Vehicle Control Method, Device, Equipment and Storage Medium

Abstract

The present application discloses a vehicle control method, device, equipment and storage medium, relating to the technical field of vehicle control. The disclosed vehicle control method includes: acquiring a road surface image in front of the host vehicle; identifying an abnormal area and an abnormal type in the road surface image; obtaining an abnormal area parameter and a relative distance between the abnormal area and the host vehicle based on the range of the abnormal area in the road surface image; controlling the driving mode of the host vehicle, the driving speed of the host vehicle or the vehicle recovery torque according to the abnormal area parameter and the relative distance; by acquiring and analyzing the image of the road surface in front of the host vehicle in real time, this method can identify the abnormal area and type in advance, and based on the abnormal area parameter and the relative distance, adjust the driving mode, driving speed or recovery torque of the vehicle, which can effectively recover part of the energy lost by the vehicle due to overcoming additional resistance when passing through the abnormal road surface while ensuring safety, thereby improving the overall energy utilization efficiency and driving range and smoothly passing through the abnormal road surface area.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a vehicle control method, device, equipment, and storage medium. Background Art

[0002] Abnormal road conditions, such as potholes, damages, water accumulation, or icing, have a direct and significant impact on the driving safety and energy consumption of vehicles. These abnormalities can lead to an increase in vehicle driving resistance, affect handling stability, increase braking distance, and may cause vehicle damage. Especially for electric vehicles, the high energy consumption under poor road conditions will quickly deplete the battery power and reduce the driving range.

[0003] With the continuous progress of electric vehicle technology, an efficient energy recovery system has become one of the key technologies to improve the driving range. Traditional energy recovery mainly focuses on vehicle braking. However, in the face of complex and changeable road conditions, how to maximize the use of the additional kinetic energy generated by the vehicle when passing through abnormal roads for energy recovery while ensuring safety is an urgent problem to be solved.

[0004] In recent years, with the maturity of intelligent sensors, big data analysis, cloud computing, and machine learning technologies, vehicles can obtain and analyze a large amount of road surface information in real time, enabling accurate prediction of the road conditions ahead. This provides a technical basis for vehicles to adjust driving strategies in advance, including energy recovery mode and deceleration control.

[0005] The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this application is to provide a vehicle control method, device, equipment, and storage medium, aiming to solve the technical problem that when there is an abnormal road ahead during vehicle driving, the vehicle cannot automatically control the vehicle to pass smoothly for the abnormal road surface.

[0007] To achieve the above purpose, this application proposes a vehicle control method, and the vehicle control method includes:

[0008] Obtain a road surface image of the road ahead of the vehicle itself;

[0009] Identify the abnormal area and abnormal type of the road surface image;

[0010] Based on the range of the abnormal area in the road surface image, obtain the abnormal area parameters and the relative distance between the abnormal area and the vehicle itself;

[0011] Control the driving mode of the vehicle itself, the driving speed of the vehicle itself, or the vehicle recovery torque according to the abnormal area parameters and the relative distance.

[0012] In one embodiment, identifying the abnormal area of the road surface image includes:

[0013] Segment the road surface image according to a preset unit length to obtain unit images;

[0014] Extract road surface features from each unit image to obtain unit image features;

[0015] Match the unit image features with preset abnormal road surface features, and when the matching is successful, obtain the abnormal area and the abnormal type.

[0016] In one embodiment, the matching the unit image features with preset abnormal road surface features and obtaining the abnormal area and the abnormal type when the matching is successful includes:

[0017] Match the unit image features with preset abnormal road surface features;

[0018] When the matching is successful, use the abnormal type corresponding to the preset abnormal road surface features as the abnormal type of the unit image;

[0019] Arrange the unit images in a preset order to obtain the abnormal types arranged in the preset order;

[0020] Merge the road surface areas corresponding to the unit images with the same and consecutive abnormal types to obtain the abnormal area.

[0021] In one embodiment, obtaining the abnormal area parameters and the relative distance between the abnormal area and the host vehicle based on the range of the abnormal area in the road surface image includes:

[0022] Obtain the position of the host vehicle;

[0023] Identify the abnormal length and the abnormal starting point of the abnormal area based on the abnormal area;

[0024] Obtain the relative distance between the abnormal area and the host vehicle according to the position of the host vehicle and the abnormal starting point;

[0025] Obtain the abnormal level according to the abnormal length and the abnormal starting point, and use the abnormal length, the abnormal starting point, and the abnormal level as the abnormal area parameters.

[0026] In one embodiment, the abnormal area parameters include the abnormal type;

[0027] The controlling the driving mode of the host vehicle or the driving speed of the host vehicle or the vehicle recovery torque according to the abnormal area parameters and the relative distance includes:

[0028] When the abnormal type is the first type and the relative distance is less than or equal to the distance threshold, reduce the vehicle recovery torque and the self-vehicle driving speed until passing through the abnormal area;

[0029] When the abnormal type is the second type and the relative distance is less than or equal to the distance threshold, reduce the vehicle recovery torque until passing through the abnormal area;

[0030] When the abnormal type is the third type and the relative distance is less than or equal to the distance threshold, switch the driving mode of the self-vehicle to a preset mode until passing through the abnormal area.

