Vehicle control method and device

Abstract

The invention provides a vehicle control method and device. The method comprises the steps that the wheel speed in the vehicle running process is obtained, and the wheel acceleration is determined based on the wheel speed; according to the wheel speed and the wheel acceleration, the number of recognition times of each wheel of the vehicle on the washboard road surface is obtained; road surface sign information is determined according to the recognition frequency of each wheel on the washboard road surface; and in response to the situation that the road sign information indicates that the vehicle running road surface is a washboard road surface and the driver intention is a braking intention, a washboard road surface braking strategy is executed on the vehicle, and the braking strategy comprises control over the pressure of wheels. According to the method, the washboard pavement is recognized through the speed of the tires in direct contact with the ground and the acceleration information of the wheels, indirect information such as the vehicle speed and a motor is not depended on any more, recognition of the washboard pavement is more accurate and efficient, safe and effective braking can be carried out based on the characteristics of the washboard pavement, the safety of the vehicle is improved, and the accident occurrence probability is reduced.

Description

Technical Field

[0001] The present application relates to the field of coal mine safety technology, and in particular to a vehicle control method and device. Background Art

[0002] When a vehicle brakes on a washboard road, in order to avoid large slippage caused by tire oscillation, which affects braking performance and comfort, how to identify washboard roads has become a hot research issue. Summary of the invention

[0003] The purpose of this application is to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the first purpose of the present application is to propose a vehicle control method to accurately identify the washboard road surface, and then to perform safe and effective braking based on the characteristics of the washboard road surface.

[0005] The second objective of the present application is to provide a vehicle control device.

[0006] The third objective of the present application is to provide an electronic device.

[0007] A fourth objective of the present application is to provide a computer-readable storage medium.

[0008] A fifth object of the present application is to provide a computer program product.

[0009] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a vehicle control method, including:

[0010] Acquiring a wheel speed of the vehicle during travel, and determining a wheel acceleration based on the wheel speed;

[0011] According to the wheel speed and the wheel acceleration, obtaining the number of times each wheel of the vehicle recognizes the washboard road surface;

[0012] Determine the road surface marking information according to the number of times each wheel recognizes the washboard road surface;

[0013] In response to the road sign information indicating that the vehicle is traveling on a washboard road and the driver's intention is a braking intention, a washboard road braking strategy is executed on the vehicle, the braking strategy including controlling the pressure of the wheels.

[0014] To achieve the above-mentioned purpose, a second embodiment of the present application proposes a vehicle control device, including:

[0015] A first acquisition module, used for acquiring a wheel speed of a vehicle during driving, and determining a wheel acceleration based on the wheel speed;

[0016] A second acquisition module is used to acquire the number of times each wheel of the vehicle recognizes the washboard road surface according to the wheel speed and the wheel acceleration;

[0017] A determination module, used to determine road surface marking information according to the number of times each wheel recognizes the washboard road surface;

[0018] The control module is used to execute a washboard road braking strategy for the vehicle when the road sign information indicates that the vehicle is traveling on a washboard road and the driver intends to brake, wherein the braking strategy includes controlling the pressure of the wheels.

[0019] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes an electronic device, comprising: a processor; and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor can execute the vehicle control method described in the first aspect embodiment above.

[0020] To achieve the above-mentioned purpose, the fourth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored, and the computer instructions are used to enable the computer to execute the vehicle control method described in the above-mentioned first aspect.

[0021] To achieve the above-mentioned purpose, the fifth aspect of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the vehicle control method described in the first aspect of the present application.

[0022] The vehicle control method and device provided by the present application obtain the wheel speed and wheel acceleration of the vehicle during driving, and obtain the number of times the wheel recognizes the washboard road surface according to the wheel speed and the wheel acceleration, and further determine the road sign information according to the number of times the wheel recognizes the washboard road surface, and when the vehicle is driving on a washboard road surface and the driver intends to brake, the washboard road surface braking strategy is executed on the vehicle. In the embodiment of the present application, the washboard road surface is identified by the tire speed and wheel acceleration information that are in direct contact with the ground, and no longer relies on indirect information such as vehicle speed and motor, so the identification of the washboard road surface is more accurate and efficient, and safe and effective braking can be performed based on the characteristics of the washboard road surface, which is conducive to improving the safety of the vehicle and reducing the probability of accidents.

