Vehicle anti-skid control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle anti-skid control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a current pavement image, an environment temperature parameter, a driving rated torque and a theoretical maximum torque, and matching a target image processing strategy according to the size relation between the environment temperature parameter and a preset environment threshold temperature; if the initial road surface information exists in the preset road surface control scene list, current road surface information is determined, a first road condition coefficient is matched based on the current road surface information and the road surface type information, and an associated second road condition coefficient is matched based on the current road surface information; determining an actual torque according to the first road condition coefficient, the second road condition coefficient, the driving rated torque and the theoretical maximum torque; according to the method, the current road surface information is determined through cooperation of image recognition and road condition sensing data, the actual anti-skid control torque is determined by adopting multiple torque parameters, and the low anti-skid efficiency caused by image multi-class recognition is improved while the slippery type of the road surface is accurately determined.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle anti-skid control method, device, electronic equipment and storage medium. Background Art

[0002] In complex and ever-changing road environments, drivers face severe driving challenges, especially when there is water, ice or snow on the road, the driving stability and safety of the vehicle will be greatly tested. Water, ice, snow and wet roads will reduce the adhesion between the tires and the ground, making it difficult for the tires to obtain sufficient grip during acceleration. When the driver tries to accelerate, the friction between the tires and the ground is insufficient, which can easily cause the vehicle to slip or even drift, seriously threatening driving safety.

[0003] For vehicles that can generate large torque, such as new energy vehicles driven by electric motors and fuel vehicles with high horsepower, their efficient power response and strong torque output are their significant advantages. However, on slippery roads, this instantaneous large torque may become a safety hazard. Due to the reduced friction between the tires and the ground, the vehicle is prone to large slip when accelerating, causing the vehicle to lose control. This will not only seriously affect the driver's driving experience, but may also have serious safety impacts. Therefore, anti-skid treatment of vehicles is always an important implementation link of safety measures.

[0004] In the prior art, the anti-skid mode is mainly activated based on whether the road surface is slippery. However, such operation will greatly reduce the driving maneuverability and cause discomfort to the user. Secondly, the existing slippery detection is only based on image recognition, which cannot accurately determine the type of slippery road surface, and the recognition response time is long, which will result in imprecise control management and low efficiency of anti-skid control management. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a vehicle anti-skid control method, device, electronic device and storage medium to solve the above technical problems.

[0006] The present invention provides a vehicle anti-skid control method, which includes: acquiring a current road surface image and an ambient temperature parameter, as well as a vehicle's rated driving torque, a theoretical maximum torque, and a current throttle opening; comparing the ambient temperature parameter with a preset ambient threshold temperature, and matching a target image processing strategy according to a magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature; identifying the current road surface image according to the target image processing strategy to obtain road surface type information and initial road surface information; if the initial road surface information exists in a preset road surface control scenario list, triggering a target sensor device to acquire current road condition sensor data, and determining current road surface information according to the road condition sensor data and the initial road surface information; matching an associated first road condition coefficient based on the current road surface information and the road surface type information, and matching an associated second road condition coefficient based on the current road surface information and the current throttle opening; determining a first torque limit value based on the first road condition coefficient and the rated driving torque, determining a second torque limit value based on the second road condition coefficient and the theoretical maximum torque, and determining an actual torque based on the first torque limit value and the second torque limit value, so as to control the vehicle according to the actual torque.

[0007] In one embodiment of the present invention, after determining the current road surface information according to the road condition sensor data and the initial road surface information, the vehicle anti-skid control method further includes: if the current road surface information is included in the preset slippery road surface list, an anti-skid warning is performed at the control terminal, and anti-skid feedback information of the control terminal is received, the anti-skid feedback information includes starting the anti-skid mode, turning off the anti-skid mode and no response; if the anti-skid feedback information is to start the anti-skid mode or no response, the anti-skid mode is started, and a first road condition coefficient associated with the current road surface information and the road surface type information is matched, and a second road condition coefficient associated with the current road surface information is matched; if the anti-skid feedback information is to turn off the anti-skid mode, the vehicle anti-skid control is terminated.

[0008] In one embodiment of the present invention, the target image processing strategy includes a first processing strategy and a second processing strategy. Matching the target image processing strategy according to the size relationship between the ambient temperature parameter and the preset ambient threshold temperature includes: if the ambient temperature parameter is greater than the preset ambient threshold temperature, identifying the current road surface image based on the first processing strategy; if the ambient temperature parameter is less than or equal to the preset ambient threshold temperature, identifying the current road surface image based on the second processing strategy.

[0009] In one embodiment of the present invention, identifying the current road surface image based on the first processing strategy includes: performing feature road surface identification on the current road surface image to determine a road surface image to be processed; inputting the road surface image to be processed into a preset road surface type identification model to obtain road surface type information; performing grayscale processing on the road surface image to be processed and calculating the grayscale value, performing image segmentation on the image to be processed after calculating the grayscale value based on the grayscale value to obtain multiple image areas to be processed with different grayscale values; determining initial road surface information based on the proportion of the area of ​​the image to be processed whose grayscale value is greater than a preset water accumulation grayscale threshold to the area of ​​the road surface image to be processed, wherein the initial road surface information includes a road surface with a large amount of water accumulation, a road surface with a small amount of water accumulation, and a road surface with no water accumulation.

