic flowchart of the sixth exemplary embodiment of the vehicle control method of this application; Figure 14 This is a schematic diagram of the suspension adjustment process involved in the vehicle control method of this application; Figure 15 This is a schematic flowchart of the seventh exemplary embodiment of the vehicle control method of this application; Figure 16 This is a schematic diagram of the vehicle weight measurement process involved in the vehicle control method of this application.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0019] The main solution of this application embodiment is as follows: Firstly, an image of the front marker and a secondly, an image of the rear marker are acquired using the image capture device. The first and second images are analyzed to obtain first-type ground clearance information corresponding to the front marker and second-type ground clearance information corresponding to the rear marker. The vehicle suspension is adjusted based on the first-type and second-type ground clearance information. Based on this solution, when a vehicle travels over regular road undulations, its ground clearance changes dynamically. By acquiring images of the front and rear markers using the image capture device and analyzing these images to obtain the corresponding ground clearance information, the height changes of the front and rear of the vehicle are effectively reflected. This allows for adaptive adjustment of the vehicle suspension based on the ground clearance information. Thus, vibrations can be effectively filtered when the vehicle travels over regular road undulations, improving vehicle stability.

[0020] Specifically, refer to Figure 1 , Figure 1This is a schematic diagram of the functional modules of the vehicle to which the vehicle control device of this application belongs. The vehicle control device can be a device that is independent of the vehicle and capable of controlling the vehicle. It can be carried on the vehicle in the form of hardware or software. The vehicle is equipped with an image capture device, a front marker, and a rear marker.

[0021] In this embodiment, the vehicle to which the vehicle control device belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

[0022] The memory 130 stores the operating system and vehicle control program. The vehicle control device can store information such as the first type of image of the front marker, the second type of image of the rear marker, the first type of ground clearance information corresponding to the front marker, and the second type of ground clearance information corresponding to the rear marker in the memory 130. The output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, and a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140.

[0023] When the vehicle control program in memory 130 is executed by the processor, it performs the following steps: The image capturing device acquires a first type of image of the front marker and a second type of image of the rear marker. The first type of image and the second type of image are analyzed respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; The vehicle's suspension is adjusted based on the first type of ground clearance information and the second type of ground clearance information.

[0024] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: The first type of image and the second type of image are analyzed respectively to obtain the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker; Based on the first type of actual ground clearance and the first type of reference ground clearance of the front marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the first type of standardized ground clearance corresponding to the front marker is calculated. Based on the second type of actual ground clearance and the second type of reference ground clearance of the rear marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the second type of standardized ground clearance corresponding to the rear marker is calculated.

[0025] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, the front and rear height difference information of the vehicle is obtained by analysis; The vehicle's suspension is adjusted based on the height difference between the front and rear sections.

[0026] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, determine the ground clearance points corresponding to the front marker and the rear marker respectively; Based on the ground clearance points corresponding to the front and rear markers, the vehicle body attitude plane is constructed. Determine whether the vehicle body attitude plane is level with the pre-constructed horizontal plane; If not, the vehicle body attitude plane is analyzed to obtain the height difference information between the front and rear of the vehicle.

[0027] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: If the vehicle is traveling in a forward direction, the rear suspension is adjusted based on the front-to-rear height difference information. If the vehicle is traveling in a rearward direction, the front suspension is adjusted based on the height difference information between the front and rear sections.

[0028] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: If the vehicle is traveling forward, and the number of effective changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold, then the rear suspension is adjusted based on the front and rear height difference information. If the vehicle is traveling in a rearward direction, and the number of effective changes in the second type of standardized ground clearance within a preset time range exceeds the preset threshold, then the front suspension is adjusted based on the front-rear height difference information.

[0029] Furthermore, when the vehicle control program in memory 130 is executed by the processor, it also performs the following steps: Obtain the current tilt angle of the vehicle, and the reference tilt angle when unloaded; The vehicle body attitude offset is calculated based on the current tilt angle and the reference tilt angle. The first type of standardized ground clearance, the second type of standardized ground clearance, and the vehicle body attitude offset are matched with the vehicle weight data items in the preset vehicle weight calibration file. Based on the successfully matched vehicle weight data, the current weight of the vehicle is determined; If the current weight of the vehicle exceeds a preset weight threshold, an overweight alarm will be sent.

[0030] This embodiment, through the above-described scheme, specifically acquires a first type of image of the front marker and a second type of image of the rear marker using the image capture device; analyzes the first type of image and the second type of image respectively to obtain first type of ground clearance information corresponding to the front marker and second type of ground clearance information corresponding to the rear marker; and adjusts the vehicle's suspension based on the first type of ground clearance information and the second type of ground clearance information. In this embodiment, when the vehicle travels over regular road undulations, its ground clearance changes dynamically. By acquiring images of the front and rear markers respectively through the image capture device and obtaining the corresponding ground clearance information based on image analysis, the vehicle's front and rear height changes are effectively reflected, allowing for adaptive adjustment of the vehicle's suspension based on the ground clearance information. This effectively filters vibrations and improves vehicle stability when the vehicle travels over regular road undulations.