[0023] Additional aspects and advantages 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 present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a process for obtaining the number of times a washboard road surface is identified provided in an embodiment of the present application;

[0027] Figure 3 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] 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 throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The vehicle control method and system according to the embodiments of the present application are described below with reference to the accompanying drawings.

[0032] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle control method may include but is not limited to the following steps:

[0033] S101, obtaining the wheel speed of the vehicle during driving, and determining the wheel acceleration based on the wheel speed.

[0034] In some embodiments, a wheel speed sensor may be installed on each wheel of the vehicle, and the wheel speed of the wheel may be obtained through the wheel speed sensor. That is, a wheel speed sensor may be installed on the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, and the left front wheel speed, the right front wheel speed, the left rear wheel speed, and the right rear wheel speed may be obtained through the corresponding wheel speed sensors.

[0035] In some embodiments, the vehicle chassis control algorithm needs to use the wheel speed to control functions such as the anti-lock braking system (ABS) and the vehicle dynamics control system (VDC).

[0036] In some embodiments, after obtaining the above-mentioned wheel speeds, the above-mentioned wheel speeds can be calculated by differential calculation to obtain the rate of change of each wheel speed, that is, the left front wheel speed can be calculated by differential calculation to obtain the left front wheel acceleration; the right front wheel speed can be calculated by differential calculation to obtain the right front wheel acceleration; the left rear wheel speed can be calculated by differential calculation to obtain the left rear wheel acceleration; the right rear wheel speed can be calculated by differential calculation to obtain the right rear wheel acceleration.

[0037] S102, obtaining the number of times each wheel recognizes the washboard road surface according to the wheel speed and the wheel acceleration.

[0038] In some embodiments, washboard road surface recognition conditions related to wheel speed and wheel acceleration may be preset. After the wheel speed and wheel acceleration are obtained, the washboard road surface recognition times for each wheel may be determined in combination with the pre-configured washboard road surface recognition conditions.

[0039] In some embodiments, the identification condition related to vehicle acceleration and the identification condition related to wheel speed can be configured. For each wheel, the identification times are obtained based on the two related identification conditions. When the two related identification conditions are met at the same time, the identification times of the washboard road surface can be increased by 1, and the identification times of the wheel on the washboard road surface can be output. If at least one of the two related identification conditions is not met within the set time, the identification times of the washboard road surface can be decreased by 1, and the identification times of the wheel on the washboard road surface can be output.

[0040] S103, determining road surface marking information according to the number of times each wheel recognizes the washboard road surface.

[0041] In some embodiments, after obtaining the number of times each wheel recognizes the washboard road surface, the road surface marking information can be determined based on the number of times the washboard road surface is recognized. Optionally, the greater the number of recognitions, the greater the probability that the road surface the vehicle is currently traveling on is a washboard road surface. A number threshold can be pre-configured, and the number of recognitions is compared with the number threshold, and the road surface marking information is determined based on the comparison result. For example, when the number of recognitions exceeds the number threshold, it can be indicated that the road surface the vehicle is currently traveling on is a washboard road surface, and the road surface marking information can be determined to be a first value. When the number of recognitions is lower than the number threshold, it can be indicated that the road surface the vehicle is currently traveling on is not a washboard road surface, and the road surface marking information can be determined to be a second value.

[0042] It can be understood that the road surface marking information can indicate whether the road surface the vehicle is currently traveling on is a washboard road surface. For example, the first value of the road surface marking information is "True", which can indicate that the road surface the vehicle is currently traveling on is a washboard road surface; the second value of the road surface marking information is "False", which can indicate that the road surface the vehicle is currently traveling on is not a washboard road surface, that is, the current road surface is a normal road surface. For another example, the first value of the road surface marking information is "1", which can indicate that the road surface the vehicle is currently traveling on is a washboard road surface; the second value of the road surface marking information is "0", which can indicate that the road surface the vehicle is currently traveling on is not a washboard road surface.

[0043] S104, in response to the road sign information indicating that the vehicle is traveling on a washboard road and the driver's intention is to brake, executing a washboard road braking strategy for the vehicle, wherein the washboard road braking strategy includes controlling the pressure of the wheels.