[0010] In one embodiment of the present invention, the identification of the current road surface image based on the second processing strategy includes: performing feature road surface identification on the current road surface image to determine a road surface image to be processed; inputting the road surface image to be processed into a preset road surface type identification model to obtain road surface type information; sending the road surface image to be processed to the cloud, and the cloud inputting the road surface image to be processed into a preset snow recognition model to obtain initial road surface information and sending the initial road surface information back to the vehicle end, wherein the initial road surface information includes snowy road surfaces and snow-free road surfaces, and the preset snow recognition model is set in the cloud.

[0011] In one embodiment of the present invention, the preset road surface control scenario list includes a road surface with a lot of water accumulation, a road surface with a little water accumulation, a road surface with no water accumulation and a road surface with no snow accumulation, and determining the current road surface information based on the road condition sensor data and the initial road surface information includes at least one of the following: if the initial road surface information is a road surface with a lot of water accumulation, then the water accumulation depth is determined based on the road condition sensor data, and the current road surface information is determined to be a road surface with deep water accumulation or a road surface with shallow water accumulation based on the water accumulation depth; if the initial road surface information is a road surface with a little water accumulation, then the road surface wetness state is determined based on the road condition sensor data, and the current road surface information is determined to be a wet road surface or a dry road surface based on the road surface wetness state; if the initial road surface information is a road surface with no water accumulation, then the road surface wetness state is determined based on the road condition sensor data, and the current road surface information is determined to be a wet road surface or a dry road surface based on the road surface wetness state; if the initial road surface information is a road surface with no snow accumulation, then the road surface icing state is determined based on the road condition sensor data, and the current road surface information is determined to be an icy road surface or a dry road surface based on the road surface icing state.

[0012] In one embodiment of the present invention, determining the actual torque based on the first torque limit and the second torque limit includes: determining the minimum value of the first torque limit and the second torque limit as the actual torque; or determining the weighted average of the first torque limit and the second torque limit as the actual torque.

[0013] The embodiment of the present invention also provides a vehicle anti-skid control device, the vehicle anti-skid control device includes: an anti-skid control parameter acquisition module, used to obtain the current road surface image and ambient temperature parameters, as well as the vehicle's driving rated torque, theoretical maximum torque and current throttle opening; an initial road surface information determination module, which compares the ambient temperature parameters with the preset ambient threshold temperature, and matches the target image processing strategy according to the size relationship between the ambient temperature parameters and the preset ambient threshold temperature; identifies the current road surface image according to the target image processing strategy to obtain road surface type information and initial road surface information; a current road surface information determination module, which is used to determine the current road surface image if a preset road surface control scenario list is If the initial road surface information exists in the vehicle, the target sensor device is triggered to obtain the current road condition sensor data, and the current road condition information is determined based on the road condition sensor data and the initial road surface information; an anti-skid control torque determination module is used to match the associated first road condition coefficient based on the current road surface information and the road type information, and to match the associated second road condition coefficient based on the current road surface information and the current throttle opening; a first torque limit is determined based on the first road condition coefficient and the driving rated torque, a second torque limit is determined based on the second road condition coefficient and the theoretical maximum torque, and an actual torque is determined based on the first torque limit and the second torque limit, so as to control the vehicle according to the actual torque.

[0014] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements a vehicle anti-skid control method as described in any one of the above embodiments.

[0015] An embodiment of the present invention further provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the vehicle anti-skid control method as described in any one of the above embodiments.

[0016] The present invention provides a vehicle anti-skid control method, device, electronic device and storage medium, which obtains the current road surface image, ambient temperature parameters, driving rated torque and theoretical maximum torque, matches the target image processing strategy according to the size relationship between the ambient temperature parameters and the preset ambient threshold temperature, so as to determine the road surface type information and the initial road surface information, if the initial road surface information exists in the preset road surface control scenario list, determines the current road surface information, matches the first road condition coefficient based on the current road surface information and the road surface type information, and matches the associated second road condition coefficient based on the current road surface information, and determines the anti-skid control method, device, electronic device and storage medium according to the first road condition coefficient, the second road condition coefficient, the driving rated torque and the theoretical maximum torque according to the first road condition coefficient, the second road condition coefficient, the driving rated torque and the theoretical maximum torque according to the size relationship between the ambient temperature parameters and the preset ambient threshold temperature, and determines the road surface type information and the initial road surface information according to the initial road surface information. Determine the actual torque; this method determines the current road surface information through the collaboration of image recognition and road condition sensor data, and can perform further refined road condition recognition and determination based on the sensor data after the preliminary determination by image recognition. Compared with the single image recognition road condition information, which requires multi-model recognition processing, it can first reduce the difficulty of recognition and the investment in function development, and secondly reduce the recognition response time and improve the management efficiency of anti-skid control. Secondly, different torque control limits are determined based on the driving rated torque and the theoretical maximum torque, and the actual anti-skid control torque is determined based on the above torque control limits, which can output the anti-skid torque more accurately and improve the anti-skid effect.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0020] Figure 2 is a flow chart of a vehicle anti-skid control method shown in an exemplary embodiment of the present application;