[0031] In one embodiment, the abnormal area parameters include an abnormal level and an abnormal length;

[0032] The reducing the vehicle recovery torque and reducing the self-vehicle driving speed includes:

[0033] Obtain the current vehicle recovery torque and the current vehicle speed;

[0034] Obtain a reference recovery torque and a reference vehicle speed according to the abnormal level and the abnormal length;

[0035] Adjust the current vehicle recovery torque to the reference recovery torque and adjust the current vehicle speed to the reference vehicle speed to achieve reducing the vehicle recovery torque and reducing the self-vehicle driving speed.

[0036] In one embodiment, after when the abnormal type is the second type and the relative distance is less than or equal to the distance threshold, it further includes:

[0037] When the current driving state is decelerating, reduce the falling slope of the self-vehicle driving torque;

[0038] When the current driving state is accelerating, reduce the rising slope of the self-vehicle driving torque.

[0039] In addition, to achieve the above object, the present application also proposes a vehicle control device, and the vehicle control device includes:

[0040] An image acquisition module, configured to acquire a road surface image of the road surface in front of the self-vehicle;

[0041] An abnormal area recognition module, configured to recognize an abnormal area and an abnormal type of the road surface image;

[0042] The abnormal area recognition module is further configured to obtain abnormal area parameters and the relative distance between the abnormal area and the self-vehicle based on the range of the abnormal area in the road surface image;

[0043] A vehicle control module is configured to control the driving mode of the host vehicle, the driving speed of the host vehicle, or the vehicle recuperation torque according to the abnormal area parameter and the relative distance.

[0044] In addition, to achieve the above object, the present application further provides a vehicle control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle control method as described above.

[0045] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0046] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0047] One or more technical solutions provided by the present application have at least the following technical effects:

[0048] By acquiring and analyzing the image of the road surface in front of the host vehicle in real time, the abnormal area and its type can be identified in advance. Based on the abnormal area parameter and the relative distance, the driving mode, driving speed, or recuperation torque of the vehicle can be adjusted, which can effectively recover part of the energy lost by the vehicle due to overcoming additional resistance when passing through the abnormal road surface while ensuring safety, thereby improving the overall energy utilization efficiency and cruising range and smoothly passing through the abnormal road surface area. Description of the Drawings

[0049] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0050] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0051] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the vehicle control method of the present application;

[0052] Figure 2 It is a typical feature diagram of the road surface image provided for an embodiment of the vehicle control method of the present application;

[0053] Figure 3 Schematic diagram of the road surface image obtained by rescan after occlusion provided by an embodiment of the vehicle control method of the present application;

[0054] Figure 4 Schematic diagram of the image after arranging each unit image based on a preset order provided by an embodiment of the vehicle control method of the present application;

[0055] Figure 5 Schematic diagram of the road surface after recombining and fusing adjacent small sections of the road with the same mark to obtain a road section provided by an embodiment of the vehicle control method of the present application;

[0056] Figure 6 Flow chart provided by Embodiment 2 of the vehicle control method of the present application;

[0057] Figure 7 Schematic diagram of the module structure of the vehicle control device according to an embodiment of the present application;

[0058] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method according to an embodiment of the present application. Detailed implementation manners

[0059] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0060] For a better understanding of the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0061] The main solution of the embodiment of the present application is: obtaining a road surface image in front of the vehicle itself; identifying an abnormal area and an abnormal type of the road surface image; obtaining an abnormal area parameter and a relative distance between the abnormal area and the vehicle itself based on the range of the abnormal area in the road surface image; and controlling the driving mode of the vehicle itself, the driving speed of the vehicle itself, or the vehicle recovery torque according to the abnormal area parameter and the relative distance.

[0062] In this embodiment, for the convenience of description, the following will be described with the vehicle control device as the execution subject.

[0063] Since road surface abnormalities in the prior art, such as potholes, damages, water accumulation or icing, etc., have a direct and significant impact on the driving safety and energy consumption of vehicles. These abnormalities will increase the driving resistance of the vehicle, affect the handling stability, increase the braking distance, and may cause vehicle damage. Especially for electric vehicles, the high energy consumption under poor road surface conditions will quickly consume the battery power and reduce the driving range.

[0064] With the continuous progress of electric vehicle technology, an efficient energy recovery system has become one of the key technologies to improve the cruising range. Traditional energy recovery mainly focuses on vehicle braking. However, in the face of complex and changeable road conditions, how to maximize the use of the additional kinetic energy generated by the vehicle when passing through abnormal roads to recover energy while ensuring safety is an urgent problem to be solved.

[0065] In recent years, with the maturity of intelligent sensors, big data analysis, cloud computing, and machine learning technologies, vehicles can obtain and analyze a large amount of road surface information in real time, enabling accurate prediction of the road conditions ahead. This provides a technical basis for the vehicle to adjust its driving strategy in advance, including the energy recovery mode and deceleration control.

[0066] This application provides a solution that, while ensuring safety, effectively recovers part of the energy lost by the vehicle when passing through abnormal roads due to overcoming additional resistance, thereby improving the overall energy utilization efficiency and cruising range and smoothly passing through the abnormal road area.

