Road surface state detection method and device, electronic device, vehicle and medium

Abstract

The invention provides a road surface state detection method, which comprises the following steps: acquiring a wheel state signal, and determining the state of a current driving road surface of a vehicle according to frequency spectrum information determined by a tire vibration signal included in the wheel state signal. Therefore, the vehicle can determine the state of the current running road surface of the vehicle through the tire vibration signal included in the wheel state signal, and compared with a scheme of determining the road surface state according to a sound signal acquired by a microphone, the signal acquisition unit corresponding to the tire vibration signal is covered by objects such as sludge and rainwater, so that the road surface state is determined. In addition, the tire vibration signal can also be accurately collected, so that the vehicle can stably complete the state detection of the current driving road surface according to the tire vibration signal. Meanwhile, the sound signal of the tire and the vibration signal of the tire can reflect the state of friction between the vehicle and the road surface, so that the reliability can be guaranteed when the state of the current driving road surface is determined through the vibration signal of the tire.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a method for detecting a road surface condition, a detection device, an electronic device, a vehicle, and a computer-readable storage medium. Background Art

[0002] In the related art, the identification of whether the current driving road surface is a slippery road surface is usually achieved based on a sound collection unit, that is, a sound collection unit such as a microphone is installed on the fender corresponding to the vehicle, and then, the sound signal generated by the friction between the wheel and the road surface collected by the sound collection unit is subjected to corresponding spectrum analysis to determine the driving road surface of the vehicle based on the spectrum analysis results.

[0003] However, since the fender is easily contaminated with mud, rain and other objects, the sound collection unit on the fender may be affected by mud, rain and other objects, and thus cannot accurately collect the sound signal generated by the friction between the wheel and the road surface. As a result, the road surface detection result obtained through the sound signal has low credibility. Summary of the invention

[0004] The present application provides a road condition detection method, a detection device, an electronic device, a vehicle and a computer-readable storage medium.

[0005] The present application provides a method for detecting a road surface condition, including:

[0006] Acquiring a wheel status signal, wherein the wheel status signal comprises a tire vibration signal;

[0007] The state of the road surface on which the vehicle is currently traveling is determined according to the frequency spectrum information, wherein the frequency spectrum information is determined according to the tire vibration signal, and the state of the road surface includes a dry road surface and a wet road surface.

[0008] In the detection method of the road surface state provided by the embodiment of the present application, the vehicle obtains the wheel state signal, and determines the state of the road surface on which the vehicle is currently traveling according to the spectrum information determined by the tire vibration signal included in the wheel state signal, that is, determines whether the current road surface is a wet road surface or a dry road surface. In this way, the embodiment of the present application enables the vehicle to determine the state of the road surface on which the vehicle is currently traveling through the tire vibration signal included in the wheel state signal. Compared with the solution of determining the road surface state according to the sound signal collected by the microphone, when the signal collection unit corresponding to the tire vibration signal is covered by objects such as mud and rain, the tire vibration signal can also be accurately collected, thereby enabling the vehicle to robustly complete the state detection of the current road surface according to the tire vibration signal. At the same time, because the tire sound signal and the tire vibration signal can both reflect the friction condition between the wheel and the road surface, or in other words, the tire sound signal and the tire vibration signal can reflect the state of the road surface with which the vehicle is rubbing, the credibility can be guaranteed when the state of the current road surface is determined by the tire vibration signal.

[0009] In some embodiments, determining the state of the road surface on which the vehicle is currently traveling based on the spectrum information includes:

[0010] The state of the road surface on which the vehicle is currently traveling is determined according to the spectrum response information.

[0011] In this way, the implementation mode of the present application enables the state of the current road surface on which the vehicle is traveling to be determined based on the spectrum response information, that is, based on information such as the amplitude, sound pressure and phase of the tire vibration signal in the frequency band, and thus, the state of the current road surface can be accurately determined.

[0012] In some implementations, determining the state of the road surface on which the vehicle is currently traveling based on the spectrum response information includes:

[0013] The state of the road surface on which the vehicle is currently traveling is determined according to the target sound pressure information of the preset frequency band in the frequency spectrum response information.

[0014] In this way, the implementation mode of the present application can be based on the prior knowledge that there is a difference in the target sound intensity information of the tire vibration signal in the preset frequency band on dry roads and wet roads, so that the vehicle can determine the state of the current driving road surface according to the target sound intensity information of the tire vibration signal in the preset frequency band, and thus the state of the current driving road surface can be efficiently determined.

[0015] In some embodiments, determining the state of the road surface on which the vehicle is currently traveling based on the target sound pressure information of the preset frequency band in the spectrum response information includes:

[0016] When the target sound pressure information satisfies a first sound pressure preset condition, determining that the current road surface on which the vehicle is traveling is the dry road surface; and / or

[0017] When the target sound pressure information satisfies the second sound pressure preset condition, it is determined that the current road surface on which the vehicle is traveling is the slippery road surface.

[0018] In this way, the embodiment of the present application enables the vehicle to simply and efficiently determine the state of the current driving road surface based on the satisfied relationship between the target sound pressure information and the preset sound pressure condition.

[0019] In some embodiments, obtaining the wheel status signal includes:

[0020] The wheel state signal is determined according to an acceleration signal, wherein the acceleration signal is obtained according to an accelerometer installed in a tire of the vehicle.