[0031] Reference Figure 2 The first embodiment of the vehicle control method of this application provides a flowchart, wherein the vehicle is equipped with an image capture device, a front marker, and a rear marker, and the vehicle control method includes: Step S10: Acquire a first type of image of the front marker and a second type of image of the rear marker using the image capture device.

[0032] Specifically, current vehicle control methods for suspension, when dealing with road undulations, require pre-capturing road surface images at a certain distance ahead of the vehicle using image capture equipment. Based on these images, road conditions are identified, and simple suspension adjustment strategies are implemented to adjust the vehicle's suspension and filter vibrations caused by road undulations, thus improving vehicle stability. However, when a vehicle traverses regularly undulating surfaces, the existing vehicle control methods cannot determine the road conditions below, making it difficult to effectively filter vibrations when traversing such surfaces. Furthermore, current vehicle control methods generally employ dedicated image capture equipment, such as dedicated binocular cameras, to identify road conditions at a certain distance ahead of the vehicle. There is no solution that integrates multiple image capture devices, such as the vehicle's dashcam, left electronic exterior mirror unit, right electronic exterior mirror unit, front camera unit, and rear camera unit, to control the vehicle's suspension.

[0033] To address the aforementioned problems, this embodiment proposes a vehicle control method, combining... Figure 3In this embodiment, the executing entity can be a vehicle control system. The vehicle control system includes the vehicle's image capture device, which can be a left electronic exterior rearview mirror unit, a right electronic exterior rearview mirror unit, a front camera unit, a rear camera unit, a panoramic camera unit, a surround-view camera unit, a driving recorder, etc. In addition, the vehicle control system also includes a central domain control unit (including a gyroscope), a power management unit, a headlight management unit, a suspension control unit, and a display unit.

[0034] The vehicle control system's image capture device supports acquiring images of the vehicle from all directions; the central domain control unit coordinates the work of each unit, analyzes the images acquired by the image capture device, and its built-in gyroscope is used to acquire vehicle tilt data and construct a horizontal plane; the power management unit is responsible for the power supply of the entire vehicle control system; the headlight management unit is responsible for vehicle headlight control and may include reflective strips as markers (e.g., placed on wheel arches), which can be recognized by the image capture device in both day and night conditions; the suspension control unit, with the assistance of the central domain control unit, adjusts the front and rear suspensions of the vehicle to ensure the vehicle rides as smoothly as possible; and the display unit is responsible for displaying the estimated vehicle weight, suspension control amplitude during vehicle movement, etc.

[0035] The front body of the vehicle is equipped with a front marking, and the rear body is equipped with a rear marking. The markings have the following characteristics: (1) The markings should be designed to be easily identifiable in the images acquired by the image capture device. Therefore, the markings may include special shapes, colors, textures or other visual features to help the image capture device identify them; (2) The markings are usually fixed in specific positions on the vehicle to ensure that their position and angle are stable relative to the vehicle; (3) The markings usually need to be durable so as to maintain visibility in various weather conditions; (4) Some markings may be reflective so as to reflect headlights or other light sources in low light or night conditions to improve visibility. Based on the above characteristics of the markings, the front markings or rear markings can be selected as reflective strips, stickers, color blocks, patterns, protrusions, signs, etc. on the vehicle body, or as wheel arches, headlights, etc. on the vehicle body.

[0036] An image capture device can acquire a first type of image of the front marker and a second type of image of the rear marker. It is understood that the first type of image includes the image of the front marker, and the second type of image includes the image of the rear marker.

[0037] Step S20: Analyze the first type of image and the second type of image respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker.

[0038] Specifically, the first and second types of images can be analyzed and processed separately to attempt to identify and locate the front and rear markers. Once the front and rear markers are identified and located, the positions of the front marker in the first type of image and the rear marker in the second type of image can be further measured. At the same time, the parameters and calibration information of the image capture device are used to estimate the distances of the front and rear markers relative to the ground, thus obtaining the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker.

[0039] Referring to Figure 4a~ Figure 4c The process of obtaining the first type of actual ground clearance is explained as follows: The vehicle is equipped with a front-facing camera unit. Based on the installation position of the front-facing camera unit, a front marker located on the front of the vehicle body is identified. For example, referring to Figure 4a, using the vehicle's headlights as the front marker, the dashcam acquires the first type of image of the vehicle's headlights during operation. This first type of image is processed to attempt to identify and locate the vehicle's headlights. Once the vehicle's headlights are identified and located, their position in the first type of image can be further measured, and their positional changes can be monitored. Thus, the first type of actual ground clearance H1 of the vehicle's headlights can be obtained by analyzing the position and positional changes of the vehicle's headlights in the first type of image. Similarly, referring to Figure 4b, using a physical point on the vehicle's headlights as the front marker, the front-facing camera unit inside the headlights will identify the position of this physical point and monitor its positional changes, further analyzing to obtain the first type of actual ground clearance H2 of this physical point. Referring to Figure 4c, with the front wheel arch as the front marker, the front camera unit (panoramic / surround view) set on the rearview mirror can identify the position of the front wheel arch and monitor its position changes. Further analysis yields the first type of actual ground clearance H3 of the front wheel arch.

