Vehicle control method and system and roadside terminal, vehicle-mounted terminal

Abstract

The application discloses a vehicle control method and system, a roadside terminal and a vehicle terminal. The vehicle control method comprises the following steps: the vehicle terminal located on a target vehicle sends vehicle information and position information to a roadside terminal related to a target road section before the target vehicle enters the target road section; the roadside terminal obtains driving suggestion information and parameter credibility based on the vehicle information, the position information and stored road information of the target road section; and the roadside terminal sends the driving suggestion information and the parameter credibility to the target vehicle. According to the scheme, the comprehensive driving suggestion of the front and rear roadside terminals and the real-time information of the vehicle terminal are cooperatively fused, the automobile driving parameters are adjusted, and better controllability and driving smoothness on the road are realized.

Description

Technical Field

[0001] This application belongs to the field of automotive technology, specifically relating to vehicle control methods and systems, as well as roadside and vehicle-mounted terminals. Background Technology

[0002] In current vehicle control systems, suspension control technology largely relies on sensors mounted on the axles or body to collect road conditions. It determines the road surface conditions based on the vehicle's travel distance and then adjusts driving and suspension parameters accordingly. Generally, active suspension control only becomes possible after the vehicle has traveled a certain distance on a specific road surface. Therefore, while this improves ride smoothness and handling stability, at higher speeds, rapid changes in road conditions, or the presence of irregular road features such as speed bumps, can lead to control delays that can negatively impact suspension performance. Summary of the Invention

[0003] This application provides a vehicle control method and system, as well as an on-board unit and a roadside unit, to address the technical problem that control time lag may affect the vehicle suspension control effect when the vehicle is in motion.

[0004] To address the aforementioned technical problems, the first technical solution adopted in this application is: a vehicle control method, comprising: receiving vehicle information and location information of a target vehicle about to travel through a target road segment at a roadside end; obtaining driving suggestion information based on the vehicle information and stored road information of the target road segment; wherein the driving suggestion information includes road information at any location in the target road segment and corresponding suggested driving parameters; obtaining the parameter acceptance degree of the suggested driving parameters based on the location information of the target vehicle; and sending the driving suggestion information and parameter acceptance degree to the target vehicle.

[0005] Furthermore, it also includes: receiving actual road information collected when the target vehicle travels through the target road segment; and updating the stored road information based on the actual road information.

[0006] Furthermore, it also includes: receiving actual driving information sent by the target vehicle when it passes through the target road segment; wherein the actual driving information includes temporary warning information and weather information; obtaining temporary warning information based on the actual driving information; wherein the temporary warning information has time-limited information; and sending the temporary warning information to the next target vehicle passing through the target road segment.

[0007] Furthermore, the step of obtaining driving suggestion information based on vehicle information and stored road information of the target road segment includes: in response to normal weather information, obtaining normal driving suggestion information based on vehicle information and stored road information of the target road segment; in response to abnormal weather information, obtaining safe driving suggestion information based on weather information, vehicle information and stored road information of the target road segment.

[0008] Furthermore, the step of obtaining the parameter confidence level of the suggested driving parameters based on the location information of the target vehicle includes: obtaining the distance between the roadside end and the target vehicle based on the location information of the target vehicle; obtaining the parameter confidence level based on the distance; wherein the parameter confidence level is negatively correlated with the distance.

[0009] Furthermore, the vehicle information includes the vehicle's actual driving parameters, real-time road information, and vehicle body information. The stored road information includes road surface information at any location in the target road segment. The driving suggestion information includes the stored road information and suggested driving parameters at any location in the target road segment. Among these, the driving parameters include the target vehicle's speed, vehicle height, and suspension control parameters.

[0010] The second technical solution adopted in this application is: a vehicle control method, comprising: a vehicle-mounted terminal located on a target vehicle sending vehicle information and location information to a roadside terminal related to the target road segment before the target vehicle enters the target road segment, so that the roadside terminal obtains driving suggestion information and parameter acceptance degree based on the vehicle information, location information and stored road information of the target road segment; wherein, the driving suggestion information includes stored road information and suggested driving parameters at any location in the target road segment; receiving first driving suggestion information and first parameter acceptance degree sent by a first roadside terminal closest to the target vehicle ahead and second driving suggestion information and second parameter acceptance degree sent by a second roadside terminal closest to the target vehicle behind; and obtaining comprehensive driving suggestion information based on the first parameter acceptance degree and the second parameter acceptance degree.

[0011] Furthermore, it also includes: controlling the actual driving parameters of the target vehicle at any location within the target road segment based on comprehensive driving suggestion information.

[0012] Furthermore, the step of controlling the actual driving parameters of the target vehicle at any location in the target road segment based on the comprehensive driving suggestion information includes: obtaining the real-time driving parameters in the vehicle information; determining whether the parameter difference exceeds a first threshold based on the parameter difference between each parameter of the real-time driving parameters and each parameter of the suggested driving parameters in the comprehensive driving suggestion information; if not, using the suggested driving parameters as the actual driving parameters; if so, adjusting the parameters in the real-time driving parameters that exceed the first threshold to the maximum, and using the corresponding parameters of the suggested driving parameters for other parameters to obtain the actual suspension control parameters.

[0013] Furthermore, the step of controlling the driving parameters of the target vehicle at any location in the target road segment based on the comprehensive driving suggestion information also includes: obtaining real-time road information from the vehicle information and stored road information from the comprehensive driving suggestion information; determining whether the road difference between the real-time road information and the stored road information is lower than a second threshold; if so, adjusting the suggested driving parameters in the driving suggestion information based on the optimal control method to obtain the actual driving parameters.