[0021] In this way, the implementation mode of the present application is based on the accelerometer installed inside the vehicle, so that the collection of wheel status signals and tire vibration signals can be free from interference from external mud or rain to a certain extent, so that the wheel status signals and tire vibration signals can be robustly acquired.

[0022] In some embodiments, determining the state of the road surface on which the vehicle is currently traveling based on the spectrum information includes:

[0023] Determining frequency spectrum information corresponding to each tire according to the wheel status signal of each tire of the vehicle;

[0024] The state of the road surface on which the vehicle is currently traveling is determined according to the frequency spectrum information corresponding to each of the tires.

[0025] In this way, the implementation mode of the present application enables the state of the current driving road surface to be determined by the wheel state signal of each tire, and thus, the state detection result of the current driving road surface can be effectively supported by data, and the credibility of the state detection result is high.

[0026] In certain embodiments, the method further comprises:

[0027] Performing a preset signal noise reduction process on the tire vibration signal to obtain a corrected signal;

[0028] The spectrum information is determined according to the corrected signal.

[0029] In this way, the implementation mode of the present application is based on a preset signal noise reduction process for the tire vibration signal, so that the spectrum information will be obtained according to the corrected signal, that is, the tire vibration signal after the noise reduction process, and thus, the credibility of the spectrum information is high, and the accuracy of the driving road condition detection result obtained through the spectrum information is high.

[0030] The present application provides a detection device, including:

[0031] a transceiver unit, used for acquiring a wheel status signal, wherein the wheel status signal includes a tire vibration signal;

[0032] The processing unit is used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum information, wherein the spectrum characteristics are determined based on the tire vibration signal, and the state of the road surface includes a dry road surface and a wet road surface.

[0033] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the above-mentioned road surface condition detection method is implemented.

[0034] An embodiment of the present application provides a vehicle, including a vehicle body;

[0035] The vehicle body is installed with the above-mentioned detection device or the above-mentioned electronic device.

[0036] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned road surface condition detection method is implemented.

[0037] The detection device, electronic device and computer-readable storage medium of the embodiment of the present application enable the vehicle to determine the state of the road surface on which the vehicle is currently traveling through the tire vibration signal included in the wheel state signal. Compared with the solution of determining the road surface state based on the sound signal collected by the microphone, the tire vibration signal can also be accurately collected when the signal collection unit corresponding to the tire vibration signal is covered by objects such as mud and rainwater, thereby enabling the vehicle to robustly complete the state detection of the current road surface based on the tire vibration signal. At the same time, because the tire sound signal and the tire vibration signal can both reflect the friction condition between the wheel and the road surface, or in other words, the tire sound signal and the tire vibration signal can reflect the state of the road surface with which the vehicle is rubbing, the credibility can be guaranteed when the state of the current road surface is determined by the tire vibration signal.

[0038] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 A schematic flow chart of a method for detecting road surface conditions in certain embodiments of the present application;

[0041] Figure 2 A schematic diagram of spectrum response in some embodiments of the present application;

[0042] Figure 3 A schematic diagram of a vehicle in some embodiments of the present application;

[0043] Figure 4 A schematic diagram of a vehicle in some embodiments of the present application;

[0044] Figure 5 A schematic flow chart of a method for detecting road surface conditions in certain embodiments of the present application;

[0045] Figure 6 A schematic flow chart of a method for detecting road surface conditions in certain embodiments of the present application;

[0046] Figure 7 This is a flow chart of a method for detecting road conditions in certain embodiments of the present application. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0048] When a vehicle is traveling on different types of roads, such as flooded roads, sandy roads, asphalt roads and cement concrete roads, the driving state (or operating state) of the vehicle is different due to the different road surfaces. For example, compared with cement concrete roads, when a vehicle is traveling on ice and snow roads, the tire grip is weaker and the braking distance is longer.

[0049] Therefore, in order to provide the same or similar driving experience to the users when the vehicle is traveling on different roads, some vehicles can also identify the type of road the vehicle is traveling on, and can change the operating logic of the components in the vehicle accordingly (or, change the vehicle's operating mode accordingly) according to the type of road the vehicle is traveling on. For example, when the vehicle is traveling on a flooded road, the vehicle's maximum speed is limited to below the preset speed to avoid the situation where the braking distance is too long due to excessive speed and slippery road surface. Therefore, when the vehicle is traveling on different types of roads, the vehicle's driving safety and the safety of the users in the vehicle can be guaranteed.

[0050] Furthermore, for the identification or detection of the driving road surface, a common method is to install a sound collection unit such as an electret condenser microphone or a piezoelectric microphone on the fender corresponding to the wheel, so that the vehicle can perform corresponding spectrum analysis based on the sound signal generated by the friction between the wheel and the road surface collected by the sound collection unit, and then determine the driving road surface of the vehicle based on the spectrum analysis result. It is understandable that when the wheel rubs against different types of road surfaces, the sound signal generated by the friction has different characteristics or properties due to the different types of road surfaces. For example, compared with a dry asphalt road surface, the intensity of the sound generated by the friction when the wheel rubs against a wet asphalt road surface is higher.