[0040] Combination Figures 5a-5cThe process of obtaining the second type of actual ground clearance is explained as follows: The vehicle is equipped with a rear-facing camera unit. Based on the installation position of the rear-facing camera unit, the rear markers located on the rear of the vehicle are identified. For example, referring to Figure 5a, the taillights are used as the rear markers. The left / right electronic exterior rearview mirrors acquire the second type of image of the taillights during operation. The second type of image is processed to attempt to identify and locate the taillights. Once the taillights are identified and located, their position in the second type of image can be further measured, and their positional changes can be monitored. Thus, the second type of actual ground clearance T1 of the taillights can be obtained by analyzing the position and positional changes of the taillights in the second type of image. Similarly, referring to Figure 5b, the rear wheel arches are used as the front markers. The left / right electronic exterior rearview mirrors identify the position of the rear wheel arches and monitor their positional changes, further analyzing to obtain the second type of actual ground clearance T2 of the rear wheel arches. Referring to Figure 5c, taking a certain physical point on the vehicle's taillight as a rear marker, the rear camera unit inside the vehicle's taillight will identify the position of the physical point and monitor its position changes, and further analyze to obtain the second type of actual ground distance T3 of the physical point.

[0041] Optionally, starting from when the vehicle is stationary and started, a first type of actual ground clearance Hn (n=1,2...) of several front markers is acquired by an image capture device facing forward, and a second type of actual ground clearance Tm (m=1,2...) of several rear markers is acquired by an image capture device facing backward, wherein Hn and Tm change dynamically as the vehicle moves.

[0042] After obtaining the first type of actual ground clearance and the second type of actual ground clearance, standardization is performed on both types of actual ground clearance to obtain the first type of standardized ground clearance and the second type of standardized ground clearance. It can be understood that the first type of ground clearance information is the first type of standardized ground clearance, and the second type of ground clearance information is the second type of standardized ground clearance.

[0043] Step S30: Adjust the suspension of the vehicle according to the first type of ground clearance information and the second type of ground clearance information.

[0044] Specifically, the vehicle control system continuously monitors and updates the first type of ground clearance information corresponding to the front marker and the second type of ground clearance information corresponding to the rear marker. Based on the first and second type of ground clearance information, the front-rear height difference information of the vehicle can be analyzed. It is understood that the front-rear height difference information is dynamically changing. Based on the vehicle's direction of travel and the front-rear height difference information, the suspension can be adjusted in a timely manner. For example, when the vehicle is traveling forward, the rear suspension can be adjusted based on the front-rear height difference information; or when the vehicle is traveling backward, the front suspension can be adjusted based on the front-rear height difference information. This allows the vehicle to remain stable when encountering regular road surface undulations.

[0045] This embodiment, through the above-described scheme, specifically acquires a first type of image of the front marker and a second type of image of the rear marker using the image capture device; analyzes the first type of image and the second type of image respectively to obtain first type of ground clearance information corresponding to the front marker and second type of ground clearance information corresponding to the rear marker; and adjusts the vehicle's suspension based on the first type of ground clearance information and the second type of ground clearance information. In this embodiment, when the vehicle travels over regular road undulations, its ground clearance changes dynamically. By acquiring images of the front and rear markers respectively through the image capture device and obtaining the corresponding ground clearance information based on image analysis, the vehicle's front and rear height changes are effectively reflected, allowing for adaptive adjustment of the vehicle's suspension based on the ground clearance information. This effectively filters vibrations and improves vehicle stability when the vehicle travels over regular road undulations.

[0046] Furthermore, referring to Figure 6 The second embodiment of the vehicle control method of this application provides a flowchart, based on the above. Figure 2 In the embodiment shown, step S20 involves analyzing the first type of image and the second type of image respectively to obtain further refined information on the first type of ground clearance corresponding to the front marker and the second type of ground clearance corresponding to the rear marker, including: Step S201: Analyze the first type of image and the second type of image respectively to obtain the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker.

[0047] Specifically, the first and second types of images can be analyzed and processed separately to attempt to identify and locate the front and rear markers. Once the front and rear markers are identified and located, the positions of the front marker in the first type of image and the rear marker in the second type of image can be further measured. At the same time, the parameters and calibration information of the image capture device are used to estimate the distances of the front and rear markers relative to the ground, thus obtaining the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker.

[0048] Step S202: Based on the first type of actual ground clearance and the first type of reference ground clearance of the front marker, which is pre-calibrated when the vehicle is placed on a level surface and unloaded, calculate the first type of standardized ground clearance corresponding to the front marker; and based on the second type of actual ground clearance and the second type of reference ground clearance of the rear marker, which is pre-calibrated when the vehicle is placed on a level surface and unloaded, calculate the second type of standardized ground clearance corresponding to the rear marker.

[0049] Specifically, in order to calculate the first type of standardized ground clearance and the second type of standardized ground clearance, it is necessary to calibrate the ground clearance of the front and rear markers beforehand when the vehicle is placed on a level surface and unloaded, so as to obtain the first type of reference ground clearance corresponding to the front marker and the second type of reference ground clearance corresponding to the rear marker.