[0014] Furthermore, the step of obtaining comprehensive driving suggestion information based on the confidence level of the first parameter and the confidence level of the second parameter includes: collecting the actual position of the target vehicle when it passes through the target road segment; obtaining the first distance between the actual position and the first roadside end and the second distance between the actual position and the second roadside end; obtaining the confidence level of the first parameter and the confidence level of the second parameter; obtaining comprehensive driving suggestion information based on the first distance, the second distance, the confidence level of the first parameter, and the confidence level of the second parameter; if the length of the first distance is equal to zero, then the first distance and the second distance are cleared, and the above steps are repeated.

[0015] Furthermore, it also includes: collecting actual road information when the target vehicle passes through the target road segment; for any location in the target road segment, in response to the error between the actual road information at the current location and the stored road information exceeding a third threshold, sending the actual road information to the roadside end.

[0016] The third technical solution adopted in this application is: a vehicle control method, comprising: an on-board unit located on the target vehicle sending vehicle information and location information to a roadside unit related to the target road segment before the target vehicle enters the target road segment; the roadside unit obtaining driving suggestion information and parameter acceptance degree based on the vehicle information, location information and stored road information of the target road segment; wherein, the driving suggestion information includes suggested driving parameters at any location in the target road segment; and the roadside unit sending the driving suggestion information and parameter acceptance degree to the target vehicle.

[0017] The fourth technical solution adopted in this application is: a roadside terminal, comprising: multiple roadside nodes set along the road, and adjacent roadside nodes being communicatively connected; wherein, the roadside node comprises: a roadside sensor assembly, used to collect road surface information at any location of the target road segment related to the roadside node, and generate and store road information; a roadside main control assembly, used to generate driving suggestion information based on the stored road information and vehicle information of the target vehicle about to travel through the target road segment; and a roadside communication assembly, coupled to the roadside sensor assembly and the roadside main control assembly, used to send driving suggestion information or receive vehicle information.

[0018] The fifth technical solution adopted in this application is: an in-vehicle terminal, comprising: a navigation component for collecting the location information of a target vehicle; an in-vehicle sensor component for collecting the vehicle body information of the target vehicle; a control component connected to the in-vehicle sensor component and the navigation component for generating actual driving parameters based on the vehicle body information and driving suggestion information; and an in-vehicle communication component connected to the navigation component, the in-vehicle sensor component and the control component, and communicating with the roadside sensor component at the relevant roadside end of the target road segment to receive driving suggestion information and send vehicle body information.

[0019] The sixth technical solution adopted in this application is: a vehicle control system, including a roadside terminal and an on-board terminal, wherein the on-board terminal and the roadside terminal are interconnected and cooperate with each other to realize the above-mentioned vehicle control method.

[0020] The beneficial effects of this application are: This solution adjusts vehicle driving parameters by integrating comprehensive driving suggestions from the front and rear roadside ends with real-time information from the vehicle end, thereby achieving better controllability and driving smoothness on the road. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the vehicle control system in this application.

[0023] Figure 2 This is a schematic diagram of the structure of one embodiment of the vehicle control system in this application;

[0024] Figure 3 This is a flowchart illustrating an embodiment of the vehicle control method in this application;

[0025] Figure 4 This is a flowchart illustrating an embodiment of the roadside vehicle control method in this application;

[0026] Figure 5 for Figure 4 A flowchart illustrating step S203;

[0027] Figure 6 This is a schematic flowchart of another embodiment of the roadside vehicle control method in this application;

[0028] Figure 7 This is a flowchart illustrating another embodiment of the roadside vehicle control method in this application;

[0029] Figure 8 This is a flowchart illustrating an embodiment of the vehicle control method for vehicle-mounted terminals in this application;

[0030] Figure 9 for Figure 8 A flowchart illustrating an embodiment of step S503;

[0031] Figure 10 This is a flowchart illustrating another embodiment of the vehicle control method for the vehicle-mounted terminal in this application;

[0032] Figure 11 This is a flowchart illustrating yet another embodiment of the vehicle control method for the vehicle-mounted terminal in this application;

[0033] Figure 12 This is a flowchart illustrating another embodiment of the vehicle control method at the vehicle terminal in this application;

[0034] Figure 13 This is a schematic diagram of another embodiment of the vehicle control system of this application;

[0035] Figure 14 for Figure 13 Schematic diagram of the structure of the central side node;

[0036] Figure 15 for Figure 13 A schematic diagram of the structure of the vehicle-mounted terminal. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0038] Please see Figure 1 , Figure 1 This is a schematic diagram of an embodiment of the vehicle control system in this application. The vehicle control system includes a roadside terminal 1 and an on-board terminal 2. Multiple roadside terminals 1 are arranged along the road to collect road surface information and provide suggested driving information. The on-board terminal 2 is installed in the target vehicle to collect vehicle information and location information of the target vehicle and to connect and communicate with the roadside terminals 1.

[0039] Please see Figure 2 , Figure 2This is a schematic diagram of a vehicle control system embodiment of this application. The third roadside terminal 1c, the first roadside terminal 1a, and the second roadside terminal 1b are equidistantly disposed on one side of the road. The vehicle-mounted terminal 2 located in the target vehicle can simultaneously communicate with the first roadside terminal 1a at the front of the target vehicle and the second roadside terminal 1b at the rear to obtain driving suggestion information. Optionally, in other embodiments, the distance between adjacent roadside terminals 1 can be set according to the complexity of the road surface. For example, the more undulating the road surface and the greater the curvature, the denser the roadside terminals 1 should be.

[0040] Please see Figure 3 , Figure 3 This is a schematic flowchart of an embodiment of the vehicle control method in this application. The method includes the following steps:

[0041] S101. Before the target vehicle enters the target road segment, the vehicle-mounted terminal located on the target vehicle sends the vehicle information and location information to the roadside terminal related to the target road segment.

