Automobile control method, system, equipment and medium

Abstract

The invention discloses an automobile control method, system and device and a medium, and relates to the technical field of automobiles, the method comprises the following steps: acquiring environment sensing data, and generating pit information corresponding to a front pit of an automobile according to the environment sensing data; the environment perception data comprises at least one of environment image data and environment scanning data; obtaining current parameter data of the automobile, and determining a risk pit according to the current state data and the pit information; acquiring front road information, and determining at least one safe driving path according to the current road information and the pit information corresponding to the risk pit; acquiring a current driving strategy, and screening an optimal driving path from the at least one safe driving path according to the current driving strategy; and controlling the automobile according to the optimal driving path. The method has the effect of improving the automobile driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and in particular to an automobile control method, system, device and medium. Background Art

[0002] With the rapid development of urbanization, cars have become an indispensable part of people's daily travel. The popularity of cars has greatly improved the convenience of transportation, but it has also brought new challenges, especially the improvement and maintenance of road conditions. Among them, potholes, as a common hidden danger in road maintenance, not only affect the driving comfort of vehicles, but also pose a serious threat to driving safety. The formation of potholes is usually related to natural factors and human factors. Natural factors include rain erosion, temperature changes, and freeze-thaw cycles, which lead to the deterioration of road materials; human factors include excessive traffic load and improper road maintenance.

[0003] When a car passes through a pothole, it may cause a direct impact on the vehicle's suspension system and other components, causing the car to lose control and thus cause a traffic accident. Therefore, how to deal with the pothole problem and improve the safety of car driving has become an urgent problem to be solved. Summary of the invention

[0004] In order to improve the safety of automobile driving, the present application provides an automobile control method, system, device and medium.

[0005] In a first aspect, the present application provides a vehicle control method, which adopts the following technical solution:

[0006] A vehicle control method, comprising:

[0007] Acquire environmental perception data, and generate pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data; the environmental perception data includes at least one of environmental image data and environmental scanning data;

[0008] Acquiring current parameter data of the vehicle, and determining risky potholes according to the current state data and the pothole information;

[0009] Acquire road information ahead, and determine at least one safe driving path according to the current road information and pothole information corresponding to the risky pothole;

[0010] Acquiring a current driving strategy, and selecting an optimal driving path from the at least one safe driving path according to the current driving strategy;

[0011] The vehicle is controlled according to the optimal driving path.

[0012] By adopting the above technical scheme, environmental perception data is first obtained, and pothole information corresponding to the pothole in front of the car is generated according to the environmental perception data, the environmental perception data including at least one of environmental image data and environmental scanning data, then the current parameter data of the car is obtained, and the risky pothole is determined according to the current state data and the pothole information, then the road information ahead is obtained, and at least one safe driving path is determined according to the current road information and the pothole information corresponding to the risky pothole, then the current driving strategy is obtained, and the optimal driving path is screened out from at least one safe driving path according to the current driving strategy, and finally the car is controlled according to the optimal driving path, so that it can respond when a pothole appears in front of the car, thereby improving the safety and stability of the car's driving.

[0013] Optionally, the environmental perception data is environmental image data and environmental scanning data, and before the step of acquiring the environmental perception data and generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data, the step further includes:

[0014] Acquiring current motion information and atmospheric visibility of the vehicle, the current motion information including vehicle speed and vehicle acceleration, and determining a scanning frequency and an image acquisition frequency of the vehicle for the road ahead according to the current motion information of the vehicle and the atmospheric visibility;

[0015] Controlling the radar of the vehicle to scan the road ahead according to the scanning frequency to obtain environmental scanning data;

[0016] The camera of the vehicle is controlled to collect images of the road ahead according to the image collection frequency to obtain environmental image data.

[0017] By adopting the above technical solution, in order to improve the accuracy and applicability of environmental perception data, the current motion information and atmospheric visibility of the car are first obtained, the current motion information includes the car speed and the car acceleration, and the scanning frequency and image acquisition frequency of the car for the road ahead are determined according to the current motion information and atmospheric visibility of the car. Then, according to the scanning frequency, the radar of the car is controlled to scan the road ahead to obtain environmental scanning data. At the same time, according to the image acquisition frequency, the camera of the car is controlled to acquire images of the road ahead to obtain environmental image data.