[0051] However, when the vehicle is driving, objects such as mud and rain on the road may adhere to the fender, causing the sound collection unit to be covered by mud and rain, resulting in the sound that the sound collection unit needs to collect being blocked by mud and rain. As a result, the sound signal output by the sound collection unit cannot accurately represent the friction between the wheel and the road surface. At the same time, because electret condenser microphones and piezoelectric microphones have high requirements for the application environment and have large noise, or in other words, the sound signal they output has obvious noise.

[0052] As a result, when the vehicle detects the type of the driving road surface based on the sound signal output by the sound collection unit, the credibility of the road surface detection result is difficult to ensure.

[0053] For the above problems that may be encountered, please refer to Figure 1 , the present application provides a method for detecting road surface conditions, comprising:

[0054] 01: Obtaining a wheel status signal, wherein the wheel status signal includes a tire vibration signal;

[0055] 02: Determine the state of the road surface on which the vehicle is currently traveling based on the spectrum information, wherein the spectrum information is determined based on the tire vibration signal, and the road surface state includes a dry road surface and a wet road surface.

[0056] The embodiment of the present application provides a detection device. The detection method of the road surface condition of the embodiment of the present application can be implemented by the detection device of the embodiment of the present application. Specifically, the detection device includes a transceiver unit and a processing unit. The transceiver unit is used to obtain a wheel status signal, wherein the wheel status signal includes a tire vibration signal. The processing unit is used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum information, wherein the spectrum information is determined based on the tire vibration signal, and the road surface state includes a dry road surface and a wet road surface.

[0057] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The method for determining the position of a vehicle in the embodiment of the present application can be implemented by the electronic device in the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain a wheel state signal, wherein the wheel state signal includes a tire vibration signal. And it is used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum information, wherein the spectrum information is determined based on the tire vibration signal, and the state of the road surface includes a dry road surface and a wet road surface.

[0058] That is, the vehicle of the embodiment of the present application can collect tire vibration signals to determine the wheel state during driving, that is, obtain a wheel state signal. When the wheel state signal or tire vibration signal is obtained, the vehicle can determine the road surface that can generate a sound signal matching the above-mentioned spectrum information when the wheel rubs against the road surface based on the spectrum information, that is, by performing spectrum analysis on the tire vibration signal such as determining parameters such as amplitude, power, intensity or phase, so as to determine the state of the road surface on which the vehicle is currently driving.

[0059] It is understood that the wheel status signal in the embodiments of the present application can be understood as a combination of one or more signals used to describe the wheel status. In some embodiments, the wheel status signal includes, in addition to the tire vibration signal, a wheel speed signal collected by a wheel speed sensor and a tire temperature signal detected by a temperature sensor.

[0060] It can also be understood that the tire vibration signal of the embodiment of the present application can be collected by a vibration sensor.

[0061] Furthermore, it can be understood that, compared with the sound collection unit, the vibration sensor is less sensitive to the operating environment. Also, unless the vibration pickup device inside the vibration sensor is damaged, when the vibration sensor is covered by objects such as mud and rain, the covered vibration sensor can also accurately complete the tire vibration signal collection. Therefore, compared with the sound collection unit, the vibration sensor has higher reliability and robustness. Furthermore, the reliability of the vibration signal is stronger than that of the sound signal.

[0062] In addition, it can be understood that sound is a sound wave generated by the vibration of an object. Furthermore, the sound generated by the friction between the wheel and the road surface can be understood as the sound wave generated by the wheel itself vibrating due to friction with the ground.

[0063] Furthermore, the tire vibration signal obtained by the implementation mode of the present application and the tire sound signal collected by the sound collection unit in the related technology can both correspond to the vibration condition of the tire. Therefore, if the tire vibration signal is subjected to spectral analysis to obtain a first analysis result, and the sound signal is subjected to spectral analysis to obtain a second analysis result, then the first analysis result and the second analysis result may correspond to each other, or in other words, the first analysis result and the second analysis result can both reflect the vibration phenomenon of the tire traveling on different road surfaces.

[0064] Therefore, the implementation mode of the present application detects the state (or type) of the road surface on which the vehicle is currently traveling based on the spectral information determined by the tire vibration signal, that is, the analysis result obtained by spectral analysis of the tire vibration signal, so as to determine the state of the road surface against which the vehicle is rubbing, or, in other words, whether the spectral information corresponds to a dry road surface or a wet road surface.

[0065] In summary, the implementation method of the present application enables the vehicle to determine the state of the road surface on which the vehicle is currently traveling through the tire vibration signal included in the wheel state signal. Compared with the solution of determining the road surface state based on the sound signal collected by the microphone, when the signal collection unit corresponding to the tire vibration signal is covered by objects such as mud and rain, the tire vibration signal can also be accurately collected, thereby enabling the vehicle to robustly complete the state detection of the current road surface based on the tire vibration signal. At the same time, because the tire sound signal and the tire vibration signal can both reflect the friction condition between the wheel and the road surface, or in other words, the tire sound signal and the tire vibration signal can reflect the state of the road surface with which the vehicle is rubbing, when the state of the current road surface is determined by the tire vibration signal, the credibility of the determined road surface state can be guaranteed.