[0067] As can be seen from the above embodiments, this application discloses a vehicle control method, device, equipment, and storage medium, which relates to the field of vehicle control technology. The disclosed vehicle control method includes: obtaining a road surface image in front of the vehicle itself; identifying the abnormal area and abnormal type of the road surface image; obtaining abnormal area parameters and the relative distance between the abnormal area and the vehicle itself based on the range of the abnormal area in the road surface image; controlling the driving mode, driving speed, or vehicle recovery torque of the vehicle itself according to the abnormal area parameters and the relative distance. By obtaining and analyzing the image of the road surface in front of the vehicle itself in real time, this method can identify the abnormal area and type in advance. Based on the abnormal area parameters and relative distance, it can adjust the driving mode, driving speed, or recovery torque of the vehicle, effectively recover part of the energy lost by the vehicle when passing through abnormal roads due to overcoming additional resistance while ensuring safety, thereby improving the overall energy utilization efficiency and cruising range and smoothly passing through the abnormal road area.

[0068] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device, vehicle control device, etc. that can implement the above functions. Hereinafter, the vehicle control device will be used as an example to illustrate this embodiment and the following embodiments.

[0069] Based on this, the embodiments of this application provide a vehicle control method, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the vehicle control method of this application.

[0070] In this embodiment, the vehicle control method includes steps S10~S40:

[0071] Step S10: Obtain the road surface image of the road surface in front of the vehicle itself.

[0072] It can be understood that the acquisition of the road surface image can be obtained by real-time scanning of the road surface in front by a single or multiple on-vehicle front-view cameras.

[0073] In a specific implementation, by real-time scanning of the road surface in front by a single or multiple on-vehicle front-view cameras, considering the influence of the front view blind area, a certain length (such as 200 m) of the road surface Road0 in front is intercepted, and all its typical features are obtained. The typical features of the road surface image can be referred to Figure 2 , where the figure includes typical features such as the vehicle itself, speed bumps, potholes, bumps, wet and slippery water accumulation, and ice and snow road surfaces. Among them, Road is the length of the road surface in front.

[0074] It should be emphasized that when obtaining the road surface image of the road surface in front of the vehicle itself, if there are vehicles or other moving objects blocking in front, the road surface information can also be stored and maintained for a period of time, and this road surface information can be dynamically updated according to the moving position of the vehicle itself. After the timeout, re-scan and obtain it again.

[0075] In a specific implementation, based on Figure 2 the road surface image obtained by re-scanning after it is determined that there is an occlusion on the road surface, reference can be made to Figure 3 , where the figure includes the original position of the vehicle itself and the position of the vehicle itself when re-scanning and obtaining the image after the timeout when there is an occlusion on the road surface.

[0076] Step S20: Identify the abnormal area and abnormal type of the road surface image.

[0077] It can be understood that the abnormal area can be understood as the area where abnormalities exist in the figure obtained by analyzing the road surface features in the road surface image. If there are other factors on the road surface that will affect the vehicle driving, it is understood as an abnormality.

[0078] It should be understood that there are some reasons in the abnormal area that will have an adverse impact on the vehicle when the vehicle drives into this area. The types of adverse impacts can be understood as the abnormal types.

[0079] It should be noted that the abnormal types can be speed bumps, potholes, bumps, wet and slippery water accumulation, ice and snow, etc. Other features can also be added to the abnormal features of the road surface image according to the actual analysis situation, so as to continuously update the abnormal types that can be identified in the road surface image.

[0080] In a feasible implementation manner, step S20 may include steps A21 to A23:

[0081] Step A21: Segment the road surface image according to a preset unit length to obtain unit images.

[0082] It is understandable that the preset unit length can be based on the length of the actual road surface in the road surface image, which can be 5 meters, 8 meters, or adjusted according to the actual situation.

[0083] It should be understood that 5 meters in the actual road surface may only correspond to 1 centimeter in the road surface image. Segmenting based on the actual road surface length in the photo as the preset unit length, for example, dividing the road surface image into multiple unit images that are 1 centimeter long.

[0084] Step A22: Extract road surface features from each unit image to obtain unit image features.

[0085] It is understandable that extracting road surface features from the unit image can be to extract features from the unit image through a neural network or other feature extraction algorithms to obtain unit image features.

[0086] It is understandable that the unit image features can be normal road surface features or abnormal road surface features.

[0087] It should be understood that the feature categories in each unit image may be the same or different.

[0088] Step A23: Match the unit image features with the preset abnormal road surface features. When the match is successful, obtain the abnormal area and the abnormal type.

[0089] It is understandable that the preset abnormal road surface features can be obtained by previously extracting the abnormal features in various types of abnormal road surfaces.

[0090] It should be understood that the preset abnormal road surface features can include various types of abnormal road surface features.

[0091] It should be noted that the matching of the unit image features with the preset abnormal road surface features and obtaining the abnormal area and the abnormal type when the match is successful includes: matching the unit image features with the preset abnormal road surface features; when the match is successful, taking the abnormal type corresponding to the preset abnormal road surface features as the abnormal type of the unit image; arranging each unit image in a preset order to obtain the abnormal types arranged in a preset order; merging the road surface areas corresponding to the unit images with the same and consecutive abnormal types to obtain the abnormal area.