[0044] In some embodiments, after obtaining the road surface marking information, it can be determined whether the road surface the vehicle is traveling on is a washboard road surface according to the road surface marking information. In response to the road surface marking information indicating that the road surface the vehicle is traveling on is a washboard road surface, when it is determined that the driver's intention is a braking intention, the vehicle can execute a washboard road surface braking strategy. Optionally, the washboard road surface braking strategy includes controlling the pressure of the wheels, that is, controlling the pressure of each wheel of the vehicle to optimize the control performance. For example, the pressure of each vehicle can be reduced, maintained, and then increased in sequence.

[0045] In some embodiments, the driver's braking intention can be identified by analyzing the driver's braking behavior.

[0046] In some embodiments, semantic recognition may be performed on the driver's language information to identify whether the driver has a braking intention.

[0047] In the embodiment of the present application, the wheel speed and wheel acceleration of the vehicle are obtained during driving, and the number of times the wheel recognizes the washboard road surface is obtained according to the wheel speed and the wheel acceleration, and the road sign information is further determined according to the number of times the wheel recognizes the washboard road surface, and when the road surface on which the vehicle is driving is a washboard road surface and the driver intends to brake, the washboard road surface braking strategy is executed on the vehicle. In the embodiment of the present application, the washboard road surface is identified by the tire speed and wheel acceleration information that are in direct contact with the ground, and no longer relies on indirect information such as vehicle speed and motor, so the identification of the washboard road surface is more accurate and efficient, and safe and effective braking can be performed based on the characteristics of the washboard road surface, which is beneficial to improving the safety of the vehicle and reducing the probability of accidents.

[0048] Based on the above embodiment, the process of obtaining the number of times each wheel recognizes the washboard road surface according to the wheel speed and the wheel acceleration in step S102 can be explained as follows: Figure 2 As shown, the process of obtaining the number of times each wheel recognizes the washboard road surface may include but is not limited to the following steps:

[0049] S201, the timer starts timing.

[0050] S202: Determine whether the wheel acceleration is less than a first acceleration threshold for the first time.

[0051] In response to the wheel acceleration being less than the first acceleration threshold for the first time, indicating that the tire is in an oscillating state, allowing the identification condition of the washboard road surface to be determined, step S203 may be executed; in response to the wheel acceleration being less than the first acceleration threshold for a non-first time, step S206 may be executed. It is understandable that, from the time when the vehicle acceleration is less than the first acceleration threshold for the first time to the timer restarting, even if the wheel acceleration is less than the first acceleration threshold again, S203 will continue to be executed until the timer is reset and restarted.

[0052] In some embodiments, the first acceleration threshold may be determined in advance through calibration.

[0053] S203, obtaining the absolute difference between the wheel speed and the vehicle speed.

[0054] In some embodiments, the vehicle speed can be calculated based on the left front wheel speed, the right front wheel speed, the left rear wheel speed and the right rear wheel speed. Further, for each wheel, the absolute difference between the wheel speed and the vehicle speed is obtained based on the wheel speed of the vehicle and the vehicle speed.

[0055] S204, determining whether the absolute difference is less than a speed difference threshold, and determining whether the vehicle acceleration is greater than a second acceleration threshold.

[0056] In response to the absolute difference being less than the speed difference threshold and the vehicle acceleration being greater than the second acceleration threshold, the identification condition characterizing the washboard road surface has been met, and step S205 is executed. In response to the absolute difference being greater than or equal to the speed difference threshold, and / or the vehicle acceleration being less than or equal to the second acceleration threshold, step S206 is executed.

[0057] In some embodiments, the speed difference threshold may be determined in advance by calibration. For example, the speed difference threshold may be 1 m / s. It is understood that this is only an example and cannot be used as a condition to limit the present application.

[0058] In some embodiments, the second acceleration threshold is positively correlated with the vehicle speed, and the higher the vehicle speed, the greater the second acceleration threshold. Optionally, the second acceleration threshold can be determined in advance through calibration.