[0066] In addition, it is also understandable that the above steps 01-02 of the implementation mode of the present application can also be performed by remote electronic devices (such as servers and edge gateways, etc.). Specifically, the remote electronic device detects the type of the road surface on which the vehicle is currently traveling by acquiring the wheel status signal of the vehicle to generate a road surface type detection result, and then feeds back the road surface type detection result to the vehicle, so that the vehicle knows the current road surface and can perform corresponding control operations.

[0067] In contrast, when the above steps 01-02 in the implementation mode of the present application are executed by the vehicle, or in other words, by one or more controllers in the vehicle, the controller can obtain the wheel status signal based on the signal acquisition unit in the vehicle, and then detect the status of the road surface on which the vehicle is currently traveling based on the spectrum information determined by the tire vibration signal.

[0068] Furthermore, the above steps 01-02 of the implementation mode of the present application can also be completed jointly by the remote electronic device and the vehicle. Specifically, after the vehicle obtains or collects the wheel status signal, the wheel status signal is sent to the remote electronic device. When the remote electronic device receives the wheel status signal, it calls a preset model or function or functional module to perform corresponding spectrum analysis on the wheel status signal to generate spectrum information. Then, the remote electronic device sends the spectrum information to the vehicle. The vehicle performs a preset detection operation based on the received spectrum information to determine the state of the road surface on which the vehicle is currently traveling.

[0069] In certain embodiments of the present application, step 02 includes:

[0070] The state of the road the vehicle is currently traveling on is determined based on the spectrum response information.

[0071] The processing unit of the embodiment of the present application is also used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum response information.

[0072] The processor of the embodiment of the present application is also used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum response information.

[0073] That is, the vehicle of the embodiment of the present application will perform spectrum response processing (or frequency response processing) on ​​the collected tire vibration signal to obtain spectrum response information. Therefore, the spectrum analysis processing of the embodiment of the present application can be understood as spectrum response processing, and the spectrum information can be understood as spectrum response information.

[0074] Furthermore, the spectrum response information of the embodiments of the present application can be understood as the amplitude, sound pressure, and phase of the tire vibration signal in the entire frequency band. Therefore, in certain embodiments of the present application, the spectrum response information can be understood as a spectrum response diagram (or frequency response diagram) of the tire vibration signal, and the horizontal axis of the spectrum response diagram represents the frequency band (or frequency), and the vertical axis represents the amplitude, sound pressure, and phase.

[0075] Therefore, the embodiments of the present application can determine what kind of road surface the wheel is rubbing against based on the spectrum response information of the tire signal, that is, based on the characteristics of the tire vibration signal in the frequency band, such as amplitude, sound pressure and phase.

[0076] It can be understood that the specific process of determining the state of the driving road surface according to the spectrum response information is a content that can be set according to the actual situation. For example, in some embodiments, the specific process of determining the state of the driving road surface according to the spectrum response information may include: first, determining the first target spectrum corresponding information according to the tire vibration signal when the wheel is driving on a dry road surface, and then determining the second target spectrum corresponding information according to the tire vibration signal when the wheel is driving on a slippery road surface. Then, when the vehicle is driving on an unknown road surface, the current spectrum corresponding information is determined according to the tire vibration signal. Finally, if the current spectrum corresponding information matches the first target spectrum corresponding information, the unknown road surface is determined to be a dry road surface. If it matches the second target spectrum corresponding information, the unknown road surface is determined to be a slippery road surface.

[0077] In this way, the implementation mode of the present application enables the state of the current road surface on which the vehicle is traveling to be determined based on the spectrum response information, that is, based on information such as the amplitude, sound pressure and phase of the tire vibration signal in the frequency band, and thus, the state of the current road surface can be accurately determined.

[0078] In certain embodiments of the present application, determining the state of the road surface on which the vehicle is currently traveling based on the spectrum response information includes:

[0079] The state of the road surface on which the vehicle is currently traveling is determined based on target sound pressure information of a preset frequency band in the spectrum response information.

[0080] The processing unit of the embodiment of the present application is also used to determine the state of the road surface on which the vehicle is currently traveling based on the target sound pressure information of the preset frequency band in the spectrum response information.

[0081] The processor of the embodiment of the present application is also used to determine the state of the road surface on which the vehicle is currently traveling based on the target sound pressure information of the preset frequency band in the spectrum response information.

[0082] That is, the spectrum response information of the implementation mode of the present application can be used to describe the sound pressure of the vibration signal at different frequencies. At the same time, because the inventor of the present application has verified through experiments that the spectrum response information corresponding to the tire vibration signal when the vehicle is driving on a dry road and the spectrum response information corresponding to the tire vibration signal when the vehicle is driving on a slippery road have obvious differences in sound pressure in the preset frequency band. Therefore, the implementation mode of the present application detects the state of the road surface on which the vehicle is currently driving based on the target sound pressure information of the preset frequency band in the spectrum response information, thereby determining whether the vehicle is driving on a slippery road or a dry road.