[0018] Optionally, the environmental perception data is environmental image data and environmental scanning data, and the step of generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data includes:

[0019] Extracting features from the environmental image data to obtain image feature data;

[0020] Performing feature extraction on the environment scanning data to obtain point cloud feature data;

[0021] Performing data registration on the environment image data and the environment scan data to obtain corresponding registration data;

[0022] The corresponding three-dimensional scene model is established according to the registration data, and pothole features are extracted according to the three-dimensional scene model to obtain pothole information corresponding to the pothole in front of the car.

[0023] By adopting the above technical scheme, in order to improve the accuracy of pothole information, feature extraction is performed on the environmental image data to obtain image feature data, and feature extraction is performed on the environmental scanning data to obtain point cloud feature data. Then, data registration is performed on the environmental image data and the environmental scanning data to obtain corresponding registration data. Then, a corresponding three-dimensional scene model is established based on the registration data, and pothole feature extraction is performed based on the three-dimensional scene model to obtain pothole information corresponding to the pothole in front of the car.

[0024] Optionally, the current state data includes the current load of the vehicle, the total mass of the vehicle, the tire radius and the current driving speed, the pothole information includes the pothole length, the pothole width and the pothole depth, and the step of determining the risky pothole according to the current state data and the pothole information includes:

[0025] Determining a load influence factor according to the current load and the total mass of the vehicle;

[0026] Determining an impact force influence factor of the vehicle according to the current driving speed and the tire radius;

[0027] For each pothole, determining a pothole influence factor according to the pothole length, the pothole width and the pothole depth;

[0028] Obtaining a first weight coefficient, a second weight coefficient, and a third weight coefficient corresponding to the load influence factor, the impact force influence factor, and the pothole influence factor, respectively, and determining a risk assessment value of each pothole according to the load influence factor, the impact force influence factor, the pothole influence factor, the first weight coefficient, the second weight coefficient, and the third weight coefficient;

[0029] For each pothole, determine whether the risk assessment value of the pothole is greater than a risk threshold. If so, treat the pothole as a risky pothole; if not, treat the pothole as a safe pothole.

[0030] By adopting the above technical scheme, in order to determine the risky potholes, the load influence factor is determined according to the current load and the total mass of the vehicle, and then the impact force influence factor of the vehicle is determined according to the current driving speed and the tire radius, and for each pothole, the pothole influence factor is determined according to the pothole length, pothole width and pothole depth, and then the first weight coefficient, the second weight coefficient and the third weight coefficient corresponding to the load influence factor, the impact force influence factor and the pothole influence factor are obtained respectively, and the risk assessment value of each pothole is determined according to the load influence factor, the impact force influence factor, the pothole influence factor, the first weight coefficient, the second weight coefficient and the third weight coefficient, and then for each pothole, it is judged whether the risk assessment value of the pothole is greater than the risk threshold, if the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a risky pothole, and if the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a safe pothole.

[0031] Optionally, the step of determining at least one safe driving path according to the current road information and the pothole information corresponding to the risky pothole includes:

[0032] Constructing a real-time map corresponding to the road ahead of the vehicle according to the environmental perception data and the road ahead information;

[0033] The tire size and tire spacing of the vehicle are obtained, and at least one safe driving path is determined according to the real-time map, the tire size and the tire spacing.

[0034] By adopting the above technical solution, in order to determine at least one safe driving path, a real-time map corresponding to the road ahead of the car is first constructed based on the environmental perception data and the road ahead information, and then the tire size and tire spacing of the car are obtained, and at least one safe driving path is determined based on the real-time map, tire size and tire spacing.

[0035] Optionally, the tire size includes tire width, the tire spacing includes front wheel spacing, and the step of determining at least one safe driving path according to the real-time map, the tire size, and the tire spacing includes:

[0036] Screening out inter-wheel potholes from the risky potholes according to the tire width and the front wheel spacing, and determining non-inter-wheel potholes according to the inter-wheel potholes; the risky potholes include inter-wheel potholes and non-inter-wheel potholes;

[0037] At least one safe driving path is determined according to the real-time map, the wheel-to-wheel potholes and the non-wheel-to-wheel potholes.