[0042] Correspondingly, the first roadside terminal 1a related to the first target road segment N1 receives the vehicle information and location information of the target vehicle.

[0043] Specifically, the on-board unit 2 of the target vehicle collects the current vehicle information and location information of the target vehicle through the on-board sensor components, and sends the vehicle information and location information to the first roadside unit 1a located in front.

[0044] Among them, the first target road segment N1 is a road segment located at a certain distance from the front and rear sides of the first roadside end 1a in the current road direction.

[0045] S102. The roadside end obtains driving suggestion information and parameter confidence level based on vehicle information, location information and stored road information of the target road segment; wherein, the driving suggestion information includes suggested driving parameters at any location in the target road segment.

[0046] Specifically, the first roadside end 1a performs data analysis and calculation on the vehicle information, location information, and stored road information of the target road segment to generate suggested driving parameters and parameter confidence levels at any location in the first target road segment N1.

[0047] S103. The roadside unit sends driving advice information and parameter confidence level to the target vehicle.

[0048] Accordingly, the on-board unit 2 of the target vehicle receives the suggested driving information and parameter acceptance level sent by the roadside terminal 1, and simultaneously receives the driving suggestion information and parameter acceptance level sent by the adjacent first roadside terminal 1a and second roadside terminal 1b. The on-board unit 2 performs comprehensive analysis and calculation on the two sets of driving suggestion information and parameter acceptance levels to obtain comprehensive driving suggestion information, thereby generating the actual driving parameters for controlling the target vehicle. Among them, the driving parameters include the target vehicle's speed, vehicle height, and suspension control parameters, etc.

[0049] Please see Figure 4 , Figure 4 This is a flowchart illustrating an embodiment of the roadside vehicle control method in this application. The roadside vehicle control method includes the following steps:

[0050] S201. The roadside unit receives vehicle information and location information of the target vehicle that is about to pass through the target road section.

[0051] Correspondingly, the vehicle terminal 2 sends vehicle information and location information.

[0052] Specifically, the communication range of the first roadside terminal 1a is greater than the range of the first target road segment N1 that the first roadside terminal 1a can actually monitor. Therefore, before the target vehicle enters the first target road segment N1, it can communicate with the vehicle-mounted terminal 2 of the target vehicle to obtain the vehicle body information and location information of the target vehicle sent by the vehicle-mounted terminal 2. In other embodiments, the first roadside terminal 1a can also be communicatively connected to the adjacent second roadside terminal 1b, and the second roadside terminal 1b transmits the obtained vehicle information and location information of the target vehicle to the first roadside terminal 1a.

[0053] S202. Obtain driving suggestion information based on vehicle information and stored road information of the target road segment; wherein, the driving suggestion information includes road information at any location in the target road segment and the corresponding suggested driving parameters.

[0054] Specifically, the first roadside terminal 1a receives the vehicle information of the target vehicle, and performs optimal calculations with the actual driving parameters, real-time road information, and vehicle body information in the vehicle information and the stored road information collected by the first roadside terminal 1a to generate driving suggestion information.

[0055] The stored road information includes road surface information at any location within the first target road segment N1. Real-time road information is the road surface information currently being collected by the onboard unit 2 in the target vehicle. Actual driving parameters include the target vehicle's current actual speed, current vehicle height, and current suspension control parameters.

[0056] S203. Based on the location information of the target vehicle, obtain the parameter confidence level of the suggested driving parameters.

[0057] For details, please refer to Figure 5 , Figure 5 for Figure 4 The flowchart of step S203 is shown below. The implementation process of step S203 includes:

[0058] S2031. Based on the location information of the target vehicle, obtain the distance between the roadside end and the target vehicle.

[0059] Specifically, along the current road, the first roadside end 1a calculates the road distance between the target vehicle's position information and the position information of the first roadside end 1a itself, thus obtaining the distance L between the first roadside end 1a and the target vehicle along the road direction.

[0060] S2032. Obtain the parameter confidence level based on distance; wherein the parameter confidence level is negatively correlated with distance.

[0061] Specifically, based on the distance L between the target vehicle and the first roadside end 1a, distance L is compared with multiple preset distances to determine which preset distance L falls within, thereby determining the parameter confidence level. Since the greater the distance from the first roadside end 1a, the greater the deviation between the road surface information collected by the first roadside end 1a and the actual road surface, the larger the distance L, the lower the parameter confidence level. For example, if the distance L is in the range of 0–100m, the parameter confidence level is 100%; if the distance L is in the range of 100–500m, the parameter confidence level is 90%; if the distance L is in the range of 500–1000m, the parameter confidence level is 80%, and so on, until the distance L equals the actual distance between the first roadside end 1a and the previous second roadside end 1b, at which point the parameter confidence level is 0.

[0062] S204. Send driving advice information and parameter confidence level to the target vehicle.

[0063] Specifically, the first roadside terminal 1a sends the calculated first driving suggestion information and the second parameter confidence level to the on-board terminal 2 of the target vehicle.

[0064] Please see Figure 6 , Figure 6 This is a flowchart illustrating another embodiment of the roadside vehicle control method. After the target vehicle has completely traveled through the target road segment related to the first roadside terminal 1a, it will send the actual road information collected by the on-board unit 2 to the first roadside terminal 1a for road surface information update. The specific method includes the following steps:

[0065] S301. Receive actual road information collected when the target vehicle travels through the target road section.

[0066] Specifically, when the target vehicle travels through the first target road segment N1, it will collect the actual road information at any location in the first target road segment N1 and send the actual road information to the first roadside terminal 1a related to the first target road segment N1.