[0092] Among them, it is understandable that matching the unit image features with the preset abnormal road surface features can be by matching the similarity of two feature vectors. When the similarity is higher than the similarity threshold, the similarity threshold can be 80%, and it can be considered that the match is successful; the abnormal type of the abnormal road surface feature with a successful match is the abnormal type of the unit image feature, that is, the abnormal type of the unit road surface image.

[0093] Among them, it should be noted that the preset order can be the order of each unit image in the road surface image. In specific implementation, the image obtained by arranging each unit image based on the preset order can refer to Figure 4 . Each small segment in the figure can be understood as a unit image, and the label corresponding to each small segment of the unit image indicates the result of abnormal area recognition of the road surface, whether it is an abnormal area and the type of abnormality.

[0094] In specific implementation, refer to Figure 4 . Road0 is segmented according to the minimum unit length (such as 5m), and then the road surface characteristics of each small segment are compared with the typical road surface characteristics in the vehicle database to determine the road surface type (uneven, ice and snow, slippery, normal) and mark them respectively. If the small segment has typical uneven road characteristics such as speed bumps, bumps, potholes, and bulges, and the degree of conformity exceeds 80% (adjustable), it is determined that there is an uneven road ahead; if the small segment has typical slippery road characteristics such as water accumulation, dampness, and fine sand, and the degree of conformity exceeds 80% (adjustable), it is determined that there is a slippery road ahead; if the small segment has typical ice and snow road characteristics such as obvious reflection and relatively smooth, and the degree of conformity exceeds 80% (adjustable), it is determined that there is an ice and snow road ahead.

[0095] Among them, the road surface areas corresponding to the unit images with the same and continuous abnormal types are merged to obtain the abnormal area, which can be understood by referring to Figure 4 . In Figure 4 , there are multiple consecutive unit areas belonging to the same type of abnormality. The adjacent and continuous abnormal areas with the same abnormal type can be merged into one abnormal area.

[0096] Among them, it should be noted that the vehicle itself needs to analyze the abnormal type and relative position of each abnormal area, and then control at least one of the driving speed, driving mode, and recovery torque of the vehicle itself. This includes a series of relatively complex actions. If the adjacent and continuous abnormal areas with the same abnormal type are merged into one abnormal area, it can effectively reduce repeated actions, speed up the data processing speed, and reduce the data processing volume.

[0097] In specific implementation, based on Figure 4 , the adjacent small sections of the road with the same mark are combined to obtain the road surface after section recombination and fusion Figure 5 , Figure 5 . The road surface type, length, and the distance from the starting point of each marked section to the vehicle itself can be obtained from Road1 in

[0098] In this embodiment, by matching the unit image features with the preset abnormal road surface features, the specific abnormal types in the image, such as potholes, damages, water accumulations, etc., can be accurately identified, improving the accuracy and reliability of road surface detection; merging the road surface areas corresponding to the consecutive unit images with the same identified abnormal types can effectively define the specific scope of the abnormal area, avoiding the neglect of small-scale abnormal points and avoiding repeated control operations on vehicles on continuously identical abnormal road surfaces.

[0099] The above is only a feasible implementation manner of step S20 provided in this embodiment, and this embodiment does not make specific limitations on the specific implementation manner of step S20.

[0100] Step S30, obtaining abnormal area parameters and the relative distance between the abnormal area and the vehicle itself based on the range of the abnormal area in the road surface image.

[0101] In a feasible implementation manner, step S30 may include steps A31 to A34:

[0102] Step A31, obtaining the vehicle position.

[0103] It can be understood that the vehicle position may be the position of the vehicle itself when obtaining the road surface image.

[0104] It should be understood that the acquisition of the vehicle position can be to obtain the real-time longitude and latitude of the vehicle itself through satellite navigation, and obtain the vehicle position based on the real-time longitude and latitude.

[0105] Step A32, identifying the abnormal length and abnormal starting point of the abnormal area based on the abnormal area.

[0106] It can be understood that the abnormal length can be understood as the real length of the abnormal area mapped on the real road surface.

[0107] It should be understood that the abnormal starting point can be the point on the abnormal area closest to the vehicle position, and the accurate longitude and latitude of this point can be obtained on the actual road surface.

[0108] It should be noted that because of the segmentation of the road surface image, the obtained abnormal area is a relatively regular area division, so the starting point of the abnormal area is based on the point corresponding to the edge line of the area close to the vehicle.

[0109] Step A33, obtaining the relative distance between the abnormal area and the vehicle itself according to the vehicle position and the abnormal starting point.

[0110] It can be understood that by performing three-dimensional space conversion according to the longitude and latitude of the vehicle itself and the longitude and latitude of the abnormal starting point of the abnormal area, the relative distance between the vehicle position and the abnormal area can be obtained, and it can also be understood as the distance between the vehicle position and the abnormal starting point of the abnormal area.

[0111] It should be noted that the position of the vehicle itself is constantly changing. During the continuous driving of the vehicle, the position is constantly changing. However, when calculating the abnormal starting point of the abnormal area in the road surface image, the longitude and latitude information of the abnormal starting point can be obtained. According to this longitude and latitude information and the position of the vehicle itself (which can refer to the real-time position of the vehicle itself when judging the relative distance from the abnormal area).