[0021] Figure 3 is a schematic flow chart of a specific method for determining current road surface information shown in an exemplary embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a vehicle anti-skid control device shown in an exemplary embodiment of the present application;

[0023] Figure 5It is a structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will describe the embodiments of the present invention with reference to the accompanying drawings and specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0025] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0026] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0027] The "and / or" mentioned in this application describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0028] First of all, it should be explained that the on-board road condition sensor is used to monitor and analyze various conditions of the road surface in real time to improve road safety and traffic management efficiency. It mainly uses laser remote sensing, infrared spectroscopy, multi-spectral measurement and other technologies to judge the road surface condition and the thickness of the covering through the spectrum or energy fed back by the emitted light. In this way, it can quickly and in real time determine whether the road condition is wet or icy while the vehicle is moving. It can also detect the depth of water accumulation and collect data non-contactly. It can monitor in real time and accurately measure and distinguish different road conditions.

[0029] The present application may also provide the following beneficial effects: adding on-board road condition sensors for auxiliary judgment can effectively compensate for the low accuracy of image recognition for wet and icy roads; judging different road conditions such as wetness, ice, snow, water accumulation and water depth, thereby expanding the scope of application; increasing cockpit intelligent control and interactivity, and enhancing the user's intelligent experience.

[0030] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0031] Reference Figure 1 As shown, the system architecture may include a vehicle 110 and a computer device 120. The computer device 120 obtains the current road surface image and the ambient temperature parameter through the vehicle 110, obtains the driving rated torque and the theoretical maximum torque of the vehicle 110, compares the ambient temperature parameter with the preset ambient threshold temperature, matches the target image processing strategy according to the magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature, identifies the current road surface image according to the target image processing strategy, obtains the road surface type information and the initial road surface information, and if the initial road surface information exists in the preset road surface control scenario list, triggers the target sensor device of the vehicle 110 to obtain the current road condition sensor data, and determines the current road surface information according to the road condition sensor data and the initial road surface information, matches the associated first road condition coefficient based on the current road surface information and the road surface type information, matches the associated second road condition coefficient based on the current road surface information and the current throttle opening, determines the first torque limit value according to the first road condition coefficient and the driving rated torque, determines the second torque limit value according to the second road condition coefficient and the theoretical maximum torque, and determines the actual torque based on the first torque limit value and the second torque limit value, so that the vehicle 110 performs vehicle control according to the actual torque. The computer device 120 may be at least one of a microcomputer, an embedded computer, a network computer, a single-chip microcomputer, etc. The vehicle 110 includes at least an image acquisition device, an ambient temperature sensor, an on-board road condition sensor, and a vehicle controller.

[0032] Schematically, the computer device 120 obtains the current road surface image, the ambient temperature parameter, the driving rated torque and the theoretical maximum torque through the vehicle 110, matches the target image processing strategy according to the magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature, so as to determine the road surface type information and the initial road surface information, if the initial road surface information exists in the preset road surface control scenario list, determines the current road surface information, matches the first road condition coefficient based on the current road surface information and the road surface type information, matches the associated second road condition coefficient based on the current road surface information, and determines the actual torque according to the first road condition coefficient, the second road condition coefficient, the driving rated torque and the theoretical maximum torque; This method determines the current road surface information through the collaboration of image recognition and road condition sensor data. After the initial determination by image recognition, further refined road condition identification and determination can be performed based on the sensor data. Compared with the single image recognition road condition information that requires multi-model recognition processing, it can first reduce the difficulty of recognition and the investment in function development. Secondly, it can reduce the recognition response time and improve the management efficiency of anti-skid control. Secondly, different torque control limits are determined based on the driving rated torque and the theoretical maximum torque, and the actual anti-skid control torque is determined based on the above torque control limits. The anti-skid torque can be output more accurately to improve the anti-skid effect.

[0033] Figure 2 is a flow chart of a vehicle anti-skid control method shown in an exemplary embodiment of the present application. The vehicle anti-skid control method can be Figure 1 The implementation environment may be implemented in other implementation environments, and the above implementation environments are not specifically limited here. Figure 2 As shown, the flowchart of the vehicle anti-skid control method includes at least steps S210 to S260, which are described in detail as follows:

[0034] In step S210, the current road surface image and ambient temperature parameters, as well as the vehicle's driving rated torque, theoretical maximum torque and current throttle opening are acquired.

[0035] In one embodiment of the present application, the current road surface image is acquired based on an image acquisition device disposed on the vehicle, and the ambient temperature parameter is acquired based on an ambient temperature sensor disposed on the vehicle.

[0036] In one embodiment of the present application, the above-mentioned driving rated torque is the normal driving torque after the actual vehicle power calibration, that is, the torque value output by the vehicle during actual driving; and the theoretical maximum torque is the maximum torque value output according to the vehicle's hardware facilities under an ideal experimental environment during the vehicle design process.

[0037] In step S220, the ambient temperature parameter is compared with the preset ambient threshold temperature, and the target image processing strategy is matched according to the magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature.