[0067] S302. Update stored road information based on actual road information.

[0068] Specifically, the first roadside terminal 1a compares the received actual road information with the stored road information. If the deviation between the road surface information at some locations in the actual road information and the corresponding stored road information exceeds a preset deviation range, the road surface information at those locations is updated in the stored road information. For example, if the target road segment has speed bumps or road repairs, the target vehicle records the relevant road surface information when driving on the relevant road segment. At this time, the first roadside terminal 1a updates the relevant road surface information in the stored road information so that the first roadside terminal 1a can correct the suggested driving parameters and ensure the continuity of road information.

[0069] Please see Figure 7 , Figure 7 This is a flowchart illustrating another embodiment of the roadside vehicle control method in this application. When a temporary emergency occurs in a relevant road segment, the roadside unit 1 can send temporary information based on the temporary emergency situation. The method specifically includes:

[0070] S401. Receive actual driving information sent by the target vehicle when it passes through the target road segment; the actual driving information includes temporary warning information and weather information.

[0071] Correspondingly, when the target vehicle travels through the target road segment corresponding to the first roadside terminal 1a, the vehicle's on-board unit 2 can generate temporary warning information based on the temporary situation, collect weather information, and include the temporary warning information and weather information in the actual driving information and send it to the first roadside terminal 1a.

[0072] Specifically, the first side terminal 1a can receive the actual driving information from the vehicle information in real time and detect whether the actual driving information contains temporary warning information.

[0073] S402. Temporary warning information is obtained based on actual driving information; wherein, the temporary warning information includes time-limited information.

[0074] Specifically, the first side terminal 1a parses the actual driving information to obtain time-sensitive temporary warning information. For example, due to rain or snow, the road surface becomes icy. When a target vehicle drives through the icy section, a temporary warning message is generated and included in the actual driving information before being sent to the first side terminal 1a. Because road icing and other conditions are based on temporary factors such as weather, the temporary warning information is time-sensitive. After a period of time, when the weather improves, the first side terminal 1a will delete the temporary warning information.

[0075] S403. Send temporary warning information to the next target vehicle passing through the target road segment.

[0076] Specifically, the first side terminal 1a receives and stores the temporary warning information, and within the time limit, sends the temporary warning information to each target vehicle that is about to travel to the first target road segment N1.

[0077] S404. In response to weather information indicating normal weather, obtain normal driving suggestion information based on vehicle information and stored road information of the target road segment.

[0078] Specifically, the first roadside terminal 1a compares the weather information in the actual driving information with the preset weather. If the weather information is normal weather (e.g., sunny, cloudy, or normal weather without rain or snow), the first roadside terminal 1a will perform optimal planning based only on the received vehicle information and the stored road information of the first target road segment N1 to obtain normal driving suggestion information.

[0079] S405. In response to abnormal weather information, obtain safe driving advice information based on weather information, vehicle information and stored road information of the target road segment.

[0080] Specifically, if the weather information indicates abnormal weather (such as rain, snow, or other severe weather), the first roadside terminal 1a performs optimal planning based on the received vehicle information, the stored road information of the first target road segment N1, and the weather information to obtain safe driving suggestion information. For example, in rainy or snowy weather, the road surface is icy, which reduces the coefficient of friction. Therefore, the first roadside terminal 1a will adjust parameters such as vehicle speed and vehicle height in the driving suggestion information to ensure the safety and stability of the target vehicle.

[0081] Please see Figure 8 , Figure 8 This is a flowchart illustrating an embodiment of the vehicle control method for on-board units in this application. The on-board control method may include the following steps:

[0082] S501. Before the target vehicle enters the target road segment, the on-board unit located on the target vehicle sends the vehicle information and location information to the roadside unit related to the target road segment, so that the roadside unit can obtain driving suggestion information and parameter acceptance degree based on the vehicle information, location information and stored road information of the target road segment; wherein, the driving suggestion information includes the stored road information and the suggested driving parameters and corresponding parameter acceptance degree at any location in the target road segment.

[0083] Accordingly, the first roadside terminal 1a associated with the first target road segment N1 receives the first suggested driving parameters and the corresponding first parameter acceptance level. The method by which the first roadside terminal 1a obtains the first suggested driving parameters and the corresponding first parameter acceptance level is described in the vehicle control method of the roadside terminal 1 described above, and will not be repeated here.

[0084] Specifically, the vehicle-mounted terminal 2 collects the vehicle information and location information of the target vehicle in real time, and sends the vehicle information and location information to the first roadside terminal 1a of the first target road segment N1.

[0085] S502. Receive first driving suggestion information and first parameter confidence level sent by the first roadside terminal closest to the target vehicle ahead, and second driving suggestion information and second parameter confidence level sent by the second roadside terminal closest to the target vehicle behind.

[0086] Specifically, the roadside end closest to the target vehicle in front is the first roadside end 1a, and the roadside end closest to the target vehicle behind is the second roadside end 1b. The vehicle-mounted terminal 2 can receive the first driving suggestion information and the first parameter acceptance level sent by the first roadside end 1a, and also receive the second driving suggestion information and the second parameter acceptance level sent by the second roadside end 1b.

[0087] S503. Based on the confidence level of the first parameter and the confidence level of the second parameter, obtain comprehensive driving suggestion information.

[0088] For details, please refer to Figure 9 , Figure 9 for Figure 8 A flowchart illustrating an embodiment of step S503 is provided. The specific process of step S503 includes the following steps:

[0089] S5031. Collect the actual location of the target vehicle when it passes through the target road section.

[0090] Specifically, when the target vehicle is traveling on the road section between the first roadside end 1a and the second roadside end 1b, the vehicle-mounted terminal 2 collects the actual location of the target vehicle.