[0083] To more clearly illustrate the implementation of this application, please refer to Figure 2 , Figure 2 This is a schematic diagram of the spectrum response in some embodiments of the present application. It should be noted that: Figure 2There are four curves shown, namely, a first curve 10, a second curve 20, a third curve 11 and a fourth curve 21. The first curve 10 corresponds to the spectrum response of the vehicle running at a first speed on a dry road surface, the second curve 20 corresponds to the spectrum response of the vehicle running at a first speed on a slippery road surface, the third curve 11 corresponds to the spectrum response of the vehicle running at a second speed on a dry road surface, and the fourth curve 21 corresponds to the spectrum response of the vehicle running at a second speed on a slippery road surface, and the first speed is higher than the second speed.

[0084] Further, according to Figure 2 As shown, in the frequency band from 800 Hz to 6 kHz, it can be seen that the sound pressure difference (ie, the vertical axis difference) between the first curve 10 and the second curve 20 is obvious, and the sound pressure difference (ie, the vertical axis difference) between the third curve 11 and the fourth curve 21 is obvious.

[0085] Therefore, due to the obvious difference in sound intensity between 800 Hz and 6 kHz, in some embodiments, the preset frequency band is 800 Hz to 6 kHz. However, it can be understood that the frequency band of 800 Hz to 6 kHz is only one of the feasible ways, and the preset frequency band of the embodiment of the present application can be set to other situations according to actual conditions.

[0086] In this way, the implementation mode of the present application can be based on the prior knowledge that there is a difference in the target sound intensity information of the tire vibration signal in the preset frequency band on dry roads and wet roads, so that the vehicle can determine the state of the current driving road surface according to the target sound intensity information of the tire vibration signal in the preset frequency band, and thus the state of the current driving road surface can be efficiently determined.

[0087] In certain embodiments of the present application, determining the state of the road surface on which the vehicle is currently traveling based on the target sound pressure information of the preset frequency band in the spectrum response information includes:

[0088] When the target sound pressure information satisfies a first preset sound pressure condition, determining that the current road surface on which the vehicle is traveling is a dry road surface; and / or

[0089] When the target sound pressure information satisfies the second preset sound pressure condition, it is determined that the current road surface on which the vehicle is traveling is a slippery road surface.

[0090] The processing unit of the embodiment of the present application is also used to determine that the vehicle's current driving surface is a dry surface when the target sound pressure information meets a first preset condition; and / or to determine that the vehicle's current driving surface is a wet and slippery surface when the target sound pressure information meets a second preset condition.

[0091] The processor of the embodiment of the present application is also used to determine that the vehicle's current driving surface is a dry surface when the target sound pressure information meets a first preset condition; and / or to determine that the vehicle's current driving surface is a slippery surface when the target sound pressure information meets a second preset condition.

[0092] That is, the vehicle of the implementation mode of the present application can determine whether the target sound pressure information is generated by the vehicle driving on a dry road or a wet road based on the relationship between the target sound pressure information and the preset sound pressure condition. That is, if the target sound pressure information satisfies the first preset sound pressure condition, it means that the target sound pressure information is generated by the vehicle driving on a dry road, and if the target sound pressure information satisfies the second preset sound pressure condition, it means that the target sound pressure information is generated by the vehicle driving on a wet road.

[0093] It can be understood that the first preset sound pressure condition and the second preset sound pressure condition in the implementation manner of the present application are both contents that can be set according to actual conditions.

[0094] For example, in some embodiments, the vehicle pre-stores first sound pressure information (such as the first sound pressure information of the tire vibration information corresponding to different vehicle speeds in a preset frequency band when the vehicle is traveling on a dry road. Figure 2 The first curve 10 and the third curve 11 are stored, and the second sound pressure information (such as the first curve 10 and the third curve 11) of the tire vibration information corresponding to different vehicle speeds when the vehicle is driving on a slippery road is stored in a preset frequency band. Figure 2 Furthermore, during driving, the vehicle can determine the first sound pressure information and the second sound pressure information relative to the current vehicle speed according to the current vehicle speed, and use the first sound pressure information as the first preset sound pressure condition, and determine the second sound pressure information as the second preset sound pressure condition.

[0095] Furthermore, when the vehicle is traveling on a road of unknown state at the current vehicle speed, the above-mentioned target sound pressure information is determined according to the tire state signal. Subsequently, it is determined whether the target sound pressure information matches the first sound pressure information, that is, whether the target sound pressure information satisfies the first preset sound pressure condition. At the same time, it is determined whether the target sound pressure information matches the second sound pressure information, that is, whether the target sound pressure information satisfies the second preset sound pressure condition. Furthermore, if the first preset sound pressure condition is met, it is determined that the vehicle is traveling on a dry road surface, and if the second preset sound pressure condition is met, it is determined that the vehicle is traveling on a slippery road surface.

[0096] In this way, the embodiment of the present application enables the vehicle to simply and efficiently determine the state of the current driving road surface based on the satisfied relationship between the target sound pressure information and the preset sound pressure condition.

[0097] In certain embodiments of the present application, step 01 includes:

[0098] A wheel state signal is determined according to an acceleration signal, wherein the acceleration signal is obtained according to an accelerometer installed in a tire of the vehicle.

[0099] The processing unit in the embodiment of the present application is also used to determine the wheel status signal according to the acceleration signal, wherein the acceleration signal is obtained according to the accelerometer installed in the tire of the vehicle.

[0100] The processor in the embodiment of the present application is also used to determine the wheel status signal according to the acceleration signal, wherein the acceleration signal is obtained according to the accelerometer installed in the tire of the vehicle.