[0112] Step A34, obtain the abnormal level according to the abnormal length and the abnormal starting point, and use the abnormal length, the abnormal starting point, and the abnormal level as abnormal area parameters.

[0113] It should be noted that the abnormal levels can be divided into level one, level two, and level three. Of course, there can also be other level divisions, which can be adjusted according to actual needs. The division of levels is for differentiating different vehicle controls.

[0114] In specific implementation, judge in turn whether it is an abnormal road (any one of uneven, icy, or slippery) from near to far according to the road section distance. If so, process it according to the set control, otherwise maintain the status quo. If it is an abnormal road section, an abnormal level evaluation should also be carried out based on its characteristics, with level one being light and level three being heavy. If two abnormal roads in Road1 are adjacent and relatively close (such as the length ≤ 10m), the middle road section can be regarded as a continuation of the abnormal road and be processed in advance according to the latter abnormal road.

[0115] In this embodiment, by obtaining the position of the vehicle itself and identifying the characteristics of the abnormal area (such as abnormal length, starting point), the distance between the vehicle and the potential dangerous area is evaluated in real time, providing timely warnings for the driver or the automatic driving system and controlling to take preventive measures, such as decelerating in advance and changing lanes to avoid, thereby effectively reducing the accident risk.

[0116] The above is only a feasible implementation manner of step S30 provided by this embodiment. This embodiment does not make specific limitations on the specific implementation manner of step S30.

[0117] Step S40, control the driving mode of the vehicle itself, the driving speed of the vehicle itself, or the vehicle recovery torque according to the abnormal area parameters and the relative distance.

[0118] It can be understood that the control of the vehicle itself can include one or more of the following three vehicle controls: switching the driving mode of the vehicle itself, adjusting the driving speed of the vehicle itself, and adjusting the vehicle recovery torque.

[0119] This embodiment provides a vehicle control method. By acquiring and analyzing the image of the road surface in front of the vehicle in real time, it can identify abnormal areas and types in advance. Based on the parameters of the abnormal areas and the relative distance, it can adjust the driving mode, driving speed or recuperation torque of the vehicle, which can effectively recuperate part of the energy lost by the vehicle due to overcoming additional resistance when passing through abnormal road surfaces while ensuring safety, thereby improving the overall energy utilization efficiency and cruising range and smoothly passing through the abnormal road surface area.

[0120] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 6 , step S40, the vehicle control method further includes steps S41 to S43:

[0121] Step S41, when the abnormal type is the first type and the relative distance is less than or equal to the distance threshold, reduce the vehicle recuperation torque and the driving speed of the vehicle itself until passing through the abnormal area.

[0122] It should be noted that the first type can be the uneven road type, and the road surface characteristics of this type can be road surface potholes, damages, etc. The road surface in a damaged state can be considered to be in the first type.

[0123] It should be noted that the distance threshold can be 5 meters of the real road surface, or other distances. This embodiment does not limit this and can be adjusted according to the actual situation.

[0124] In a feasible implementation manner, reducing the vehicle recuperation torque and the driving speed of the vehicle itself in step S41 may include steps A411 to A13:

[0125] Step A411, obtain the current vehicle recuperation torque and the current vehicle speed.

[0126] It can be understood that the vehicle recuperation torque, especially in the context of electric vehicles and hybrid vehicles, refers to the torque generated when part of the vehicle's kinetic energy is converted into electrical energy and fed back to the battery system by an electric motor (as a drive motor in an electric vehicle and may be used as a generator under specific working conditions in a hybrid vehicle) during vehicle deceleration or coasting. This process is called braking energy recuperation or kinetic energy recuperation.

[0127] It should be noted that the vehicle recuperation power and the vehicle motor speed can be obtained through the vehicle's own sensors, and the recuperation torque can be obtained from the vehicle recuperation power and the vehicle motor speed.

[0128] Among them, the recuperation power is the electric power output by the motor acting as a generator during the energy recuperation process. The recuperation power is affected by various factors, including the vehicle's kinetic energy at that time, the state of charge (SOC) of the battery, and the maximum recuperation power allowed by the system, etc.

[0129] Among them, the motor speed is the rotational speed of the motor during energy recuperation, which affects the magnitude of the recuperation torque. Generally, the higher the motor speed, the smaller the required recuperation torque to maintain a certain recuperation power.

[0130] Step A412, obtain a reference recuperation torque and a reference vehicle speed according to the abnormal level and the abnormal length.

[0131] It should be noted that the abnormal level usually reflects the severity of the road surface condition. The higher the level, the worse the road surface condition, and stronger vehicle control intervention may be required. For example, for minor damage, only slight adjustment of the vehicle speed and recuperation strategy may be needed, while for severe potholes, a significant reduction in vehicle speed and an increase in energy recuperation may be required.

[0132] A longer abnormal road surface means that the vehicle needs to maintain the adjusted state for a longer time. Therefore, it may be necessary to start adjusting the vehicle speed and recuperation torque earlier to ensure a smooth transition and pass through the entire area.