[0091] S5032. Obtain the first distance between the actual position and the first roadside end and the second distance between the actual position and the second roadside end.

[0092] Specifically, the vehicle-mounted terminal 2 calculates the first distance L1 between the target vehicle and the first roadside terminal 1a along the current road based on the actual position of the target vehicle and the position of the first roadside terminal 1a. At the same time, the vehicle-mounted terminal 2 calculates the second distance L2 between the target vehicle and the second roadside terminal 1b along the current road based on the actual position of the target vehicle and the position of the second roadside terminal 1b.

[0093] S5033. Obtain the confidence level of the first parameter and the confidence level of the second parameter.

[0094] Specifically, the vehicle-mounted terminal 2 receives the first parameter acceptance level and the second parameter acceptance level from the first roadside terminal 1a and the second roadside terminal 1b.

[0095] S5034. Based on the first distance, the second distance, the confidence level of the first parameter, and the confidence level of the second parameter, obtain comprehensive driving suggestion information.

[0096] Specifically, by calculating and comparing the first distance L1 and the second distance L2, the first ratio and the second ratio of the first distance L1 and the second distance L2 to the total distance L1+L2 are obtained respectively. These first and second ratios are used to adjust the deviation of the first parameter confidence level and the second parameter confidence level, ensuring the continuity of the road between the first roadside end 1a and the second roadside end 1b, thereby avoiding jumps in road information status. Subsequently, the first parameter confidence level and the second parameter confidence level after deviation adjustment are calculated with each parameter in the first driving suggestion information and the second driving suggestion information using a preset formula to obtain comprehensive driving suggestion information.

[0097] S5035. If the length of the first distance is zero, then clear the first and second distances and repeat the above steps.

[0098] Specifically, if the first distance L1 is zero, meaning the target vehicle has just passed the first roadside end 1a, the target vehicle is about to enter the next target road segment. The third roadside end 1c, located in front of the first roadside end 1a, becomes the new first roadside end, and the first roadside end 1a becomes the new second roadside end. The vehicle-mounted terminal 2 disconnects communication with the second roadside end 1b and connects to communicate with the third roadside end 1c to obtain new driving suggestion information and parameter confidence levels. Therefore, the first distance L1 and the second distance L2 need to be recalculated to recalculate the comprehensive driving suggestion information. That is, when the target vehicle has just passed the first roadside end 1a, the vehicle-mounted terminal 2 clears the position information to avoid cumulative errors in the position information and ensure the accuracy of the target vehicle's position.

[0099] S504. Control the actual driving parameters of the target vehicle at any location in the target road segment based on comprehensive driving suggestion information.

[0100] Specifically, the vehicle terminal 2 combines the driving parameters in the comprehensive driving suggestion information with the driver's command input, and obtains the optimal driving parameters based on the multi-degree-of-freedom vehicle model and vehicle dynamic performance requirements. The optimal driving parameters are then used to control the actual speed, current vehicle height, and current suspension control parameters of the target vehicle, thereby achieving better handling and driving smoothness.

[0101] Please see Figure 10 , Figure 10 This is a flowchart illustrating another embodiment of the vehicle control method for the vehicle-mounted terminal in this application. The method specifically includes the following steps:

[0102] S601. Collect actual road information when the target vehicle passes through the target road section.

[0103] Specifically, when the target vehicle travels through the first target road segment N1, the on-board sensor component 22 of the vehicle terminal 2 collects the actual road surface information of the first target road segment N1.

[0104] S602. For any location in the target road segment, if the error between the actual road information at the current location and the stored road information exceeds a third threshold, the actual road information is sent to the roadside end.

[0105] Correspondingly, the first road side terminal 1a receives the actual road information. The processing procedure of the first road side terminal 1a has been described in the above method and will not be repeated here.

[0106] Specifically, the difference between the actual road information at any location in the actual road surface information and the stored road information at the corresponding location in the stored road information is calculated. If the difference between the road information at some locations exceeds the third threshold, the actual road information is sent to the first roadside terminal 1a. If the difference between the road information at all locations does not exceed the third threshold, the actual road information is not sent to the first roadside terminal 1a to reduce the amount of communication data.

[0107] Please see Figure 11 , Figure 11 This is a flowchart illustrating another embodiment of the vehicle control method for the vehicle-mounted terminal in this application. The specific process of this method includes the following steps:

[0108] S701. Obtain real-time driving parameters from vehicle information.

[0109] Specifically, the vehicle-mounted terminal 2 obtains real-time driving parameters such as current speed, vehicle height, and suspension control parameters through vehicle-mounted sensor components installed at various locations in the target vehicle.

[0110] S702. Based on the parameter differences between each parameter of the real-time driving parameters and each parameter of the suggested driving parameters in the comprehensive driving suggestion information, determine whether the parameter difference exceeds the first threshold.

[0111] Specifically, in response to obtaining comprehensive driving suggestion information through the above embodiments, the parameters such as speed, vehicle height and suspension control parameters in the real-time driving parameters are compared with the corresponding parameters in the comprehensive driving suggestion information to calculate the parameter difference, and the parameter difference is compared with a first threshold to determine whether there is a parameter difference exceeding the first threshold.

[0112] S703. If not, the suggested driving parameters shall be used as the actual driving parameters.

[0113] Specifically, if no parameter difference exceeds the first threshold, it means that the road ahead is a normal road segment. At this time, the various parameters of the actual driving parameters can be adjusted with reference to the parameters in the recommended driving parameters.

[0114] S704. If so, adjust the parameters in the actual driving parameters that exceed the first threshold to the maximum, and use the corresponding parameters of the recommended driving parameters for the other parameters to obtain the actual suspension control parameters.