[0038] In one embodiment of the present application, the above-mentioned preset ambient temperature threshold is used to characterize the distinguishing threshold of the driving environment. For example, when the ambient temperature is above 1 degree Celsius, only slippery road conditions such as water accumulation and moisture will appear on the road surface, while when the ambient temperature is below 1 degree Celsius, slippery road conditions such as snow accumulation and ice will appear. In the embodiment of the present application, the above-mentioned preset ambient temperature threshold is set to 1 degree Celsius. It should be noted that the above-mentioned preset ambient temperature threshold can be further set according to regional conditions and control accuracy requirements, and the specific setting value of the above-mentioned preset ambient temperature threshold is not limited here.

[0039] In one embodiment of the present application, the magnitude relationship between the above-mentioned ambient temperature parameter and the preset ambient threshold temperature includes that the ambient temperature parameter is greater than the preset ambient threshold temperature, and that the ambient temperature parameter is less than or equal to the preset ambient threshold temperature.

[0040] In one embodiment of the present application, the target image processing strategy includes a first processing strategy and a second processing strategy. The first processing strategy and the second processing strategy are different. In the embodiment of the present application, if the ambient temperature parameter is greater than the preset ambient threshold temperature, the current road surface image is identified based on the first processing strategy; if the ambient temperature parameter is less than or equal to the preset ambient threshold temperature, the current road surface image is identified based on the second processing strategy.

[0041] In step S230, the current road surface image is identified according to the target image processing strategy to obtain road surface type information and initial road surface information.

[0042] In one embodiment of the present application, if the ambient temperature parameter is greater than a preset ambient threshold temperature, the current road surface image is identified based on a first processing strategy.

[0043] In one embodiment of the present application, feature road surface recognition is performed on the current road surface image to determine the road surface image to be processed, the road surface image to be processed is input into a preset road surface type recognition model to obtain road surface type information, grayscale processing is performed on the road surface image to be processed and the grayscale value is calculated, and image segmentation is performed on the image to be processed after the grayscale value is calculated based on the grayscale value to obtain multiple image areas to be processed with different grayscale values, and initial road surface information is determined based on the proportion of the area of ​​the image to be processed whose grayscale value is greater than a preset water accumulation grayscale threshold to the area of ​​the road surface image to be processed, and the initial road surface information includes a road surface with a large amount of water accumulation, a road surface with a small amount of water accumulation, and a road surface with no water accumulation.

[0044] In one embodiment of the present application, feature road surface recognition is performed on the current road surface image, and determining the road surface image to be processed includes the vehicle controller performing ROI selection on the captured road surface picture, selecting the road surface area based on the road surface features, and obtaining the road surface image to be processed.

[0045] In one embodiment of the present application, the above-mentioned preset road surface type recognition model can be set in the vehicle controller or in the cloud. If the preset road surface type recognition model is set in the vehicle controller, the road surface image to be processed is directly input into the preset road surface type recognition model to obtain road surface type information; if the preset road surface type recognition model is set in the cloud, the road surface image to be processed is transmitted to the cloud, and the cloud inputs the road surface image to be processed into the preset road surface type recognition model to obtain road surface type information, and the cloud sends the road surface type information back to the vehicle. Among them, the road surface image to be processed is feature extracted through deep learning, the target road surface and the surrounding area are separated, the target road surface and the surrounding complex background are separated, and only the target road surface part is enhanced.

[0046] In one embodiment of the present application, grayscale processing is performed on a road surface image to be processed and the grayscale value is calculated. The image to be processed after the grayscale value is calculated is segmented based on the grayscale value to obtain multiple image regions to be processed with different grayscale values, including grayscale processing of the relative image to obtain a grayscale image to be processed, binarization processing is performed on the grayscale image to be processed, and image noise is eliminated. Finally, numerical normalization processing is performed to obtain an initial grayscale image to be processed, and image segmentation is performed based on the grayscale values ​​in the initial grayscale image to be processed to obtain multiple image regions to be processed with different grayscale values.

[0047] In one embodiment of the present application, initial road surface information is determined based on the ratio of the area of ​​the image to be processed whose grayscale value is greater than a preset water accumulation grayscale threshold to the area of ​​the road surface to be processed, and the initial road surface information includes a road surface with a lot of water accumulation, a road surface with a little water accumulation, and a road surface with no water accumulation. If the area ratio is greater than or equal to the area ratio threshold DO for a lot of water accumulation, it is determined to be a road surface with a lot of water accumulation; if the area ratio is less than the area ratio threshold DO for a lot of water accumulation and greater than 0, it is determined to be a road surface with a little water accumulation; if the area ratio is equal to 0, it is determined to be a road surface with no water accumulation.

[0048] In one embodiment of the present application, if the ambient temperature parameter is less than or equal to a preset ambient threshold temperature, the current road surface image is identified based on the second processing strategy.

[0049] In one embodiment of the present application, feature road surface recognition is performed on the current road surface image to determine the road surface image to be processed, the road surface image to be processed is input into a preset road surface type recognition model to obtain road surface type information, and the road surface image to be processed is sent to the cloud. The cloud inputs the road surface image to be processed into a preset snow recognition model to obtain initial road surface information and send the initial road surface information back to the vehicle end. The initial road surface information includes snow-covered road surfaces and snow-free road surfaces. The preset snow recognition model is set in the cloud.