[0038] By adopting the above technical solution, the inter-wheel potholes are first screened out from the risky potholes according to the tire width and the front wheel spacing, and the non-inter-wheel potholes are determined based on the inter-wheel potholes. The risky potholes include inter-wheel potholes and non-inter-wheel potholes. Then, at least one safe driving path is determined based on the real-time map, the inter-wheel potholes and the non-inter-wheel potholes.

[0039] Optionally, the step of obtaining the current driving strategy and selecting the optimal driving path from the at least one safe driving path according to the current driving strategy includes:

[0040] For each of the at least one safe driving path, determining a path evaluation index corresponding to the at least one safe driving path according to the at least one safe driving path; the path evaluation index includes path flatness, driving time, turning frequency and turning angle;

[0041] Acquire a current driving strategy, and select a corresponding path evaluation model according to the current driving strategy;

[0042] For each of the at least one safe driving path, inputting the path evaluation index corresponding to the at least one safe driving path into the corresponding path evaluation model to obtain a corresponding path score value;

[0043] The at least one safe driving path corresponding to the maximum value of the path score values ​​is used as the optimal driving path.

[0044] By adopting the above technical solution, in order to determine the optimal driving path, for each at least one safe driving path, a path evaluation index corresponding to the at least one safe driving path is determined according to the at least one safe driving path, and the path evaluation index includes path flatness, driving time, turning frequency and turning angle, and then the current driving strategy is obtained, and a corresponding path evaluation model is selected according to the current driving strategy, and then for each at least one safe driving path, the path evaluation index corresponding to the at least one safe driving path is input into the corresponding path evaluation model to obtain the corresponding path score value, and finally the at least one safe driving path corresponding to the maximum value in the path score value is used as the optimal driving path.

[0045] In a second aspect, the present application also provides a vehicle control system, which adopts the following technical solution:

[0046] A vehicle control system, comprising:

[0047] A pothole information generation module, used to obtain environmental perception data, and generate pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data; the environmental perception data includes at least one of environmental image data and environmental scanning data;

[0048] A risk pothole determination module, used to obtain current parameter data of the vehicle and determine the risk pothole according to the current state data and the pothole information;

[0049] A safe driving path generation module, used to obtain the road information ahead, and determine at least one safe driving path according to the current road information and the pothole information corresponding to the risky pothole;

[0050] An optimal driving path generation module, used for obtaining a current driving strategy and selecting an optimal driving path from the at least one safe driving path according to the current driving strategy;

[0051] A vehicle control module is used to control the vehicle according to the optimal driving path.

[0052] In a third aspect, the present application also provides a computer device, which adopts the following technical solution:

[0053] A computer device comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the method described in the first aspect when executing the computer program.

[0054] In a fourth aspect, the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0055] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the method described in the first aspect.

[0056] To summarize, the present application includes at least the following beneficial technical effects: first, environmental perception data is obtained, and pothole information corresponding to the pothole in front of the car is generated based on the environmental perception data, the environmental perception data includes at least one of environmental image data and environmental scanning data, then the current parameter data of the car is obtained, and the risky pothole is determined based on the current state data and the pothole information, then the road information ahead is obtained, and at least one safe driving path is determined based on the current road information and the pothole information corresponding to the risky pothole, then the current driving strategy is obtained, and the optimal driving path is screened out from at least one safe driving path based on the current driving strategy, and finally the car is controlled according to the optimal driving path, so that it can respond when a pothole appears in front of the car, thereby improving the safety and stability of the car's driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the overall process of an embodiment of the present application.

[0058] Figure 2 It is a schematic diagram of the structure of the system of this application.

[0059] Figure 3It is a structural block diagram of the computer device of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-3 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] The embodiment of the present application discloses a vehicle control method.

[0062] Reference Figure 1 , a vehicle control method, comprising:

[0063] Step S11, acquiring environmental perception data, and generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data.

[0064] The environmental perception data includes at least one of environmental image data and environmental scanning data.

[0065] Step S12, obtaining current parameter data of the car, and determining risky potholes based on current state data and pothole information.