[0133] When encountering an abnormal road surface, the vehicle may tend to increase the recuperation torque, especially when decelerating into or passing through the abnormal area, to utilize the kinetic energy of the vehicle's deceleration for energy recuperation. When the abnormal level is high and the abnormal road surface is long, the reference recuperation torque may be set higher to recover energy more actively and control the vehicle speed. However, at the same time, the driving smoothness and safety issues caused by excessive braking need to be considered.

[0134] The adjustment of the vehicle speed will balance the passing efficiency and safety according to the abnormal level and length. For a more severe abnormal road surface or a longer abnormal area, the recommended reference vehicle speed will be lower to reduce the impact, ensure safety, and provide enough time for the driver to react. On the contrary, if the abnormal level is low, the vehicle may maintain a speed close to the original speed or moderately reduce it to ensure comfort and efficiency.

[0135] In specific implementation, setting the corresponding reference recuperation torque and reference vehicle speed for each abnormal level is the optimal recuperation torque and optimal vehicle speed during driving on this road surface through pre-tests.

[0136] Step A413, adjust the current vehicle recuperation torque to the reference recuperation torque, and adjust the current vehicle speed to the reference vehicle speed to reduce the vehicle recuperation torque and the self-vehicle driving speed.

[0137] It is understandable that the reference recovery torque and vehicle speed most suitable for the current road conditions can be pre-calculated and provided for the corresponding reference recovery torque and vehicle speed under each road condition, which can be combined with the actual performance parameters of the vehicle, the battery state, and the forward road condition information provided by the predictive driving assistance system.

[0138] In this embodiment, the reference recovery torque and vehicle speed of the vehicle are formulated based on the road surface anomaly level and length to control the vehicle to drive stably enough on the abnormal road surface, effectively improving driving safety, vehicle durability, and energy efficiency.

[0139] The above are only feasible embodiments for reducing the vehicle recovery torque and the self-vehicle driving speed in step S41 provided by this embodiment. This embodiment does not specifically limit the specific implementation manner for reducing the vehicle recovery torque and the self-vehicle driving speed in step S41.

[0140] Step S42, when the abnormal type is the second type and the relative distance is less than or equal to the distance threshold, reduce the vehicle recovery torque until passing through the abnormal area.

[0141] It is understandable that the second type can be the slippery type, and the distance threshold can be 5 meters, or it can be set by itself.

[0142] In specific implementation, if it is a slippery road, the vehicle recovery ability should be limited to a smaller value (adjustable according to the anomaly level and length of the slippery road) before approaching the starting point of the section (such as 5m) until the end of the section. And during the process of passing through this section, the rising slope and falling slope of the driving torque can be slowed down to make the acceleration and deceleration gentler and reduce the tendency of the wheels to slip and lock.

[0143] In a feasible implementation manner, after step S42, steps A4201 to A4202 may be included:

[0144] Step A4201, when the current driving state is decelerating, reduce the falling slope of the self-vehicle driving torque.

[0145] It is understandable that when the vehicle decelerates, too fast a falling slope of the driving torque may cause the vehicle to decelerate suddenly, increasing the discomfort of the passengers and drivers. Reducing this slope can make the deceleration process smoother and improve the riding comfort.

[0146] It should be understood that in electric vehicles and hybrid vehicles, when decelerating, the drive motor converts into a generator for energy recovery. If the driving torque drops too fast, it may not be conducive to the efficient energy conversion of the motor. Appropriately reducing the falling slope can help the motor perform energy recovery under a more stable working condition, improving the recovery efficiency and the battery charge.

[0147] It should be noted that during deceleration, in addition to the motor's regenerative torque, the traditional friction braking system may also be involved. Reducing the slope of the driving torque decrease can more finely balance the roles of the motor regeneration and the braking system, reduce unnecessary brake wear, and extend the service life of the braking system.

[0148] It should be emphasized that a gentle torque change helps the vehicle's powertrain transition more smoothly from the driving state to the energy regeneration state, reducing the shocks and stresses within the system, and is beneficial for protecting the mechanical components of the powertrain and extending the vehicle's service life in the long run.

[0149] Step A4202, when the current driving state is accelerating, reduce the slope of the driving torque increase of the host vehicle.

[0150] It can be understood that by slowly increasing the driving torque, the vehicle's acceleration process can be made smoother, reducing the sense of abruptness and enhancing the riding comfort of the driver and passengers.

[0151] It should be noted that rapidly increasing the driving torque will cause greater impacts on the components of the powertrain such as the engine, motor, and transmission, and may lead to premature wear or damage in the long term. Reducing the slope of the torque increase helps to relieve the pressure on these components and extend their service life.

[0152] It should be emphasized that on slippery or complex road surfaces, rapidly increasing the driving torque is likely to cause tire slippage, affecting the vehicle's stability and safety. Reducing the slope of the torque increase helps the vehicle to better control the traction force, reduce the risk of slippage, and enhance the driving safety.

[0153] In this embodiment, during the process of passing through this section of the road, the slope of the driving torque increase and decrease can be slowed down, making the acceleration and deceleration gentler and reducing the tendency of the wheels to slip and lock.

[0154] The above are only feasible implementation manners after step S42 provided in this embodiment. This embodiment does not make specific limitations on the specific implementation manners after step S42.