[0050] In one embodiment of the present application, the above-mentioned preset road surface type recognition model can be set in the vehicle controller or in the cloud. If the preset road surface type recognition model is set in the vehicle controller, the road surface image to be processed is directly input into the preset road surface type recognition model to obtain road surface type information; if the preset road surface type recognition model is set in the cloud, the road surface image to be processed is transmitted to the cloud, and the cloud inputs the road surface image to be processed into the preset road surface type recognition model to obtain road surface type information, and the cloud sends the road surface type information back to the vehicle. Among them, the road surface image to be processed is feature extracted through deep learning, the target road surface and the surrounding area are separated, the target road surface and the surrounding complex background are separated, and only the target road surface part is enhanced.

[0051] In one embodiment of the present application, a snow road surface recognition model is constructed based on deep learning, and the road surface image to be processed is input into a preset snow recognition model to determine whether there is snow accumulation, and the judgment result is fed back to the vehicle by the cloud. The vehicle determines whether the initial road surface information is a snowy road surface or a snow-free road surface based on the judgment result.

[0052] In step S240, if the initial road surface information exists in the preset road surface control scenario list, the target sensor device is triggered to obtain the current road condition sensor data, and the current road surface information is determined based on the road condition sensor data and the initial road surface information.

[0053] In one embodiment of the present application, the target sensing device may be a vehicle-mounted road surface condition sensor, or a sensor combination that can provide the same sensing data as the vehicle-mounted road surface condition sensor after combining multiple sensors. In this embodiment, a vehicle-mounted road surface condition sensor is selected as the target sensing device. Among them, the vehicle-mounted road surface condition sensor is used to monitor and analyze various conditions of the road surface in real time to improve road safety and traffic management efficiency. It mainly uses laser remote sensing, infrared spectroscopy, multi-spectral measurement and other technologies to judge the road surface state and the thickness of the covering by the spectrum or energy fed back by the emitted light. In this way, it can quickly and in real time determine whether the road condition is wet or icy while the vehicle is moving. It can also detect the depth of water accumulation and collect data non-contactly. It can monitor in real time and accurately measure and distinguish different road conditions. Adding a vehicle-mounted road surface condition sensor for auxiliary judgment can effectively make up for the situation where image recognition is not accurate in identifying wet roads and icy roads.

[0054] In one embodiment of the present application, the preset road surface control scenario list includes a road surface with a lot of water accumulation, a road surface with a little water accumulation, a road surface with no water accumulation, and a road surface with no snow accumulation.

[0055] In one embodiment of the present application, if the initial road surface information is a road surface with a lot of water, the water depth is determined according to the road condition sensor data, and the current road surface information is determined to be a deep water road surface or a shallow water road surface according to the water depth. The water depth h is determined according to the road condition sensor data, and if the water depth h is greater than or equal to the preset water sliding critical threshold h0, the current road surface information is determined to be a deep water road surface, and if the water depth h is less than the preset water sliding critical threshold h0, the current road surface information is determined to be a shallow water road surface.

[0056] In one embodiment of the present application, if the initial road surface information is a road surface with a small amount of water, the road surface wetness state is determined based on the road condition sensor data, and the current road surface information is determined to be a wet road surface or a dry road surface based on the road surface wetness state.

[0057] In one embodiment of the present application, if the initial road surface information is a non-water-bearing road surface, the road surface wetness state is determined based on the road condition sensor data, and the current road surface information is determined to be a wet road surface or a dry road surface based on the road surface wetness state.

[0058] In one embodiment of the present application, if the initial road surface information is a road surface without snow, the road surface icing state is determined based on the road condition sensor data, and the current road surface information is determined to be an icy road surface or a dry road surface based on the road surface icing state.

[0059] In one embodiment of the present application, after the current road surface information is determined based on the road condition sensor data and the initial road surface information, if the current road surface information is included in the preset slippery road surface list, an anti-skid warning is performed at the control terminal, and anti-skid feedback information from the control terminal is received, the anti-skid feedback information includes starting the anti-skid mode, turning off the anti-skid mode, and no response; if the anti-skid feedback information is to start the anti-skid mode or there is no response, the anti-skid mode is started, and the first road condition coefficient associated with the current road surface information and the road surface type information is matched, and the second road condition coefficient associated with the current road surface information is matched; if the anti-skid feedback information is to turn off the anti-skid mode, the vehicle anti-skid control is terminated.

[0060] In an embodiment of the present application, an implementation method of performing anti-skid warning in a control terminal includes giving customers corresponding road condition prompts according to different roads and road conditions, and prompting the user whether to turn on the "intelligent anti-skid" setting.

[0061] In step S250, a first road condition coefficient is matched based on the current road surface information and the road surface type information, and a second road condition coefficient is matched based on the current road surface information and the current throttle opening.

[0062] In one embodiment of the present application, according to the content of Table 1, the first road condition coefficient is matched and associated based on the current road surface information and the road surface type information. Table 1 is a schematic table for determining the corresponding relationship of the first road condition coefficient exemplarily shown in the embodiment of the present application, as shown in Table 1:

[0063] Table 1 Schematic table of determining the corresponding relationship of the first road condition coefficient

[0064]

[0065] In one embodiment of the present application, the first road condition coefficient is matched based on the current road surface information and the road surface type information. The road surface type information in the table is exemplified as asphalt road surface, concrete road surface and gravel road surface, and may also include multiple types of road surface information, which is not specifically limited here. The current road surface information in the table includes deep water pavement (h≥h0), shallow water pavement (h<h0), wet pavement, dry pavement, icy pavement and snowy pavement. Among them, the value range of the first road condition coefficient can be specifically determined according to the vehicle model, current driving conditions and driving habits. In some other embodiments, the first road condition coefficient in the above Table 1 can be set to a fixed value.