[0115] Specifically, if any parameter difference exceeds the first threshold, it indicates that the road ahead is an abnormal road section and some temporary situations have occurred. In this case, the parameters in the actual driving parameters that exceed the first threshold are adjusted to the maximum, and the other parameters use the corresponding parameters of the recommended driving parameters to obtain the actual suspension control parameters.

[0116] In one embodiment, when the road section has bad roads or speed bumps and the target vehicle speed is low, the vehicle-mounted terminal 2 adjusts the spring stiffness and shock absorber damping in the suspension parameters to soften the suspension and improve ride comfort; when the target vehicle speed is high, the vehicle-mounted terminal 2 will appropriately stiffen the spring stiffness in the suspension parameters to suppress vehicle body bumps, and at the same time coordinate with the vehicle height adjustment to avoid chassis collisions, thereby taking into account both ride comfort and passability.

[0117] In another embodiment, the vehicle-mounted terminal 2 can also proactively adjust the suspension parameters based solely on the stored road surface information and road surface characteristics (such as unevenness, slope, and ground adhesion coefficient) transmitted by the first roadside terminal 1a and the second roadside terminal 1b to identify the road condition of the target road segment ahead. For example, when the vehicle-mounted terminal 2 identifies a sharp turn ahead, its control component adjusts the spring stiffness and shock absorber damping in the suspension parameters based on the current vehicle speed, making the suspension stiffer. Depending on parameters such as road curvature, lateral slope, and vehicle speed, the front and rear suspensions of the target vehicle can be set to different characteristics, while simultaneously lowering the vehicle height to resist body roll. When a parameter approaches or exceeds a first threshold, the control component immediately controls the suspension system to enter its maximum output state to ensure system safety. For example, if the body roll angle of the target vehicle approaches or even exceeds the limit, the control component adjusts the vehicle height to the lowest possible level to lower the center of gravity and prevent the vehicle from rolling over.

[0118] Please see Figure 12 , Figure 12 This is a flowchart illustrating another embodiment of the vehicle control method for on-board units in this application. The method includes the following steps:

[0119] S801. Obtain real-time road information from vehicle information and stored road information from comprehensive driving suggestion information.

[0120] Specifically, the vehicle sensor component of vehicle terminal 2 can acquire real-time road information of the target vehicle's travel route, while vehicle terminal 2 receives the stored road information in the first roadside terminal 1a.

[0121] S802. Based on the road difference between real-time road information and stored road information, determine whether the road difference is lower than the second threshold.

[0122] Specifically, after obtaining real-time road information at any location in the driving segment from the real-time road information and stored road information at the corresponding location in the target segment from the stored road information, the road difference between the real-time road information and the corresponding stored road information is calculated to determine whether there is a road difference lower than the second threshold.

[0123] S803. If so, adjust the suggested driving parameters in the driving suggestion information based on the optimal control method to obtain the actual driving parameters.

[0124] Specifically, if the road difference values ​​for all sections are below the second threshold, it indicates that the road ahead is normal and no emergencies have occurred. In this case, the on-board unit 2 adjusts the suggested driving parameters in the driving suggestion information using the optimal control method to obtain the actual driving parameters. If the road difference values ​​for some sections are greater than the second threshold, it indicates that an emergency has occurred on the road ahead, and the driver needs to manually adjust the control according to the actual situation.

[0125] For example, the vehicle-mounted terminal 2 estimates the actual characteristics of the tire (such as stiffness and coefficient of friction) based on historical information such as mileage and load, combined with the tire aging coefficient. According to the road information of the target road section ahead provided by the first roadside terminal 1a, combined with the information such as vehicle speed, attitude, load distribution and actual tire characteristics collected by the vehicle-mounted sensor components, the optimal suspension parameters are obtained based on the multi-degree-of-freedom vehicle model and vehicle dynamic performance requirements. The suspension system is then adjusted by the control component to enable the target vehicle to obtain better handling and ride comfort.

[0126] In this scheme, multiple roadside terminals 1 set up along the road collect and store road information for relevant road sections based on sensors and send driving suggestions to the vehicle-mounted terminal 2. The vehicle-mounted terminal 2 updates the stored road information based on the observation results of the sensors in the target vehicle. At the same time, the vehicle-mounted terminal 2 receives driving suggestions sent by the roadside terminals 1 on both sides of the target vehicle, and adjusts the confidence level of the driving suggestions based on distance to obtain a comprehensive driving suggestion. Based on the comprehensive driving suggestion, the output is adjusted and the attitude is controlled for the target vehicle. It can also be used to support different levels of intelligent driving and suspension control, ensuring the continuity of the road between adjacent roadside terminals 1, thereby avoiding abrupt changes in road information status.

[0127] Please see Figure 13 , Figure 13 This is a schematic diagram of another embodiment of the vehicle control system of this application. The vehicle control system includes a roadside terminal 1 and an on-board terminal 2. The on-board terminal 2 and the roadside terminal 1 are communicatively connected and cooperate with each other using the vehicle control method described above. The roadside terminal 1 includes multiple roadside nodes 10 arranged along the road, and adjacent roadside nodes 10 are communicatively connected. The arrangement distance of the roadside nodes 10 can be uniform or related to the complexity of the road surface. For example, the more undulating the road surface and the greater the curvature, the denser the arrangement of the roadside nodes 10.

[0128] Multiple roadside nodes 10 can communicate with each other to transmit target vehicle information acquired by the preceding roadside node 10 to the next roadside node 10 sequentially, reducing the data transmission time between the roadside node 10 and the target vehicle. In other embodiments, the roadside terminal 1 can also connect to a server via a communication base station to upload road surface information of all monitored road sections to the server for high-precision map collection.