[0155] Step S43, when the abnormal type is the third type and the relative distance is less than or equal to the distance threshold, switch the driving mode of the host vehicle to a preset mode until passing through the abnormal area.

[0156] It can be understood that the third type is the slippery road type, and the distance threshold is 5 meters, which can also be set by oneself.

[0157] In specific implementation, if it is an ice and snow road, the internal power style should be temporarily switched to a tuning similar to the snow mode before approaching the starting point of the section (such as 5m).

[0158] This embodiment provides a vehicle control method. By differentiating different types of road surface anomalies and the relative distance between the vehicle and the anomaly area, the driving mode, recuperation torque, and driving speed of the vehicle are dynamically adjusted to ensure safe and smooth passage through the anomaly area. The vehicle driving state is adjusted according to different anomaly types. Especially when passing through a relatively severe anomaly area (such as the first type), the vehicle speed is gently reduced, which can reduce jolts and emergency braking and improve the riding comfort of passengers; in some abnormal situations (such as the second type), only the recuperation torque is appropriately reduced without forced speed reduction, which can not only ensure safe passage through the anomaly area but also minimize the energy loss caused by speed reduction and optimize the energy utilization efficiency; for the third type of anomaly, directly switch to a preset driving mode. By predictively adjusting the driving mode and power output, the hard impact on the bad road surface can be reduced, effectively reducing the wear of components such as the vehicle suspension, tires, and braking system, extending the service life of the vehicle, and reducing the maintenance cost.

[0159] It should be noted that the above examples are only for understanding this application and do not constitute a limitation to the vehicle control method of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0160] This application also provides a vehicle control device. Please refer to Figure 7 , the vehicle control device includes:

[0161] An image acquisition module 10, configured to acquire a road surface image in front of the vehicle itself;

[0162] An anomaly area recognition module 20, configured to recognize the anomaly area and anomaly type in the road surface image;

[0163] The anomaly area recognition module 20 is further configured to obtain anomaly area parameters and the relative distance between the anomaly area and the vehicle itself based on the range of the anomaly area in the road surface image;

[0164] A vehicle control module 30, configured to control the driving mode of the vehicle itself, the driving speed of the vehicle itself, or the vehicle recuperation torque according to the anomaly area parameters and the relative distance.

[0165] The vehicle control device provided by this application adopts the vehicle control method in the above embodiment, which can solve the technical problem that the vehicle cannot automatically control the vehicle to pass smoothly when encountering an abnormal road ahead during the driving process. Compared with the prior art, the beneficial effects of the vehicle control device provided by this application are the same as those of the vehicle control method provided by the above embodiment, and other technical features in the vehicle control device are the same as the features disclosed in the method of the above embodiment, and will not be elaborated here.

[0166] The present application provides a vehicle control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle control method in the first embodiment above.

[0167] Reference is made below to Figure 8 , which shows a schematic structural diagram of a vehicle control device suitable for implementing the embodiments of the present application. The vehicle control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description: tablet computers), PMPs (Portable Media Player: portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The vehicle control device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0168] As Figure 8 shown, the vehicle control device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the vehicle control device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle control device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a vehicle control device having various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be alternatively implemented or had.

[0169] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0170] The vehicle control device provided by the present application adopts the vehicle control method in the above embodiments, and can solve the technical problem that when there is an abnormal road ahead during vehicle driving, the vehicle cannot automatically control the vehicle to pass smoothly for the abnormal road surface. Compared with the prior art, the beneficial effects of the vehicle control device provided by the present application are the same as those of the vehicle control method provided by the above embodiments, and other technical features in the vehicle control device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0171] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0172] As described above, only the specific embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0173] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above embodiments.

[0174] The computer-readable storage medium provided by the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0175] The above computer-readable storage medium may be included in a vehicle control device; or may exist separately without being assembled into the vehicle control device.

[0176] The above computer-readable storage medium carries one or more programs, which, when executed by a vehicle control device, cause the vehicle control device to: obtain a road surface image in front of the vehicle; identify an abnormal area and an abnormal type in the road surface image; obtain an abnormal area parameter and a relative distance between the abnormal area and the vehicle based on the range of the abnormal area in the road surface image; and control the driving mode or the driving speed of the vehicle or the vehicle recovery torque according to the abnormal area parameter and the relative distance.

[0177] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or it can be connected to an external computer (for example, by connecting through an Internet service provider via the Internet).

[0178] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutively represented blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0179] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0180] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned vehicle control method, and can solve the technical problem that when there is an abnormal road ahead during vehicle driving, the vehicle cannot automatically control the vehicle to pass smoothly for the abnormal road surface. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the vehicle control method provided by the above embodiments, and will not be elaborated here.

[0181] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the vehicle control method as described above.

[0182] The computer program product provided by the present application can solve the technical problem that when there is an abnormal road ahead during vehicle driving, the vehicle cannot be automatically controlled to smoothly pass through the abnormal road surface. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vehicle control method provided by the above embodiments, and will not be elaborated here.