[0066] In one embodiment of the present application, according to the content of Table 2, the second road condition coefficient associated with the current road surface information and the current throttle opening is matched. Table 2 is a schematic table for determining the corresponding relationship of the second road condition coefficient exemplarily shown in the embodiment of the present application, as shown in Table 2:

[0067] Table 2 Schematic diagram of determining the corresponding relationship of the second road condition coefficient

[0068]

[0069] In one embodiment of the present application, the second road condition coefficient is matched based on the current road surface information and the current throttle opening, and the range of the throttle opening in the table includes 0-100, which is not specifically limited here. The current road surface information in the table includes wet road surface, dry road surface, icy road surface and snowy road surface. Among them, deep water accumulation road surface (h≥h0) and shallow water accumulation road surface (h<h0) are both classified as wet road surfaces in Table 2.

[0070] It should be noted that the exemplary examples shown in Table 1 and Table 2 are only one embodiment of the present application, and the specific values ​​thereof can also be determined according to specific experiments. The specific values ​​of the above road condition coefficients are not specifically limited here.

[0071] In step S260, a first torque limit is determined according to a first road condition coefficient and a driving rated torque, a second torque limit is determined according to a second road condition coefficient and a theoretical maximum torque, and an actual torque is determined based on the first torque limit and the second torque limit to control the vehicle according to the actual torque.

[0072] In one embodiment of the present application, an exemplary determination method of determining the first torque limit value according to the first road condition coefficient and the rated driving torque, and determining the second torque limit value according to the second road condition coefficient and the theoretical maximum torque includes determining the first torque limit value according to the product of the first road condition coefficient and the rated driving torque; and determining the second torque limit value according to the product of the second road condition coefficient and the theoretical maximum torque. In some other embodiments of the present application, a correction coefficient is introduced to further correct the first torque limit value and the second torque limit value, wherein some practicable determination methods of the correction coefficient are to determine it according to the driving time of the vehicle, the tire condition, and the control demand.

[0073] In one embodiment of the present application, determining the actual torque based on the first torque limit and the second torque limit includes determining the minimum value of the first torque limit and the second torque limit as the actual torque, or determining a weighted average of the first torque limit and the second torque limit as the actual torque.

[0074] In an embodiment of the present application, the actual torque of the vehicle Tout=Min(T1, T2), that is, the smaller value of T1 and T2 is taken as the actual driving torque, wherein T1 is the first torque limit, T2 is the second torque limit, and Tout is the actual torque.

[0075] See also Figure 3 , Figure 3 is a schematic diagram of a specific current road surface information determination method flow chart shown in an exemplary embodiment of the present application. Figure 3 The method shown can be Figure 1 The present invention is executed in the implementation environment shown in the figure, and can also be implemented in other implementation environments, and the above implementation environment is not specifically limited here.

[0076] like Figure 3 As shown, in a specific embodiment of the present application, an external camera captures the road surface and frames the road surface. If the ambient temperature is less than or equal to 1°C at this time, the road surface type is identified by comparison with the database, and whether there is snow on the road surface is identified. If there is no snow on the road surface, the on-board road condition sensor is triggered to detect the actual road surface state to determine whether the road surface is icy, and determine whether the road surface is not icy or icy.

[0077] In a specific embodiment of the present application, if the ambient temperature is greater than 1°C at this time, the image is preprocessed and the grayscale value of each area in the image is obtained, and the size of the grayscale value G of each area relative to the critical value G0 is determined. If the judgment result is G<G0, it is determined that there is no water accumulation in the area and the road surface is dry.

[0078] In a specific embodiment of the present application, if the judgment result is G<G0, it is determined that there is water accumulation in the area, and the proportion of the area where G≥G0 is counted. If the proportion is greater than or equal to DO, it is determined that there is a large area of ​​water accumulation on the road surface, and the on-board road condition sensor is triggered to detect the actual road surface state to detect the water accumulation depth h.

[0079] If the proportion is less than DO, it is determined that there is no water on the road or the water accumulation area is small, and the on-board road condition sensor is triggered to detect the actual road condition to determine whether the road is wet, and determine whether the road is dry or wet.