[0066] Step S13, obtaining the road information ahead, and determining at least one safe driving path according to the current road information and the pothole information corresponding to the risky pothole.

[0067] Step S14, obtaining the current driving strategy, and selecting the optimal driving path from at least one safe driving path according to the current driving strategy.

[0068] Step S15, controlling the vehicle according to the optimal driving path.

[0069] In the above-mentioned embodiment, environmental perception data is first obtained, and pothole information corresponding to the pothole in front of the car is generated based on the environmental perception data, the environmental perception data including at least one of environmental image data and environmental scanning data, then the current parameter data of the car is obtained, and the risky pothole is determined based on the current state data and the pothole information, then the road information ahead is obtained, and at least one safe driving path is determined based on the current road information and the pothole information corresponding to the risky pothole, then the current driving strategy is obtained, and the optimal driving path is screened out from at least one safe driving path based on the current driving strategy, and finally the car is controlled according to the optimal driving path, so that it can respond when a pothole appears in front of the car, thereby improving the safety and stability of the car's driving.

[0070] As a further implementation of the automobile control method, the environmental perception data is environmental image data and environmental scanning data. Before the step of acquiring the environmental perception data and generating pothole information corresponding to the pothole in front of the automobile according to the environmental perception data, the method further includes:

[0071] Step S21, obtaining the current motion information and atmospheric visibility of the car, and determining the scanning frequency and image acquisition frequency of the car for the road ahead according to the current motion information and atmospheric visibility of the car.

[0072] Among them, the current motion information includes the vehicle speed and vehicle acceleration.

[0073] Step S22, controlling the radar of the vehicle to scan the road ahead according to the scanning frequency to obtain environmental scanning data.

[0074] Step S23, controlling the camera of the vehicle to collect images of the road ahead according to the image collection frequency to obtain environmental image data.

[0075] In the above implementation, in order to improve the accuracy and applicability of environmental perception data, the current motion information and atmospheric visibility of the vehicle are first obtained, the current motion information includes the vehicle speed and the vehicle acceleration, and the scanning frequency and image acquisition frequency of the vehicle for the road ahead are determined based on the current motion information and atmospheric visibility of the vehicle. Then, according to the scanning frequency, the radar of the vehicle is controlled to scan the road ahead to obtain environmental scanning data. At the same time, according to the image acquisition frequency, the camera of the vehicle is controlled to acquire images of the road ahead to obtain environmental image data.

[0076] As a further implementation of the vehicle control method, the environmental perception data is environmental image data and environmental scanning data, and the step of generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data includes:

[0077] Step S31, extracting features from the environment image data to obtain image feature data.

[0078] Step S32: extract features from the environment scan data to obtain point cloud feature data.

[0079] Step S33, performing data registration on the environment image data and the environment scan data to obtain corresponding registration data.

[0080] Step S34, establishing a corresponding three-dimensional scene model according to the registration data, and extracting pothole features according to the three-dimensional scene model to obtain pothole information corresponding to the pothole in front of the car.

[0081] In the above-mentioned embodiment, in order to improve the accuracy of pothole information, feature extraction is performed on the environmental image data to obtain image feature data, and feature extraction is performed on the environmental scanning data to obtain point cloud feature data. Then, data registration is performed on the environmental image data and the environmental scanning data to obtain corresponding registration data. Then, a corresponding three-dimensional scene model is established based on the registration data, and pothole feature extraction is performed based on the three-dimensional scene model to obtain pothole information corresponding to the pothole in front of the car.

[0082] As a further implementation of the vehicle control method, the current state data includes the current load, tire size and current driving speed of the vehicle, the pothole information includes the pothole length, pothole width and pothole depth, and the step of determining the risk pothole according to the current state data and the pothole information includes:

[0083] Step S41, determining a load influence factor according to the current load and the total mass of the vehicle.

[0084] It should be noted that, in this embodiment, the calculation formula of the load influence factor X1 is:

[0085]

[0086] Where m represents the total mass of the car, and L represents the current load of the car.

[0087] It can be understood that the total mass of the car includes the mass of the car itself and the current load, and the current load of the car includes the mass of the people in the car and the mass of the luggage.

[0088] Step S42, determining the impact force influence factor of the vehicle according to the current driving speed and tire radius.