[0050] Thus, given the actual ground clearance of the first category, the standardized ground clearance of the first category can be calculated based on the actual ground clearance of the first category and the pre-calibrated reference ground clearance of the first category. For example, the standardized ground clearance of the first category can be calculated using the formula (standardized ground clearance of the first category = actual ground clearance of the first category - reference ground clearance of the first category).

[0051] Similarly, given the actual ground clearance of the second type, the standardized ground clearance of the second type can be calculated based on the actual ground clearance of the second type and the pre-calibrated reference ground clearance of the second type. For example, the standardized ground clearance of the second type can be calculated using the formula (Standardized ground clearance of the second type = Actual ground clearance of the second type - Reference ground clearance of the second type).

[0052] If the above calculation formula is used, the calculated first-type or second-type standardized ground clearance may contain negative values. A negative value indicates that the height of the front or rear marker has decreased relative to when it is stationary on a horizontal plane. Calculating the standardized ground clearance helps eliminate height differences under different loads and terrain conditions, thus providing more comparable measurement results.

[0053] In some cases, the standardized ground clearance at a specific location on the vehicle body can also be calculated by acquiring the offset angle of the image capture device. Combined with... Figure 7 , Figure 7 This is a schematic diagram illustrating the standardized ground clearance acquisition method involved in the vehicle control method of this application. First, the dashcam records the first type of actual ground clearance H1 of the vehicle's headlights when the vehicle is on a level surface and unloaded. Then, it records the first type of actual ground clearance H1' of the headlights after the vehicle is loaded with weight. Subtracting H1 from H1' yields the corresponding offset height difference ΔH1. Furthermore, the offset angle recorded by the dashcam between the two times H1 and H1' is α1.

[0054] Similarly, by recording the actual ground clearance T1 of the vehicle's taillights when the vehicle is on a level surface and unloaded using the left / right electronic rearview mirrors, and also recording the actual ground clearance T1' of the taillights when the vehicle is loaded, the corresponding offset height difference ΔT1 can be obtained by subtracting T1 from T1'. Furthermore, the offset angle recorded by the dashcam between the two times T1 and T1' is β1.

[0055] By pre-calibrating the horizontal relative distances between the dashcam and the vehicle's headlights, and between the headlights and the center point of the front wheels, the actual ground clearance of the front wheel center point can be calculated using H1, H1', ​​and α1. This calculation can be based on the principle of triangulation. Similarly, by pre-calibrating the horizontal relative distances between the left / right electronic rearview mirrors and the vehicle's taillights, and between the taillights and the center point of the rear wheels, the actual ground clearance of the rear wheel center point can be calculated using T1, T1', and β1. Since the center points of the front and rear wheels are on the same horizontal plane when the vehicle is level and unloaded, the actual ground clearance of the front wheel center point can be used as the standardized ground clearance of the front wheel center point, and the actual ground clearance of the rear wheel center point can be used as the standardized ground clearance of the rear wheel center point. This eliminates height differences under different loads and terrain conditions, thus providing more comparable measurement results.

[0056] This embodiment uses the above-described scheme to specifically obtain the actual ground clearance of the front and rear markers by analyzing the first and second types of images. Then, these actual distances are compared with the reference ground clearance when the vehicle is on a level surface and unloaded, and a standardized ground clearance is calculated. This allows us to determine the standardized ground clearance of the front and rear markers, understand the height difference between the front and rear of the vehicle, and provide a reference for subsequent suspension adjustments and vehicle weight estimation.

[0057] Furthermore, referring to Figure 8 The third embodiment of the vehicle control method in this application provides a flowchart, based on the above. Figure 6In the illustrated embodiment, step S30, further refining the adjustment of the vehicle's suspension based on the first type of ground clearance information and the second type of ground clearance information, includes: Step S301: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, analyze and obtain the front and rear height difference information of the vehicle.

[0058] Specifically, the first type of standardized ground clearance distance of the front marker and the second type of standardized ground clearance distance of the rear marker reflect the height of the front and rear parts of the vehicle relative to the ground. By comparing these two standardized ground clearance distances, the height difference between the front and rear parts of the vehicle can be calculated, thus obtaining the height difference information between the front and rear parts of the vehicle.

[0059] In some cases, if there are multiple front and rear markers, any one of the front and rear markers can be selected as a marker pair, and the height difference between the front and rear sections can be calculated based on the data of the marker pair.

[0060] In some cases, if there are multiple front and rear markers, the average of the first-type normalized ground clearance of the multiple front markers and the average of the second-type normalized ground clearance of the multiple rear markers can be calculated. Furthermore, based on the average of the first-type normalized ground clearance of the multiple front markers and the average of the second-type normalized ground clearance of the multiple rear markers, the front-rear height difference information can be calculated.

[0061] The height difference information between the front and rear sections can be used for subsequent control and adjustments to ensure the stability and performance of the vehicle under different road surface and load conditions.

[0062] Step S302: Adjust the suspension of the vehicle according to the height difference information between the front and rear sections.

[0063] Specifically, the front-to-rear height difference information provides data on the relative height difference between the front and rear sections of the vehicle. This data can be used to determine whether the vehicle's suspension system needs to be adjusted to balance the height of the front and rear sections, thereby improving vehicle stability and driving performance.