[0129] Please see Figure 14 , Figure 14 for Figure 13 A schematic diagram of the structure of the roadside node. The roadside node 10 includes: a roadside sensor assembly 11, a roadside main control assembly 12, and a roadside communication assembly 13.

[0130] The roadside sensor assembly 11 is used to collect road surface information at any location within the target road segment related to the roadside node 10, and generate and store road information. This design allows the roadside sensor assembly 11 to monitor, acquire, and store road surface information within the target road segment of the roadside node 10. The target road segment refers to a road segment within a fixed distance before and after the roadside node 10. For example, the target road segment of a single roadside node 10 includes the road segment from the midpoint between the roadside node 10 and the preceding roadside node 10 to the midpoint between the roadside node 10 and the following roadside node 10.

[0131] The road surface information includes information such as road surface undulation, road surface curvature, road surface slope, and road surface friction coefficient at any location on the target road segment.

[0132] The roadside main control component 12 is used to generate driving suggestion information based on stored road information and vehicle information of target vehicles that are about to pass through the target road segment. The roadside main control component 12 performs data analysis on the stored road information and vehicle information of the target vehicles, thereby providing driving suggestion information in advance, reducing the information processing time of the on-board unit 2, reducing the impact of time lag, and thus improving the efficiency of vehicle control.

[0133] The roadside communication component 13 is coupled to the roadside sensor component 11 and the roadside main control component 12, and is used to send driving suggestion information or receive vehicle information.

[0134] Please see Figure 15 , Figure 15 for Figure 13 A schematic diagram of the vehicle-mounted terminal 2. The vehicle-mounted terminal 2 can be installed in various types of target vehicles to collect vehicle information and transmit it to the roadside node 10 in front of the target vehicle. The vehicle information includes the target vehicle's actual driving parameters, collected real-time road information, and vehicle body information. The vehicle body information includes the target vehicle's type (e.g., sedan, sports car, SUV, pickup truck, light commercial vehicle), tire size and type (e.g., highway tires, all-terrain tires, snow tires), current tire mileage (or tire wear coefficient related parameters), actual vehicle load, and vehicle drive mode (e.g., front-wheel drive, rear-wheel drive, part-time four-wheel drive, full-time four-wheel drive).

[0135] The vehicle-mounted unit 2 includes: a navigation component 21, a vehicle-mounted sensor component 22, a control component 23, and a vehicle-mounted communication component 24.

[0136] The navigation component 21 is used to collect the location information of the target vehicle. The on-board sensor component 22 is used to collect the vehicle body information of the target vehicle. The control component 23 connects the on-board sensor component 22 and the navigation component 21, and is used to generate actual driving parameters based on the vehicle body information and driving suggestion information. The on-board communication component 24 connects the navigation component 21, the on-board sensor component 22 and the control component 23, and is communicatively connected to the roadside communication component 13 of the relevant roadside end 1 of the target road segment, receiving driving suggestion information and sending vehicle body information.

[0137] The above description is merely an embodiment of this application and does 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, include: The roadside unit receives vehicle information and location information of the target vehicle that is about to pass through the target road section; Driving suggestion information is obtained based on the vehicle information and the stored road information of the target road segment; wherein, the driving suggestion information includes road information at any location in the target road segment and the corresponding suggested driving parameters; Based on the location information of the target vehicle, the parameter confidence level of the suggested driving parameters is obtained; The driving suggestion information and the confidence level of the parameters are sent to the target vehicle; The on-board unit of the target vehicle also receives first driving suggestion information and first confidence level sent from the first roadside terminal closest to the front along the driving direction, and second driving suggestion information and second confidence level sent from the second roadside terminal closest to the rear. The first confidence level and the second confidence level are used to determine the comprehensive driving suggestion information, which is used to control the actual driving parameters of the target vehicle at any position in the target road segment.

2. The control method according to claim 1, characterized in that, Also includes: Receive actual road information collected when the target vehicle travels through the target road segment; The stored road information is updated based on the actual road information.

3. The control method according to claim 1, characterized in that, Also includes: Receive actual driving information sent by the target vehicle when it passes through the target road segment; wherein, the actual driving information includes temporary warning information and weather information; Temporary warning information is obtained based on the actual driving information; wherein, the temporary warning information includes time-limited information; The temporary warning information will be sent to the next target vehicle passing through the target road section.

4. The control method according to claim 3, characterized in that, The step of obtaining driving suggestion information based on the vehicle information and the stored road information of the target road segment includes: In response to the weather information being normal, normal driving suggestion information is obtained based on the vehicle information and the stored road information of the target road segment; In response to the weather information indicating abnormal weather, safe driving advice information is obtained based on the weather information, the vehicle information, and the stored road information of the target road segment.

5. The control method according to claim 1, characterized in that, The step of obtaining the parameter confidence level of the suggested driving parameters based on the location information of the target vehicle includes: Based on the location information of the target vehicle, the distance between the roadside end and the target vehicle is obtained; Based on the distance, the confidence level of the parameter is obtained; wherein the confidence level of the parameter is negatively correlated with the distance.

6. The control method according to claim 4, characterized in that, The vehicle information includes the vehicle's actual driving parameters, real-time road information, and vehicle body information. The stored road information includes road surface information at any location in the target road segment. The driving suggestion information includes the stored road information and suggested driving parameters at any location in the target road segment. The driving parameters include the target vehicle's speed, vehicle height, and suspension control parameters.