[0101] That is, an accelerometer is also installed inside the wheel of the embodiment of the present application. Furthermore, during the driving process of the vehicle, the vehicle can determine the vibration acceleration, that is, the tire acceleration, according to the acceleration signal transmitted by the accelerometer, and then obtain the wheel status signal.

[0102] It can be understood that because the accelerometer of the embodiment of the present application is installed inside a closed wheel, the accelerometer is less affected by the external environment, or in other words, it cannot be attached by rain or mud from the outside. As a result, the accelerometer can operate stably and the acceleration signal can be collected stably.

[0103] It is also understandable that the specific installation position of the accelerometer can be set according to actual conditions. For example, in some embodiments, the accelerometer is installed on the inner tire steel.

[0104] To more clearly illustrate the implementation of this application, please refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 All of them are schematic diagrams of vehicles in certain embodiments of the present application.

[0105] In such Figure 3 In the embodiment shown, a first accelerometer 30 is installed in the left front wheel of the vehicle, and a second accelerometer 31 is installed in the left rear wheel. The first accelerometer 30 and the second accelerometer 31 are both connected to a second controller connection 41 in the vehicle. Therefore, after the second controller connection 41 receives the acceleration signal through the first accelerometer 30 and / or the second accelerometer 31, the wheel state signal or the tire vibration signal can be obtained. Then, the tire vibration signal can be subjected to spectrum analysis processing to obtain spectrum information, and then the spectrum information can be used to determine the tire state signal. Figure 3 The state of the current road surface 50 when traveling in the direction indicated by the middle arrow.

[0106] like Figure 4In the illustrated embodiment, the vehicle of the embodiment of the present application includes the above-mentioned first accelerometer 30, second accelerometer 31, first controller 40, second controller 41 and third controller 42, and also includes a third accelerometer 32 installed on the right rear vehicle, a fourth accelerometer 33 installed on the right front vehicle and a fourth controller 43. Furthermore, the acceleration signals collected by the first accelerometer 30 and the second accelerometer 31 can be transmitted to the second controller 41, so that the second controller 41 outputs the road surface state detection result. Similarly, the acceleration signals collected by the third accelerometer 32 and the fourth accelerometer 33 can be transmitted to the fourth controller 43, so that the fourth controller 43 outputs the road surface state detection result.

[0107] It should be noted that, as Figure 3 and Figure 4 As shown, the number of accelerometers in the implementation mode of the present application, and the connection relationship between the accelerometers and other devices in the vehicle, can be set according to actual conditions.

[0108] For example, in some embodiments, to ensure accurate and reliable acquisition of acceleration signals, an accelerometer is installed in each vehicle. Furthermore, in the event of a failure of any accelerometer, the vehicle can still obtain acceleration signals through other accelerometers that have not failed, so that acceleration signals can be robustly acquired.

[0109] It should also be noted that if Figure 3 or Figure 4 In certain embodiments shown, the accelerometer can establish communication with the in-vehicle network through a master-slave network mode (MASTER-SLAVE) to connect to each controller.

[0110] Furthermore, in certain embodiments of detecting the road condition based on the acceleration signal collected by each accelerometer, because the accelerometer is mounted on the wheel and the vehicle driving process is complex and changeable, and therefore, the vertical heights of each accelerometer relative to the road surface are different, resulting in differences in the timing of different acceleration signals, or in other words, the timing of the acceleration signal received by the controller is different. Therefore, the accelerometer of the embodiment of the present application can be provided with a time-division multiplexing (TDM) function so that each acceleration signal can be synchronized in the time domain.

[0111] Furthermore, it is also understood that the specific model and specific structure of the accelerometer can be set according to actual conditions. For example, in some embodiments, the accelerometer of the embodiment of the present application is a microelectronics system (MEMS) sensor.

[0112] Furthermore, in certain embodiments where the accelerometer is a microelectronic system sensor, the acceleration measurement range of the accelerometer can be set to [-16g, +16g], the update frequency of the acceleration signal can be set to 8kHz, the operating current can be set to 27.10mA, the minimum operating temperature can be set to -40°C, the maximum operating temperature can be set to 105°C, the accuracy can be set to 16bit, the sensitivity accuracy of the horizontal coordinate (or X-axis coordinate) and the sensitivity accuracy of the vertical coordinate (or Y-axis coordinate) can both be set to 95%, the sensitivity accuracy of the height coordinate (or Z-axis coordinate) can be set to 90%, the nonlinear errors of the horizontal and vertical coordinates can both be set to 0.5FS (Full Scale), the nonlinear error of the height coordinate can be set to 1.5%FS or -0.5%FS, the bandwidth can be set to 1kHz, the noise density can be set to 60ug / sqrt(Hz), and the THD (Total Harmonic Distortion) can be set to %1THD+N.

[0113] In this way, the implementation mode of the present application is based on the accelerometer installed inside the vehicle, so that the collection of wheel status signals and tire vibration signals is less affected by external mud or rain, so that the wheel status signals and tire vibration signals can be robustly acquired.

[0114] In addition, it should be noted that the specific structure of the controller in the embodiment of the present application can be set according to actual conditions. For example, in some embodiments, because the vehicle is set according to the electronic and electrical architecture based on domain control, the controller in the embodiment of the present application can be understood as a domain controller for controlling all electrical devices in a specific area.