[0089] It should be noted that the calculation formula of the impact force influence factor X2 is:

[0090]

[0091] Among them, V represents the current speed of the car, and R represents the tire radius.

[0092] Step S43: for each pothole, determine the pothole influence factor according to the pothole length, pothole width and pothole depth.

[0093] It should be noted that the calculation formula for the pothole impact factor X3 is:

[0094]

[0095] Among them, D d Indicates the depth of the pothole, D w Indicates the depth of the pothole, D l Indicates the length of the pothole.

[0096] Step S44, obtain the first weight coefficient, the second weight coefficient, and the third weight coefficient corresponding to the load influence factor, the impact force influence factor, and the pothole influence factor, respectively, and determine the risk assessment value of each pothole based on the load influence factor, the impact force influence factor, the pothole influence factor, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0097] Specifically, obtain the first weight coefficient, second weight coefficient, and third weight coefficient corresponding to the load influence factor, impact force influence factor, and pothole influence factor, respectively; calculate the first normalized value, second normalized value, and third normalized value according to the load influence factor, impact force influence factor, and pothole influence factor, respectively; determine the risk assessment value of each pothole according to the first normalized value, second normalized value, third normalized value, the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0098] Step S45, for each pothole, determine whether the risk assessment value of the pothole is greater than the risk threshold, if so, the pothole is regarded as a risky pothole, if not, the pothole is regarded as a safe pothole.

[0099] Specifically, for each pothole, determine whether the risk assessment value of the pothole is greater than the risk threshold. If the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a risky pothole; if the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a safe pothole.

[0100] In the above embodiment, in order to determine the risky pothole, the load influence factor is determined according to the current load and the total mass of the vehicle, and then the impact force influence factor of the vehicle is determined according to the current driving speed and the tire radius, and for each pothole, the pothole influence factor is determined according to the pothole length, pothole width and pothole depth, and then the first weight coefficient, the second weight coefficient and the third weight coefficient corresponding to the load influence factor, the impact force influence factor and the pothole influence factor are obtained respectively, and the risk assessment value of each pothole is determined according to the load influence factor, the impact force influence factor, the pothole influence factor, the first weight coefficient, the second weight coefficient and the third weight coefficient, and then for each pothole, it is determined whether the risk assessment value of the pothole is greater than the risk threshold, if the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a risky pothole, and if the risk assessment value of the pothole is greater than the risk threshold, the pothole is regarded as a safe pothole.

[0101] As a further implementation of the vehicle control method, the step of determining at least one safe driving path according to current road information and pothole information corresponding to the risky pothole includes:

[0102] Step S51, constructing a real-time map corresponding to the road ahead of the vehicle based on the environmental perception data and the road ahead information.

[0103] Step S52, obtaining the tire size and tire spacing of the vehicle, and determining at least one safe driving path according to the real-time map, the tire size and the tire spacing.

[0104] In the above embodiment, in order to determine at least one safe driving path, a real-time map corresponding to the road ahead of the vehicle is first constructed based on the environmental perception data and the road ahead information, and then the tire size and tire spacing of the vehicle are obtained, and at least one safe driving path is determined based on the real-time map, tire size and tire spacing.

[0105] As a further implementation of the automobile control method, the tire size includes the tire width, the tire spacing includes the front wheel spacing, and the step of determining at least one safe driving path according to the real-time map, the tire size and the tire spacing includes:

[0106] Step S61, screening out wheel-to-wheel potholes from risky potholes according to tire width and front wheel spacing, and determining non-wheel-to-wheel potholes according to the wheel-to-wheel potholes.

[0107] Among them, risky potholes include inter-wheel potholes and non-inter-wheel potholes.

[0108] It should be noted that during the driving process, the car can choose to avoid the potholes between the wheels, or adjust the driving direction so that the potholes between the wheels are located on the central axis of the car, so that the car can pass through the potholes between the wheels without bypassing them; for potholes not between the wheels, the car needs to avoid them and pass from the side of the potholes not between the wheels.

[0109] Step S62, determining at least one safe driving path according to the real-time map, the wheel potholes and the non-wheel potholes.