[0064] For example, when a vehicle moves forward, the front of the vehicle will first encounter road undulations and rise or fall a certain height. The height difference between the front and rear is represented as ΔSHDn (n=1,2…). When the vehicle reverses, the rear of the vehicle will first encounter road undulations and rise or fall a certain height. The height difference between the front and rear is represented as ΔSTDn. Therefore, ΔSHDn can be used as a compensation, adjusting the stiffness of the rear suspension, the airbag inflation rate, or other parameters based on ΔSHDn to make the first-type standardized ground clearance and the second-type standardized ground clearance approximately equal, allowing the vehicle to adapt to different road conditions or load conditions. Similarly, the stiffness of the front suspension, the airbag inflation rate, or other parameters can also be adjusted based on ΔSTDn.

[0065] If we denote the first type of standardized ground clearance as SHn and the second type of standardized ground clearance as STn, then when the vehicle is traveling forward, we should strive to ensure that SHn = STn + △SHDn holds true; when the vehicle is traveling backward, we should strive to ensure that STn = SHn + △STDn holds true.

[0066] The suspension adjustment process can be achieved through the vehicle's automated system to provide a smoother and more comfortable driving experience while ensuring the vehicle's safety and performance.

[0067] This embodiment uses the above-described scheme, specifically based on the first type of standardized ground clearance and the second type of standardized ground clearance, to analyze and obtain the front and rear height difference information. The suspension is then adjusted using the front and rear height difference information to enable the vehicle to adapt to road undulations in real time, thereby improving driving comfort and stability.

[0068] Furthermore, referring to Figure 9 The fourth embodiment of the vehicle control method in this application provides a flowchart, based on the above. Figure 8 In the embodiment shown, step S301 involves further refining the front-rear height difference information of the vehicle based on the first type of standardized ground clearance and the second type of standardized ground clearance, including: Step S3011: Determine the ground clearance points corresponding to the front marker and the rear marker respectively based on the first type of standardized ground clearance and the second type of standardized ground clearance.

[0069] Specifically, the virtual ground clearance points corresponding to the front and rear markers are determined based on the first and second type of standardized ground clearance. Each ground clearance point represents the vertical distance of the marker relative to the ground and also reflects the spatial distribution of the markers.

[0070] Step S3012: Based on the ground distance points corresponding to the front marker and the rear marker, construct the vehicle body attitude plane.

[0071] Specifically, the ground clearance points have both vertical distance and spatial distribution attributes. By connecting the ground clearance points of the front and rear markers, the vehicle's body attitude plane can be constructed. The body attitude plane is a virtual plane that represents the vehicle's attitude and tilt.

[0072] by Figure 10 For example, the front camera unit, the left electronic exterior rearview mirror, the right electronic exterior rearview mirror, and the rear camera unit each have a corresponding ground clearance point. Connecting these four ground clearance points will construct the vehicle's attitude plane.

[0073] Step S3013: Determine whether the vehicle body attitude plane is level with the pre-constructed horizontal plane; Specifically, to determine whether the vehicle's attitude plane is tilted, a pre-constructed horizontal plane is needed as a reference. This process requires using a gyroscope to obtain tilt data when the vehicle is positioned on the horizontal plane, and then constructing the horizontal plane based on this data. It can be understood that the horizontal plane reflects the vehicle's tilt in an ideal stationary state.

[0074] Furthermore, after constructing the vehicle body attitude plane, changes around the plane can be dynamically detected to determine whether the vehicle body attitude plane is level with the pre-constructed horizontal plane. If the vehicle body attitude plane is level with the horizontal plane, the vehicle is in a balanced state in the horizontal direction; if the vehicle body attitude plane is not level with the horizontal plane, the vehicle may be tilted or unbalanced.

[0075] Step S3014: If not, analyze the vehicle body attitude plane to obtain the front and rear height difference information of the vehicle.

[0076] Specifically, if the vehicle's attitude plane is not level with the horizontal plane, the vehicle may be tilted or unbalanced. This typically occurs when the vehicle traverses uneven road surfaces. In this case, the front-to-rear height difference can be calculated based on the standardized ground clearance points on the vehicle's attitude plane. This front-to-rear height difference represents the vertical height difference between the front and rear sections of the vehicle and can be used for subsequent adjustments or control operations to restore the vehicle's balance or adapt it to different road conditions and load conditions.

[0077] This embodiment, through the above-described scheme, specifically maps the standardized ground clearance distances of the front and rear markers to ground clearance points to construct the vehicle's body attitude plane. It dynamically checks whether the body attitude plane is level, and when the body attitude plane is tilted, it can analyze the front-rear height difference information, which is beneficial for real-time monitoring of vehicle attitude and adjusting the suspension, thereby improving driving stability and ride comfort.

[0078] Furthermore, referring to Figure 11 The fifth embodiment of the vehicle control method in this application provides a flowchart, based on the above. Figure 8 In the embodiment shown, the vehicle's suspension includes a front suspension and a rear suspension. Step S302 further refines the adjustment of the vehicle's suspension based on the front-rear height difference information, including: Step S3021: If the vehicle is traveling in a forward direction, the rear suspension is adjusted according to the front-rear height difference information.