[0115] Furthermore, the controller in the vehicle such as Figure 3 or Figure 4 As shown, in some embodiments where the controller in the vehicle is a domain controller, the first domain controller is the front domain controller, the second domain controller is the left domain controller, the third domain controller is the rear domain controller, and the fourth domain controller is the right domain controller.

[0116] And, in some other embodiments, because the vehicle is configured based on a cross-domain integrated electronic and electrical architecture, the controller of the embodiments of the present application can be understood as a domain controller (or central computing unit) for controlling all electrical devices in all areas of the vehicle.

[0117] It can be understood that when the first to fourth controllers in the implementation manner of the present application are domain controllers, or when the first to fourth controllers are actually a central computing unit, because the computing power of the domain controller or the central computing unit is higher than that of the general ECU (electronic control unit), the vehicle can quickly determine the driving road state through the domain controller.

[0118] See also Figure 5 In certain embodiments of the present application, step 02 includes:

[0119] 020: Determine the frequency spectrum information corresponding to each tire according to the wheel status signal of each tire of the vehicle;

[0120] 021: Determine the state of the road the vehicle is currently traveling on based on the spectrum information corresponding to each tire.

[0121] The processing unit of the embodiment of the present application is also used to determine the frequency spectrum information corresponding to each tire based on the wheel status signal of each tire of the vehicle; and determine the state of the road surface on which the vehicle is currently traveling based on the frequency spectrum information corresponding to each tire.

[0122] The processor of the embodiment of the present application is also used to determine the frequency spectrum information corresponding to each tire based on the wheel status signal of each tire of the vehicle; and determine the state of the road surface on which the vehicle is currently traveling based on the frequency spectrum information corresponding to each tire.

[0123] That is, the vehicle of the embodiment of the present application can collect the wheel status signal (or tire vibration signal) of each vehicle, and then, the vehicle of the embodiment of the present application can perform spectrum analysis on the tire vibration signal of each tire according to the wheel status signal (or tire vibration signal) of each tire, so as to obtain the spectrum information corresponding to each tire. Thus, the vehicle can determine the state of the current driving road according to the spectrum information of each tire.

[0124] To more clearly illustrate the implementation method of this application, please refer to Figure 4 That is, each tire of the vehicle of the embodiment of the present application may be equipped with an accelerometer for collecting wheel status signals (or tire vibration signals), and then the vehicle can determine the state of the current driving road surface based on the wheel status signals (or tire vibration signals) of each tire.

[0125] Optional, in Figure 4In certain embodiments shown, the process of determining the state of the current driving road surface according to the wheel state signal (or tire vibration signal) of each wheel may include: the second controller 41 performs spectrum analysis to obtain spectrum information according to the first acceleration signal (corresponding to the wheel state signal or tire vibration signal) collected by the first accelerometer 30, and determines the first road surface detection result corresponding to the first acceleration signal according to the spectrum information. Similarly, the second controller 41 determines the second road surface detection result according to the second acceleration signal collected by the second accelerometer 31, the fourth controller 43 determines the third road surface detection result according to the third acceleration signal collected by the third accelerometer 32, and the fourth controller 43 determines the fourth road surface detection result according to the fourth acceleration signal collected by the fourth accelerometer 33. Finally, any one of the first to fourth controllers determines the state of the driving road surface according to the first to fourth road surface detection results. For example, in the first to fourth road surface detection results, when the three road surface detection results are all wet and slippery roads, and only one road surface detection result is a dry road surface, the state of the driving road surface finally determined will be a wet and slippery road surface.

[0126] In such Figure 4 In some other embodiments shown, all four accelerometers are connected to the in-vehicle network, and each accelerometer is equipped with a time-division multiplexing (TDM) function. In other words, the acceleration signals collected by each accelerometer can be synchronized in the time domain. Furthermore, the vehicle of the embodiment of the present application can fuse (or superimpose) the frequency spectrum information corresponding to the acceleration signals of each tire based on the acceleration signal of each tire synchronized in the time domain (corresponding to the wheel state signal or tire vibration signal), and then determine the current road surface state based on the superimposed frequency spectrum information.

[0127] In some other embodiments, please refer to Figure 6 , Figure 6 Schematic diagram of the detection method of the road surface state in certain embodiments of the present application. That is, each controller in the embodiments of the present application will obtain an acceleration signal of an accelerometer in a tire, and each controller will determine the corresponding road surface state detection result according to the acceleration signal. Finally, the final detection result is output according to all the road surface state detection results. For example, in the first to fourth road surface detection results, when three road surface detection results are wet and slippery road surfaces, and only one road surface detection result is a dry road surface, the state of the driving road surface finally determined will be a wet and slippery road surface.

[0128] In this way, the implementation mode of the present application enables the state of the current driving road surface to be determined by the wheel state signal of each tire, and thus, the state detection result of the current driving road surface can be effectively supported by data, and the credibility of the state detection result is high.

[0129] In addition, it should be noted that Figure 3 , Figure 4 and Figure 6 The connection relationship between the accelerometer and the controller shown is only an example. The connection relationship between the accelerometer and the controller in the implementation manner of the present application can be set according to actual conditions.