[0110] In the above embodiment, the inter-wheel potholes are first screened out from the risky potholes based on the tire width and the front wheel spacing, and the non-inter-wheel potholes are determined based on the inter-wheel potholes. The risky potholes include inter-wheel potholes and non-inter-wheel potholes. Then, at least one safe driving path is determined based on the real-time map, the inter-wheel potholes and the non-inter-wheel potholes.

[0111] As a further implementation method of the vehicle control method, the step of obtaining the current driving strategy and selecting the optimal driving path from at least one safe driving path according to the current driving strategy includes:

[0112] Step S71: for each of at least one safe driving path, determine a path evaluation index corresponding to the at least one safe driving path according to the at least one safe driving path.

[0113] Among them, the path evaluation indicators include path flatness, driving time, turning frequency and turning angle.

[0114] Step S72, obtaining the current driving strategy, and selecting a corresponding path evaluation model according to the current driving strategy.

[0115] It should be noted that the current driving strategies include speed priority, comfort priority, safety priority and other driving strategies, and each driving strategy is provided with a corresponding path evaluation model.

[0116] Step S73: for each at least one safe driving path, input the path evaluation index corresponding to the at least one safe driving path into the corresponding path evaluation model to obtain the corresponding path score value.

[0117] Step S74: taking at least one safe driving path corresponding to the maximum value of the path score value as the optimal driving path.

[0118] In the above embodiment, in order to determine the optimal driving path, for each at least one safe driving path, a path evaluation index corresponding to the at least one safe driving path is determined based on the at least one safe driving path, and the path evaluation index includes path flatness, driving time, turning frequency and turning angle. Then, the current driving strategy is obtained, and a corresponding path evaluation model is selected according to the current driving strategy. Then, for each at least one safe driving path, the path evaluation index corresponding to the at least one safe driving path is input into the corresponding path evaluation model to obtain the corresponding path score value. Finally, the at least one safe driving path corresponding to the maximum value of the path score value is used as the optimal driving path.

[0119] The embodiment of the present application also discloses a vehicle control system.

[0120] refer to Figure 2 , a vehicle control system, comprising:

[0121] A pothole information generation module, used to obtain environmental perception data, and generate pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data; the environmental perception data includes at least one of environmental image data and environmental scanning data;

[0122] A risk pothole determination module is used to obtain current parameter data of the car and determine risk potholes based on current state data and pothole information;

[0123] A safe driving path generation module is used to obtain the road information ahead and determine at least one safe driving path according to the current road information and the pothole information corresponding to the risk pothole;

[0124] An optimal driving path generation module is used to obtain the current driving strategy and select the optimal driving path from at least one safe driving path according to the current driving strategy;

[0125] The vehicle control module is used to control the vehicle according to the optimal driving path.

[0126] The automobile control system of the present invention can implement any one of the automobile control methods, and the specific working process of the automobile control system of the present invention can refer to the corresponding process in the above-mentioned automobile control method.

[0127] The embodiment of the present application also discloses a computer device.

[0128] refer to Figure 3 A computer device includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, any one of the above-mentioned vehicle control methods is implemented.

[0129] The embodiment of the present application also discloses a computer-readable storage medium.

[0130] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any one of the above-mentioned vehicle control methods.

[0131] Among them, computer-readable storage media can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus or device; the program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0132] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A vehicle control method, characterized in that: include: Acquire environmental perception data, and generate pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data; The environmental perception data includes at least one of environmental image data and environmental scanning data; Acquiring current parameter data of the vehicle, and determining risky potholes according to the current state data and the pothole information; Acquire road information ahead, and determine at least one safe driving path according to the current road information and pothole information corresponding to the risky pothole; Acquiring a current driving strategy, and selecting an optimal driving path from the at least one safe driving path according to the current driving strategy; The vehicle is controlled according to the optimal driving path.

2. A vehicle control method according to claim 1, characterized in that: The environmental perception data is environmental image data and environmental scanning data. Before the step of acquiring the environmental perception data and generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data, the method further includes: Acquiring current motion information and atmospheric visibility of the vehicle, the current motion information including vehicle speed and vehicle acceleration, and determining a scanning frequency and an image acquisition frequency of the vehicle for the road ahead according to the current motion information of the vehicle and the atmospheric visibility; Controlling the radar of the vehicle to scan the road ahead according to the scanning frequency to obtain environmental scanning data; The camera of the vehicle is controlled to collect images of the road ahead according to the image collection frequency to obtain environmental image data.