[0079] Specifically, if the vehicle is traveling forward, the front wheels will contact the road surface undulations first, and the height of the front of the vehicle will rise or fall accordingly, while the rear wheels will contact the road surface undulations later. In order to make timely suspension adjustments before the rear wheels can contact the road surface undulations, the height difference between the front and rear can be used to adjust the stiffness of the rear suspension, the inflation of the airbags, or other parameters to keep the vehicle as stable as possible.

[0080] Step S3022: If the vehicle is traveling in a rearward direction, the front suspension is adjusted according to the front-rear height difference information.

[0081] Specifically, if the vehicle is traveling in a rearward direction, the rear wheels will contact the road surface undulations first, and the height of the rear vehicle will rise or fall accordingly, while the front wheels will subsequently contact the road surface undulations. In order to make timely suspension adjustments before the front wheels can contact the road surface undulations, the height difference between the front and rear can be used to adjust the stiffness of the rear suspension, the inflation level of the airbags, or other parameters to keep the vehicle as stable as possible.

[0082] like Figure 12 As shown, Figure 12 This diagram illustrates the vibration filtering effect of the vehicle control method described in this application, where the vertical axis represents the vibration amplitude and the horizontal axis represents time. It is evident that when a vehicle encounters regular road surface undulations, the solution presented in this embodiment can effectively reduce vibration, and the vibration amplitude gradually decreases over time.

[0083] This embodiment supports bidirectional suspension adjustment through the above solution, which helps the vehicle adapt to different road conditions, improves driving stability when moving forward or backward, and enhances the driving and riding experience.

[0084] Furthermore, referring to Figure 13 The sixth embodiment of the vehicle control method of this application provides a flowchart, based on the above. Figure 11 In the embodiment shown, step S3021, if the vehicle's driving direction is forward, then the rear suspension is further adjusted and refined based on the front-rear height difference information, including: Step S30211: If the vehicle is traveling forward and the number of effective changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold, then the rear suspension is adjusted according to the front and rear height difference information.

[0085] Specifically, regular road surface undulations are usually manifested as: (1) Speed ​​bumps: Speed ​​bumps are raised areas on the road, usually used to limit vehicle speed. They have a fixed width and height, and the wheels will experience obvious rise and fall when passing over speed bumps. (2) Highway markings: Highway markings usually have a certain interval. Vehicles will continuously pass over these markings when driving, producing a slight undulation feeling. (3) Road drainage ditches: Road drainage ditches are set up on some roads for drainage or other purposes. These ditches are usually grooves or ridges on the road surface, and vehicles will feel a slight bump when passing over them. (4) Uneven road paving: Road paving may be uneven, causing vehicles to feel a slight bump or vibration when driving, especially after road repair or maintenance.

[0086] Combination Figure 14 To effectively identify regular road surface undulations, this embodiment, after confirming the vehicle's direction of travel is forward, also needs to determine whether the number of valid changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold. Specifically, when the change in the first type of standardized ground clearance exceeds a preset range value (e.g., 10cm), it is recorded as one valid change. There may be multiple valid changes recorded within the preset time range. The preset threshold is a positive integer (e.g., 2). If the number of valid changes exceeds the preset threshold, it can be determined that the vehicle has encountered regular road surface undulations. At this point, the rear suspension stiffness, airbag inflation volume, or other parameters can be adjusted using the front-rear height difference information to keep the vehicle as stable as possible.

[0087] Step S3022: If the vehicle's driving direction is rearward, then based on the front-rear height difference information, the front suspension is further adjusted in detail, including: Step S30221: If the vehicle is traveling in a rearward direction and the number of effective changes in the second type of standardized ground clearance within a preset time range exceeds the preset threshold, then the front suspension is adjusted according to the front-rear height difference information.

[0088] Specifically, similar to the principle of step S30211, after confirming that the vehicle's direction of travel is rearward, it is also necessary to determine whether the number of valid changes in the second type of standardized ground clearance within a preset time range exceeds a preset threshold. If the number of valid changes exceeds the preset threshold, it can be determined that the vehicle has encountered regular road surface undulations. At this time, the front and rear height difference information can be used to adjust the stiffness of the front suspension, the inflation volume of the airbags, or other parameters to keep the vehicle as stable as possible.

[0089] This embodiment, through the above-described scheme, focuses on determining the effective number of changes to trigger suspension adjustments when regular road surface undulations are identified. This allows the vehicle to adapt to different road conditions, improving driving smoothness and comfort, reducing unnecessary bumps, and enhancing driving safety and stability.

[0090] Furthermore, referring to Figure 15 The seventh embodiment of the vehicle control method of this application provides a flowchart, based on the above. Figure 8 In the embodiment shown, the vehicle control method further includes: Step S001: Obtain the current tilt angle of the vehicle and the reference tilt angle when unloaded.

[0091] Specifically, the standardized ground clearance calculated in the aforementioned steps can not only be used to adjust the vehicle's suspension, but also to estimate the vehicle's body weight in combination with tilt data.