[0130] In certain embodiments of the present application, please refer to Figure 6 That is, when the current driving road surface is slippery, the vehicle will also adjust the vehicle operation mode so that the maximum driving speed and maximum steering angle of the vehicle are limited to avoid the vehicle losing control due to slippery road surface, excessive vehicle speed or excessive vehicle steering angle, thereby ensuring vehicle safety. And / or, the vehicle can play a preset warning signal to let the user in the car know that the road surface is slippery.

[0131] In certain embodiments of this application, please refer to Figure 7 , the detection method also includes:

[0132] 03: Perform preset signal noise reduction processing on the tire vibration signal to obtain a corrected signal;

[0133] 04: Determine the spectrum information based on the corrected signal.

[0134] The processing unit in the embodiment of the present application is further used to perform preset signal noise reduction processing and preset signal amplification processing on the tire vibration signal to obtain a corrected signal; and determine the frequency spectrum information according to the corrected signal.

[0135] The processor in the embodiment of the present application is also used to perform preset signal noise reduction processing and preset signal amplification processing on the tire vibration signal to obtain a corrected signal; and determine the frequency spectrum information according to the corrected signal.

[0136] That is, in order to improve the quality of the spectrum information, the embodiment of the present application corrects the tire vibration signal in the process of obtaining the spectrum information through the tire vibration signal, that is, performs a preset signal noise reduction process on the tire vibration signal to obtain a corrected signal. Then, the spectrum analysis is performed on the corrected signal to obtain the spectrum information.

[0137] It can be understood that the preset signal noise reduction processing is content that can be set according to actual conditions. For example, in some embodiments, the preset signal noise reduction processing includes operational amplifier amplification processing, bandpass filtering processing, differential amplification processing, common analog digital-to-analog conversion processing, voltage conversion processing, bias circuit amplification processing, etc.

[0138] It can also be understood that the preset signal noise reduction processing can be implemented based on an electronic circuit or electronic chip pre-installed in the vehicle.

[0139] In this way, the implementation mode of the present application is based on a preset signal noise reduction process for the tire vibration signal, so that the spectrum information will be obtained according to the corrected signal, that is, the tire vibration signal after the noise reduction process, and thus, the credibility of the spectrum information is high, and the accuracy of the driving road condition detection result obtained through the spectrum information is high.

[0140] The embodiment of the present application further provides a vehicle, the vehicle comprising a vehicle body, and the vehicle body is equipped with the above-mentioned detection device or the above-mentioned electronic device.

[0141] The embodiment of the present application also provides a computer-readable storage medium containing a computer program. When the computer program is executed by one or more processors, the one or more processors execute the road surface state detection method of the present application.

[0142] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0143] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0144] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for detecting road surface conditions, characterized in that: include: Acquiring a wheel status signal, wherein the wheel status signal comprises a tire vibration signal; The state of the road surface on which the vehicle is currently traveling is determined according to the frequency spectrum information, wherein the frequency spectrum information is determined according to the tire vibration signal, and the state of the road surface includes a dry road surface and a wet road surface.

2. The method according to claim 1, characterized in that: Determining the state of the road surface on which the vehicle is currently traveling based on the spectrum information includes: The state of the road surface on which the vehicle is currently traveling is determined according to the spectrum response information.

3. The method according to claim 2, characterized in that The determining, based on the spectrum response information, the state of the road surface on which the vehicle is currently traveling, includes: The state of the road surface on which the vehicle is currently traveling is determined according to the target sound pressure information of the preset frequency band in the frequency spectrum response information.

4. The method according to claim 3, characterized in that The determining, based on the target sound pressure information of the preset frequency band in the spectrum response information, the state of the road surface on which the vehicle is currently traveling, includes: When the target sound pressure information satisfies a first sound pressure preset condition, determining that the current road surface on which the vehicle is traveling is the dry road surface; and / or When the target sound pressure information satisfies the second sound pressure preset condition, it is determined that the current road surface on which the vehicle is traveling is the slippery road surface.

5. The method according to claim 1, characterized in that: The step of obtaining the wheel status signal comprises: The wheel state signal is determined according to an acceleration signal, wherein the acceleration signal is obtained according to an accelerometer installed in a tire of the vehicle.

6. The method according to claim 1, characterized in that Determining the state of the road surface on which the vehicle is currently traveling based on the spectrum information includes: Determining frequency spectrum information corresponding to each tire according to the wheel status signal of each tire of the vehicle; The state of the road surface on which the vehicle is currently traveling is determined according to the frequency spectrum information corresponding to each of the tires.

7. The method according to claim 1, characterized in that The method further comprises: Performing a preset signal noise reduction process on the tire vibration signal to obtain a corrected signal; The spectrum information is determined according to the corrected signal.

8. A detection device, characterized in that: include: a transceiver unit, used for acquiring a wheel status signal, wherein the wheel status signal includes a tire vibration signal; The processing unit is used to determine the state of the road surface on which the vehicle is currently traveling based on the spectrum information, wherein the spectrum characteristics are determined based on the tire vibration signal, and the state of the road surface includes a dry road surface and a wet road surface.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Including the body; The vehicle body is installed with the detection device according to claim 8 or the electronic device according to claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 7 is implemented.

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