3. The vehicle control method according to claim 1, characterized in that: The environmental perception data is environmental image data and environmental scanning data, and the step of generating pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data includes: Extracting features from the environmental image data to obtain image feature data; Performing feature extraction on the environment scanning data to obtain point cloud feature data; Performing data registration on the environment image data and the environment scan data to obtain corresponding registration data; The corresponding three-dimensional scene model is established according to the registration data, and pothole features are extracted according to the three-dimensional scene model to obtain pothole information corresponding to the pothole in front of the car.

4. The vehicle control method according to claim 1, characterized in that: The current state data includes the current load of the vehicle, the total mass of the vehicle, the tire radius and the current driving speed, the pothole information includes the pothole length, the pothole width and the pothole depth, and the step of determining the risk pothole according to the current state data and the pothole information includes: Determining a load influence factor according to the current load and the total mass of the vehicle; Determining an impact force influence factor of the vehicle according to the current driving speed and the tire radius; For each pothole, determining a pothole influence factor according to the pothole length, the pothole width and the pothole depth; Obtaining a first weight coefficient, a second weight coefficient, and a third weight coefficient corresponding to the load influence factor, the impact force influence factor, and the pothole influence factor, respectively, and determining a risk assessment value of each pothole according to the load influence factor, the impact force influence factor, the pothole influence factor, the first weight coefficient, the second weight coefficient, and the third weight coefficient; For each pothole, determine whether the risk assessment value of the pothole is greater than a risk threshold. If so, treat the pothole as a risky pothole; if not, treat the pothole as a safe pothole.

5. The vehicle control method according to claim 1, characterized in that: The step of determining at least one safe driving path according to the current road information and the pothole information corresponding to the risky pothole comprises: Constructing a real-time map corresponding to the road ahead of the vehicle according to the environmental perception data and the road ahead information; The tire size and tire spacing of the vehicle are obtained, and at least one safe driving path is determined according to the real-time map, the tire size and the tire spacing.

6. A vehicle control method according to claim 5, characterized in that: The tire size includes tire width, the tire spacing includes front wheel spacing, and the step of determining at least one safe driving path according to the real-time map, the tire size, and the tire spacing includes: Screening out inter-wheel potholes from the risky potholes according to the tire width and the front wheel spacing, and determining non-inter-wheel potholes according to the inter-wheel potholes; the risky potholes include inter-wheel potholes and non-inter-wheel potholes; At least one safe driving path is determined according to the real-time map, the wheel-to-wheel potholes and the non-wheel-to-wheel potholes.

7. The vehicle control method according to claim 1, characterized in that: The step of obtaining the current driving strategy and selecting the optimal driving path from the at least one safe driving path according to the current driving strategy includes: For each of the at least one safe driving path, determining a path evaluation index corresponding to the at least one safe driving path according to the at least one safe driving path; the path evaluation index includes path flatness, driving time, turning frequency and turning angle; Acquire a current driving strategy, and select a corresponding path evaluation model according to the current driving strategy; For each of the at least one safe driving path, inputting the path evaluation index corresponding to the at least one safe driving path into the corresponding path evaluation model to obtain a corresponding path score value; The at least one safe driving path corresponding to the maximum value of the path score values ​​is used as the optimal driving path.

8. An automobile control system, characterized in that: include: A pothole information generation module, used to obtain environmental perception data, and generate pothole information corresponding to the pothole in front of the vehicle according to the environmental perception data; The environmental perception data includes at least one of environmental image data and environmental scanning data; A risk pothole determination module, used to obtain current parameter data of the vehicle and determine the risk pothole according to the current state data and the pothole information; A safe driving path generation module, used to obtain the road information ahead, and determine at least one safe driving path according to the current road information and the pothole information corresponding to the risky pothole; An optimal driving path generation module, used for obtaining a current driving strategy and selecting an optimal driving path from the at least one safe driving path according to the current driving strategy; A vehicle control module is used to control the vehicle according to the optimal driving path.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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