[0092] First, combined Figure 16 The tilt angle of a vehicle when unloaded can be calibrated using a gyroscope to obtain a reference tilt angle, and a calibrated horizontal plane can be constructed using the reference tilt angle. When it is necessary to estimate the vehicle's weight, the tilt angle of the vehicle at the current moment, i.e., the current tilt angle, and the reference tilt angle of the vehicle when unloaded can be obtained using a gyroscope.

[0093] Step S002: Calculate the vehicle body attitude offset based on the current tilt and the reference tilt.

[0094] Specifically, the current tilt angle is compared with the reference tilt angle when unloaded to calculate the vehicle body attitude deviation. This can be calculated using either the formula (Vehicle Body Attitude Deviation = Current Tilt Angle - Reference Tilt Angle) or the formula (Vehicle Body Attitude Deviation = Reference Tilt Angle - Current Tilt Angle). The vehicle body attitude deviation reflects whether the vehicle has tilted or its center of gravity has changed.

[0095] Step S003: Match the first type of standardized ground clearance, the second type of standardized ground clearance, and the vehicle body attitude offset with the vehicle body weight data items in the preset vehicle body weight calibration file.

[0096] Specifically, before estimating the vehicle weight, a vehicle weight calibration file needs to be set up in advance based on calibration data. The vehicle weight calibration file records the vehicle weight data items corresponding to specific standardized ground clearance and specific vehicle attitude offset. Thus, by matching the first type of standardized ground clearance, the second type of standardized ground clearance, and the vehicle attitude offset with the vehicle weight data items in the vehicle weight calibration file in a lookup table manner, the successfully matched vehicle weight data items can be obtained.

[0097] Step S004: Determine the current weight of the vehicle based on the successfully matched vehicle weight data item.

[0098] Specifically, if the match is successful, the vehicle's current weight can be determined based on the data in the matched vehicle weight data item. The vehicle's current weight can be displayed based on the vehicle's human-machine interface system, such as on the central control screen, instrument panel, or HUD.

[0099] Step S005: If the current weight of the vehicle exceeds a preset weight threshold, an overweight alarm is pushed.

[0100] Specifically, overloading a vehicle not only damages the suspension but also compromises driving safety. Therefore, it's possible to determine if the vehicle's current weight exceeds a preset weight threshold, which can be set based on the vehicle's rated load capacity. If the weight threshold is exceeded, an overload warning can be sent via text, voice, video, or image to inform the driver of the overload situation.

[0101] It is worth noting that the above process for determining the vehicle's weight is generally performed when the vehicle is stationary, as vehicle movement introduces many interfering factors, leading to inaccurate final weight readings. If the vehicle's weight needs to be determined while it is in motion, the vehicle's tilt angle and standardized ground clearance when stationary can be used to estimate and display the weight using a similar matching method.

[0102] This embodiment, through the above-described scheme, matches three data points—first-type standardized ground clearance, second-type standardized ground clearance, and vehicle attitude deviation—with the vehicle weight calibration file to determine the vehicle's current weight. This embodiment effectively performs weight measurement without requiring additional weighing hardware, thus reducing vehicle hardware costs. Furthermore, it provides an overload warning when the vehicle exceeds a preset weight threshold, contributing to safe transportation and preventing overloading.

[0103] Furthermore, this application also proposes a vehicle control device, wherein the vehicle is equipped with an image capture device, a front marker, and a rear marker, and the vehicle control device includes: The acquisition module is used to acquire a first type of image of the front marker and a second type of image of the rear marker through the image capture device; The analysis module is used to analyze the first type of image and the second type of image respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; The adjustment module is used to adjust the suspension of the vehicle based on the first type of ground clearance information and the second type of ground clearance information.

[0104] The principle and implementation process of vehicle control in this embodiment are explained in the above embodiments and will not be repeated here.

[0105] Furthermore, this application also proposes a vehicle, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method described above.

[0106] Since the vehicle control program employs all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be elaborated here.

[0107] Furthermore, embodiments of this application also propose a computer-readable storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0108] Since the vehicle control program employs all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be elaborated here.

[0109] Compared to existing technologies, the vehicle control method, device, vehicle, and storage medium proposed in this application acquire a first type of image of the front marker and a second type of image of the rear marker using an image capture device. The first and second type images are analyzed to obtain first type of ground clearance information corresponding to the front marker and second type of ground clearance information corresponding to the rear marker. The vehicle suspension is adjusted based on these ground clearance information. In this embodiment, when the vehicle traverses regular road undulations, its ground clearance dynamically changes. By acquiring images of the front and rear markers using an image capture device and analyzing these images to obtain the corresponding ground clearance information, the system effectively reflects the height changes of the front and rear of the vehicle. This allows for adaptive adjustment of the vehicle suspension based on the ground clearance information. Thus, vibrations can be effectively filtered when the vehicle traverses regular road undulations, improving vehicle stability.

[0110] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0111] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0112] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a vehicle (which may be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of this application.