7. A vehicle control method, characterized in that, include: Before the target vehicle enters the target road segment, the on-board unit located on the target vehicle sends vehicle information and location information to the roadside unit associated with the target road segment, so that the roadside unit can obtain driving suggestion information and parameter confidence level based on the vehicle information, location information and stored road information of the target road segment; wherein, the driving suggestion information includes the stored road information and suggested driving parameters at any location in the target road segment; Receive first driving suggestion information and first parameter confidence level sent by the first roadside terminal closest to the target vehicle ahead, and second driving suggestion information and second parameter confidence level sent by the second roadside terminal closest to the target vehicle behind; Based on the confidence levels of the first and second parameters, comprehensive driving suggestion information is obtained.

8. The control method according to claim 7, characterized in that, Also includes: Based on the comprehensive driving suggestion information, the actual driving parameters of the target vehicle at any location within the target road segment are controlled.

9. The control method according to claim 8, characterized in that, The step of controlling the actual driving parameters of the target vehicle at any location in the target road segment based on the comprehensive driving suggestion information includes: Obtain the real-time driving parameters from the vehicle information; Based on the parameter differences between each parameter of the real-time driving parameters and each parameter of the suggested driving parameters in the comprehensive driving suggestion information, it is determined whether the parameter difference exceeds a first threshold. If not, then the suggested driving parameters shall be used as the actual driving parameters; If so, the parameters in the real-time driving parameters that exceed the first threshold are adjusted to the maximum, and the other parameters use the corresponding parameters of the suggested driving parameters to obtain the actual suspension control parameters.

10. The control method according to claim 8, characterized in that, The step of controlling the driving parameters of the target vehicle at any location in the target road segment based on the comprehensive driving suggestion information further includes: Obtain the real-time road information from the vehicle information and the stored road information from the comprehensive driving suggestion information; Based on the road difference between the real-time road information and the stored road information, determine whether the road difference is lower than a second threshold. If so, the recommended driving parameters in the driving suggestion information are adjusted based on the optimal control method to obtain the actual driving parameters.

11. The control method according to claim 7, characterized in that, The step of obtaining comprehensive driving suggestion information based on the confidence level of the first parameter and the confidence level of the second parameter includes: Collect the actual location of the target vehicle when it passes through the target road segment; Obtain the first distance between the actual position and the first roadside end and the second distance between the actual position and the second roadside end; Obtain the confidence level of the first parameter and the confidence level of the second parameter; Based on the first distance, the second distance, the confidence level of the first parameter, and the confidence level of the second parameter, the comprehensive driving suggestion information is obtained; If the length of the first distance is equal to zero, then clear the first distance and the second distance, and repeat the above steps.

12. The control method according to claim 7, characterized in that, Also includes: Collect actual road information when the target vehicle passes through the target road section; For any location in the target road segment, if the error between the actual road information at the current location and the stored road information exceeds a third threshold, the actual road information is sent to the roadside terminal.

13. A vehicle control method, characterized in that, include: Before the target vehicle enters the target road segment, the on-board unit located on the target vehicle sends the vehicle information and location information to the roadside unit related to the target road segment. The roadside unit obtains driving suggestion information and parameter confidence level based on the vehicle information, the location information, and the stored road information of the target road segment; wherein, the driving suggestion information includes suggested driving parameters at any location in the target road segment; The roadside unit sends the driving suggestion information and the parameter acceptance level to the target vehicle; The on-board unit of the target vehicle also receives first driving suggestion information and first confidence level sent from the first roadside terminal closest to the front along the driving direction, and second driving suggestion information and second confidence level sent from the second roadside terminal closest to the rear. The first confidence level and the second confidence level are used to determine the comprehensive driving suggestion information, which is used to control the actual driving parameters of the target vehicle at any position in the target road segment.

14. A roadside end, characterized in that, include: Multiple roadside nodes are set along the road, and adjacent roadside nodes are communicatively connected; The roadside nodes include: The roadside sensor assembly is used to collect road surface information at any location of the target road segment related to the roadside node and generate and store road information. The roadside main control component is used to generate driving suggestion information based on the stored road information and the vehicle information of the target vehicle that is about to travel through the target road segment; A roadside communication component, coupled to the roadside sensor component and the roadside main control component, is used to send the driving suggestion information or receive the vehicle information; The communication connection between adjacent roadside nodes supports the vehicle-mounted terminal to simultaneously receive first driving suggestion information and first confidence level sent by the nearest first roadside terminal ahead along the driving direction, and second driving suggestion information and second confidence level sent by the nearest second roadside terminal behind. The vehicle-mounted terminal obtains comprehensive driving suggestion information based on the first confidence level and the second confidence level. The comprehensive driving suggestion information is used to control the actual driving parameters of the target vehicle at any location in the target road segment.

15. A vehicle-mounted terminal, characterized in that, include: Navigation components are used to collect the location information of the target vehicle; Onboard sensor assembly for collecting vehicle body information of the target vehicle; A control component, connected to the vehicle sensor component and the navigation component, is used to generate actual driving parameters based on the vehicle information and driving suggestion information; The vehicle communication component connects the navigation component, the vehicle sensor component, and the control component, and communicates with the roadside sensor component at the relevant roadside end of the target road segment to receive the driving suggestion information and send the vehicle information. The on-board unit of the target vehicle also receives first driving suggestion information and first confidence level sent from the first roadside terminal closest to the front along the driving direction, and second driving suggestion information and second confidence level sent from the second roadside terminal closest to the rear. The first confidence level and the second confidence level are used to determine the comprehensive driving suggestion information, which is used to control the actual driving parameters of the target vehicle at any position in the target road segment.

16. A vehicle control system, characterized in that, The system includes the roadside terminal and the vehicle-mounted terminal, which are interconnected and cooperate with each other to implement the vehicle control method according to any one of claims 1-13.

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