[0183] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Obtain a road surface image in front of the host vehicle; Identify the abnormal area and abnormal type of the road surface image; Based on the range of the abnormal area in the road surface image, obtain the abnormal area parameters and the relative distance between the abnormal area and the host vehicle; Control the vehicle's regenerative torque according to the abnormal area parameters and the relative distance, and dynamically adjust the vehicle's regenerative torque based on the abnormal level in the abnormal area parameters; The identifying the abnormal area of the road surface image includes: Segment the road surface image according to a preset unit length to obtain unit images; Extract road surface features from each unit image to obtain unit image features; Match the unit image features with preset abnormal road surface features, and when the matching is successful, obtain the abnormal area and abnormal type; The matching the unit image features with preset abnormal road surface features and, when the matching is successful, obtaining the abnormal area and abnormal type includes: Match the unit image features with preset abnormal road surface features; When the matching is successful, use the abnormal type corresponding to the preset abnormal road surface features as the abnormal type of the unit image; Arrange the unit images in a preset order to obtain the abnormal types arranged in a preset order; Merge the road surface areas corresponding to the unit images with the same and continuous abnormal types to obtain the abnormal area; In the obtaining the road surface image in front of the host vehicle, it includes: When there is occlusion or loss in the road surface image in front of the host vehicle, obtain the current image and the vehicle's moving position at preset time intervals; update the historical road surface image according to the current image and the vehicle's moving position to obtain the road surface image in front of the host vehicle.

2. The vehicle control method according to claim 1, wherein The obtaining the abnormal area parameters and the relative distance between the abnormal area and the host vehicle based on the range of the abnormal area in the road surface image includes: Obtain the position of the host vehicle; Based on the abnormal area, identify the abnormal length and abnormal starting point of the abnormal area; Obtain the relative distance between the abnormal area and the host vehicle according to the position of the host vehicle and the abnormal starting point; Obtain the abnormal level according to the abnormal length and abnormal starting point, and use the abnormal length, abnormal starting point, and the abnormal level as the abnormal area parameters.

3. The vehicle control method according to claim 1, characterized in that, The abnormal area parameters include the abnormal type; The controlling the vehicle's regenerative torque according to the abnormal area parameters and the relative distance includes: When the abnormal type is the second type and the relative distance is less than or equal to the distance threshold, reduce the vehicle's regenerative torque until passing through the abnormal area; After the controlling the vehicle's regenerative torque according to the abnormal area parameters and the relative distance, it further includes: When the abnormal type is the first type and the relative distance is less than or equal to the distance threshold, reduce the vehicle's regenerative torque and reduce the vehicle's driving speed until passing through the abnormal area; When the abnormal type is the third type and the relative distance is less than or equal to the distance threshold, switch the driving mode of the host vehicle to a preset mode until passing through the abnormal area.

4. The vehicle control method according to claim 3, characterized in that The abnormal area parameters include the abnormal level and abnormal length; The reducing the vehicle's regenerative torque and reducing the vehicle's driving speed includes: Obtain the current vehicle's regenerative torque and the current vehicle speed; Obtain a reference recovery torque and a reference vehicle speed according to the abnormal level and the abnormal length; Adjust the current vehicle recovery torque to the reference recovery torque and adjust the current vehicle speed to the reference vehicle speed to reduce the vehicle recovery torque and the self-vehicle driving speed.

5. The vehicle control method according to claim 3, wherein After the abnormal type is the second type and the relative distance is less than or equal to the distance threshold, it further includes: When the current driving state is decelerating, reduce the slope of the decrease in the self-vehicle driving torque; When the current driving state is accelerating, reduce the slope of the increase in the self-vehicle driving torque.

6. A vehicle control device, characterized in that, The vehicle control device includes: An image acquisition module for acquiring a road surface image of the road surface in front of the self-vehicle; An abnormal area identification module for identifying an abnormal area and an abnormal type of the road surface image; The abnormal area identification module is further configured to obtain abnormal area parameters and the relative distance between the abnormal area and the self-vehicle based on the range of the abnormal area in the road surface image; A vehicle control module for controlling the vehicle recovery torque according to the abnormal area parameters and the relative distance, and dynamically adjusting the vehicle recovery torque based on the abnormal level in the abnormal area parameters; The abnormal area identification module is further configured to segment the road surface image according to a preset unit length to obtain unit images; extract road surface features from each unit image to obtain unit image features; match the unit image features with preset abnormal road surface features, and when the matching is successful, obtain the abnormal area and the abnormal type; The abnormal area identification module is further configured to match the unit image features with preset abnormal road surface features; when the matching is successful, use the abnormal type corresponding to the preset abnormal road surface features as the abnormal type of the unit image; arrange each unit image in a preset order to obtain the abnormal types arranged in a preset order; merge the road surface areas corresponding to the unit images with the same and continuous abnormal types to obtain the abnormal area; The image acquisition module is further configured to, when there is occlusion or loss of the road surface image of the road surface in front of the self-vehicle, acquire the current image and the vehicle movement position at preset time intervals; update the historical road surface image according to the current image and the vehicle movement position to obtain the road surface image of the road surface in front of the self-vehicle.

7. A vehicle control device, characterized in that, The device includes: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, and the vehicle control program is configured to implement the vehicle control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, A vehicle control program is stored on the storage medium, and when the vehicle control program is executed by the processor, it implements the vehicle control method according to any one of claims 1 to 5.

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