[0113] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The vehicle is equipped with an image capture device, a front marker, and a rear marker. The vehicle control method includes: The image capturing device acquires a first type of image of the front marker and a second type of image of the rear marker. The first type of image and the second type of image are analyzed respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; The suspension of the vehicle is adjusted based on the first type of ground clearance information and the second type of ground clearance information. The steps include: analyzing the front-rear height difference information of the vehicle based on the first type of ground clearance information and the second type of ground clearance information; and adjusting the suspension of the vehicle based on the front-rear height difference information. The vehicle's suspension includes a front suspension and a rear suspension. The first type of ground clearance information is a first type of standardized ground clearance information, and the second type of ground clearance information is a second type of standardized ground clearance information. The step of adjusting the vehicle's suspension based on the front-to-rear height difference information includes: If the vehicle is traveling in a forward direction, the rear suspension is adjusted according to the front-rear height difference information. The steps include: if the vehicle is traveling in a forward direction and the number of effective changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold, the rear suspension is adjusted according to the front-rear height difference information. If the vehicle is traveling in a rearward direction, the front suspension is adjusted according to the front-rear height difference information. The steps include: if the vehicle is traveling in a rearward direction and the number of effective changes in the second type of standardized ground clearance within a preset time range exceeds the preset threshold, the front suspension is adjusted according to the front-rear height difference information.

2. The vehicle control method as described in claim 1, characterized in that, The step of analyzing the first type of image and the second type of image respectively to obtain the first type of ground clearance information corresponding to the front marker and the second type of ground clearance information corresponding to the rear marker includes: The first type of image and the second type of image are analyzed respectively to obtain the first type of actual ground distance corresponding to the front marker and the second type of actual ground distance corresponding to the rear marker; Based on the first type of actual ground clearance and the first type of reference ground clearance of the front marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the first type of standardized ground clearance corresponding to the front marker is calculated. Based on the second type of actual ground clearance and the second type of reference ground clearance of the rear marker, which was pre-calibrated when the vehicle was placed on a level surface and unloaded, the second type of standardized ground clearance corresponding to the rear marker is calculated.

3. The vehicle control method as described in claim 2, characterized in that, The step of adjusting the vehicle's suspension based on the first type of ground clearance information and the second type of ground clearance information includes: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, the front and rear height difference information of the vehicle is obtained by analysis; The vehicle's suspension is adjusted based on the height difference between the front and rear sections.

4. The vehicle control method as described in claim 3, characterized in that, The step of analyzing and obtaining the front-rear height difference information of the vehicle based on the first type of standardized ground clearance and the second type of standardized ground clearance includes: Based on the first type of standardized ground clearance and the second type of standardized ground clearance, determine the ground clearance points corresponding to the front marker and the rear marker respectively; Based on the ground clearance points corresponding to the front and rear markers, the vehicle body attitude plane is constructed. Determine whether the vehicle body attitude plane is level with the pre-constructed horizontal plane; If not, the vehicle body attitude plane is analyzed to obtain the height difference information between the front and rear of the vehicle.

5. The vehicle control method as described in claim 3, characterized in that, The vehicle control method further includes: Obtain the current tilt angle of the vehicle, and the reference tilt angle when unloaded; The vehicle body attitude offset is calculated based on the current tilt angle and the reference tilt angle. The first type of standardized ground clearance, the second type of standardized ground clearance, and the vehicle body attitude offset are matched with the vehicle weight data items in the preset vehicle weight calibration file. Based on the successfully matched vehicle weight data, the current weight of the vehicle is determined; If the current weight of the vehicle exceeds a preset weight threshold, an overweight alarm will be sent.

6. A vehicle control device, characterized in that, The vehicle is equipped with an image capture device, a front marker, and a rear marker. The vehicle control device includes: The acquisition module is used to acquire a first type of image of the front marker and a second type of image of the rear marker through the image capture device; The analysis module is used to analyze the first type of image and the second type of image respectively to obtain the first type of ground distance information corresponding to the front marker and the second type of ground distance information corresponding to the rear marker; An adjustment module is used to adjust the suspension of the vehicle based on the first type of ground clearance information and the second type of ground clearance information; The adjustment module is further configured to analyze the front-rear height difference information of the vehicle based on the first type of ground clearance information and the second type of ground clearance information; and adjust the suspension of the vehicle based on the front-rear height difference information; wherein the suspension of the vehicle includes front suspension and rear suspension; the first type of ground clearance information is a first type of standardized ground clearance information, and the second type of ground clearance information is a second type of standardized ground clearance information; The adjustment module is also used to adjust the rear suspension according to the front-rear height difference information if the vehicle is traveling in a forward direction; and to adjust the rear suspension according to the front-rear height difference information if the vehicle is traveling in a forward direction and the effective number of changes in the first type of standardized ground clearance within a preset time range exceeds a preset threshold. The adjustment module is also used to adjust the front suspension according to the front-rear height difference information if the vehicle is traveling in a rearward direction, and to adjust the front suspension according to the front-rear height difference information if the vehicle is traveling in a rearward direction and the number of effective changes in the second type of standardized ground clearance within a preset time range exceeds the preset threshold.

7. A vehicle, characterized in that, The vehicle includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program, when executed by the processor, implements the steps of the vehicle control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1-5.

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