[0080] The present invention provides a vehicle anti-skid control method, device, electronic device and storage medium. The method obtains the current road surface image, ambient temperature parameters, driving rated torque and theoretical maximum torque, matches the target image processing strategy according to the size relationship between the ambient temperature parameters and the preset ambient threshold temperature, so as to determine the road surface type information and the initial road surface information. If the initial road surface information exists in the preset road surface control scenario list, the current road surface information is determined, and a first road condition coefficient is matched based on the current road surface information and the road surface type information, and a second road condition coefficient associated with the current road surface information is matched, and the actual torque is determined according to the first road condition coefficient, the second road condition coefficient, the driving rated torque and the theoretical maximum torque. The method determines the current road surface information through the cooperation of image recognition and road condition sensor data, and can further determine the current road surface information based on the sensor data after the initial determination by image recognition. The refined road condition recognition and determination of the first step, compared with the single image recognition road condition information requires multi-model recognition processing, first of all, it can reduce the difficulty of recognition and the development investment of the function, secondly, it can reduce the recognition response time and improve the management efficiency of anti-skid control, and then determine different torque control limits based on the driving rated torque and the theoretical maximum torque respectively, and determine the actual anti-skid control torque based on the above torque control limits, which can output the anti-skid torque more accurately and improve the anti-skid effect; it can also provide beneficial effects including: adding on-board road condition sensors for auxiliary judgment can effectively make up for the low accuracy of image recognition for wet roads and icy roads; judging different road conditions such as wet, icy, snowy, water and water depth, expands the scope of application; increasing cockpit intelligent control and interactivity, and enhancing the user's intelligent experience.

[0081] The following describes an apparatus embodiment of the present application, which can be used to execute the vehicle anti-skid control method in the above-mentioned embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the vehicle anti-skid control method of the present application.

[0082] Figure 4 is a schematic diagram of a vehicle anti-skid control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 2 The method implementation process shown in the figure can be based on Figure 1The present invention is executed in the implementation environment shown in the figure, and may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the apparatus is applicable.

[0083] like Figure 4 As shown, the exemplary vehicle anti-skid control device includes: an anti-skid control parameter acquisition module 401 , an initial road surface information determination module 402 , a current road surface information determination module 403 and an anti-skid control torque determination module 404 .

[0084] Among them, the anti-skid control parameter acquisition module 401 is used to obtain the current road surface image and ambient temperature parameters, as well as the vehicle's rated driving torque, theoretical maximum torque and current throttle opening; the initial road surface information determination module 402 compares the ambient temperature parameters with the preset ambient threshold temperature, and matches the target image processing strategy according to the size relationship between the ambient temperature parameters and the preset ambient threshold temperature; identifies the current road surface image according to the target image processing strategy to obtain road surface type information and initial road surface information; the current road surface information determination module 403 is used to trigger the target sensor device to obtain current road condition sensor data if the initial road surface information exists in the preset road surface control scenario list, and determine the current road surface information according to the road condition sensor data and the initial road surface information; the anti-skid control torque determination module 404 is used to match the associated first road condition coefficient based on the current road surface information and the road surface type information, and match the associated second road condition coefficient based on the current road surface information and the current throttle opening; determine the first torque limit value according to the first road condition coefficient and the rated driving torque, determine the second torque limit value according to the second road condition coefficient and the theoretical maximum torque, and determine the actual torque based on the first torque limit value and the second torque limit value, so as to control the vehicle according to the actual torque.

[0085] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the vehicle anti-skid control method provided in the above-mentioned embodiments.

[0086] Figure 5 is a schematic diagram of the structure of a computer system of an electronic device according to an exemplary embodiment of the present application. It should be noted that: Figure 5 The computer system 500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0087] like Figure 5As shown, computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 502 or the program loaded from the storage part to random access memory (RAM) 503, such as executing the method in the above embodiment. In RAM 503, various programs and data required for system operation are also stored. CPU 501, ROM 502 and RAM 503 are connected to each other through a bus. Input / output (I / O) interface 505 is also connected to bus 504.

[0088] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0089] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0090] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0092] In the corresponding drawings of the above embodiments, connecting lines may indicate the connection relationship between the various components to indicate more constituent signal paths (constituent_signalpath) and / or one or more ends of some lines may have arrows to indicate the main information flow direction. Connecting lines, as a mark, are not a limitation to the scheme itself, but the use of these lines in combination with one or more exemplary embodiments helps to connect circuits or logic units more easily. Any represented signal (determined by design requirements or preferences) may actually include one or more signals that can be transmitted in either direction and implemented with any appropriate type of signal scheme.

[0093] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0094] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0095] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0096] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0097] It should be noted that the present application can be used in many general or special computing system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0098] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0099] It should be understood that the above content of the present application is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. Ordinary technicians in this field can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application should be the scope of protection required by the claims.

Claims

1. A vehicle anti-skid control method, characterized in that: The vehicle anti-skid control method comprises: Obtain the current road surface image and ambient temperature parameters, as well as the vehicle's rated driving torque, theoretical maximum torque and current throttle opening; Comparing the ambient temperature parameter with a preset ambient threshold temperature, and matching a target image processing strategy according to a magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature; Identify the current road surface image according to the target image processing strategy to obtain road surface type information and initial road surface information; If the initial road surface information exists in the preset road surface control scenario list, the target sensor device is triggered to obtain current road condition sensor data, and the current road surface information is determined according to the road condition sensor data and the initial road surface information; a first road condition coefficient based on the matching association between the current road surface information and the road surface type information, and a second road condition coefficient based on the matching association between the current road surface information and the current throttle opening; A first torque limit is determined according to a first road condition coefficient and a driving rated torque, a second torque limit is determined according to a second road condition coefficient and a theoretical maximum torque, and an actual torque is determined based on the first torque limit and the second torque limit to control the vehicle according to the actual torque.

2. The vehicle anti-skid control method according to claim 1, characterized in that: After determining the current road surface information according to the road condition sensing data and the initial road surface information, the vehicle anti-skid control method further includes: If the preset slippery road list includes the current road information, an anti-skid warning is issued at the control terminal, and anti-skid feedback information from the control terminal is received, wherein the anti-skid feedback information includes starting the anti-skid mode, closing the anti-skid mode, and no response; If the anti-skid feedback information indicates that the anti-skid mode is activated or there is no response, the anti-skid mode is activated, and a first road condition coefficient associated with the current road surface information and the road surface type information is matched, and a second road condition coefficient associated with the current road surface information is matched; If the anti-skid feedback information is to turn off the anti-skid mode, the current vehicle anti-skid control is terminated.

3. The vehicle anti-skid control method according to claim 1, characterized in that: The target image processing strategy includes a first processing strategy and a second processing strategy, and matching the target image processing strategy according to the magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature includes: If the ambient temperature parameter is greater than a preset ambient threshold temperature, identifying the current road surface image based on the first processing strategy; If the ambient temperature parameter is less than or equal to a preset ambient temperature threshold, the current road surface image is identified based on the second processing strategy.

4. The vehicle anti-skid control method according to claim 2, characterized in that: Recognizing the current road surface image based on the first processing strategy includes: Performing feature road surface recognition on the current road surface image to determine a road surface image to be processed; Inputting the road surface image to be processed into a preset road surface type recognition model to obtain road surface type information; Performing grayscale processing on the road surface image to be processed and calculating the grayscale value, and performing image segmentation on the image to be processed after the grayscale value is calculated based on the grayscale value to obtain a plurality of image regions to be processed with different grayscale values; The initial road surface information is determined based on the proportion of the area of ​​the image to be processed whose grayscale value is greater than a preset water accumulation grayscale threshold to the area of ​​the road surface to be processed, and the initial road surface information includes a road surface with a large amount of water accumulation, a road surface with a small amount of water accumulation, and a road surface with no water accumulation.

5. The vehicle anti-skid control method according to claim 2, characterized in that: Recognizing the current road surface image based on the second processing strategy includes: Performing feature road surface recognition on the current road surface image to determine a road surface image to be processed; Inputting the road surface image to be processed into a preset road surface type recognition model to obtain road surface type information; The road surface image to be processed is sent to the cloud, and the cloud inputs the road surface image to be processed into a preset snow recognition model to obtain initial road surface information and send the initial road surface information back to the vehicle end, wherein the initial road surface information includes snowy road surface and snow-free road surface, and the preset snow recognition model is set in the cloud.

6. The vehicle anti-skid control method according to any one of claims 1 to 5, characterized in that: The preset road surface control scenario list includes a road surface with a lot of water accumulation, a road surface with a little water accumulation, a road surface without water accumulation, and a road surface without snow accumulation. The current road surface information is determined according to the road condition sensor data and the initial road surface information, and includes at least one of the following: If the initial road surface information is a road surface with a lot of water, the water depth is determined according to the road condition sensor data, and the current road surface information is determined to be a road surface with a lot of water or a road surface with a lot of water according to the water depth; If the initial road surface information is a road surface with a small amount of water, determining a road surface wetness according to the road condition sensor data, and determining the current road surface information as a wet road surface or a dry road surface according to the road surface wetness; If the initial road surface information is a road surface without water accumulation, determining a road surface wetness state according to the road condition sensor data, and determining the current road surface information as a wet road surface or a dry road surface according to the road surface wetness state; If the initial road surface information is a road surface without snow, the road surface icing state is determined according to the road condition sensor data, and the current road surface information is determined to be an icy road surface or a dry road surface according to the road surface icing state.

7. The vehicle anti-skid control method according to any one of claims 1 to 5, characterized in that: Determining the actual torque based on the first torque limit and the second torque limit includes: determining a minimum value of the first torque limit value and the second torque limit value as an actual torque; or, A weighted average of the first torque limit and the second torque limit is determined as the actual torque.

8. A vehicle anti-skid control device, characterized in that: The vehicle anti-skid control device comprises: The anti-skid control parameter acquisition module is used to obtain the current road surface image and ambient temperature parameters, as well as the vehicle's driving rated torque, theoretical maximum torque and current throttle opening; an initial road surface information determination module, comparing the ambient temperature parameter with a preset ambient threshold temperature, and matching a target image processing strategy according to a magnitude relationship between the ambient temperature parameter and the preset ambient threshold temperature; identifying the current road surface image according to the target image processing strategy to obtain road surface type information and initial road surface information; a current road surface information determination module, configured to trigger a target sensor device to obtain current road condition sensing data if the initial road surface information exists in the preset road surface control scenario list, and determine the current road surface information according to the road condition sensing data and the initial road surface information; The anti-skid control torque determination module is used to match a first road condition coefficient associated with the current road surface information and the road surface type information, and to match a second road condition coefficient associated with the current road surface information and the current throttle opening; determine a first torque limit value according to the first road condition coefficient and the driving rated torque, determine a second torque limit value according to the second road condition coefficient and the theoretical maximum torque, and determine an actual torque based on the first torque limit value and the second torque limit value, so as to control the vehicle according to the actual torque.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the vehicle anti-skid control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle anti-skid control method according to any one of claims 1 to 7.

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