[0059] In some embodiments, the first acceleration threshold is less than the second acceleration threshold, for example, the first acceleration threshold is -5 m / s 2 , the second acceleration threshold is 100m / s 2 It is to be understood that this is only an example and cannot be used as a condition to limit the present application.

[0060] S205, the number of times the washboard road surface is recognized is increased by 1, and the timer is reset.

[0061] After executing S205, S208 may be executed.

[0062] S206: Determine whether the current timing of the timer is greater than or equal to a time threshold.

[0063] In response to the current timing of the timer being greater than or equal to the time threshold, step S207 is executed; in response to the current timing of the timer being less than the time threshold, the process returns to step S201.

[0064] In some embodiments, the time threshold is negatively correlated with the vehicle speed. The higher the vehicle speed, the shorter the time threshold. The time threshold can be determined by calibration. For example, the time threshold can be 0.1s. It is understood that this is only an example and cannot be used as a condition to limit the present application.

[0065] It is understandable that when the timing starts and reaches the time threshold, and the recognition condition of the washboard road surface within the time threshold, that is, S204 is not met, the number of recognition times needs to be reduced by 1 and the timing is reset to zero, otherwise the timing continues.

[0066] S207, the number of times the washboard road surface is recognized is reduced by 1, and the timer is reset.

[0067] S208, output the number of times the washboard road surface is recognized.

[0068] It is understandable that each wheel of the vehicle obtains the number of washboard road surface recognitions according to the above process. That is, the process is applicable to the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle, and the number of washboard road surface recognitions of the left front wheel, the number of washboard road surface recognitions of the right front wheel, the number of washboard road surface recognitions of the left rear wheel and the number of washboard road surface recognitions of the right rear wheel are output respectively.

[0069] In the embodiment of the present application, the washboard road surface is identified through the tire speed and wheel acceleration information that are in direct contact with the ground, and no longer relies on indirect information such as vehicle speed and motor. The identification of the washboard road surface is more accurate and efficient, and safe and effective braking can be performed based on the characteristics of the washboard road surface, which is beneficial to improving the safety of the vehicle and reducing the probability of accidents.

[0070] Figure 3A flow chart of another vehicle control method provided in an embodiment of the present application. Figure 3 As shown, the vehicle control method may include but is not limited to the following steps:

[0071] S301, obtaining the wheel speed of the vehicle during driving, and determining the wheel acceleration based on the wheel speed.

[0072] S302, obtaining the number of times each wheel recognizes the washboard road surface according to the wheel speed and the wheel acceleration.

[0073] For a detailed description of steps S301 to S302, please refer to the relevant contents in the above embodiment, and the steps are not repeated here.

[0074] S303, determining the road sign information of the road on which the vehicle is traveling according to the number of times the washboard road surface corresponding to the wheel is recognized and the set recognition strategy.

[0075] In some embodiments, the number of times the washboard road surface is recognized corresponding to any one of the wheels is compared with a first recognition number threshold, and in response to the number of times the washboard road surface is recognized being greater than the first recognition number threshold, the first road surface sign information corresponding to the wheel is determined to be a first indication, otherwise the first road surface sign information corresponding to the wheel is determined to be a second indication, wherein the first indication is used to indicate that the road surface on which the vehicle is traveling is a washboard road surface, and the second indication is used to indicate that the road surface on which the vehicle is traveling is a non-washboard road surface. Further, the road surface sign information of the road surface on which the vehicle is traveling is determined based on the first road surface sign information corresponding to each wheel.

[0076] By way of example, when the number of recognitions of the washboard road surface of the left front wheel reaches a first recognition number threshold, it is determined that the road surface the vehicle is currently traveling on is a washboard road surface, and the road surface sign information is set to "True"; or, when the number of recognitions of the washboard road surface of the right front wheel reaches the first recognition number threshold, it is determined that the road surface the vehicle is currently traveling on is a washboard road surface, and the road surface sign information is set to "True"; or, when the number of recognitions of the washboard road surface of the left rear wheel reaches the first recognition number threshold, it is determined that the road surface the vehicle is currently traveling on is a washboard road surface, and the road surface sign information is set to "True"; or, when the number of recognitions of the washboard road surface of the right rear wheel reaches the first recognition number threshold, it is determined that the road surface the vehicle is currently traveling on is a washboard road surface, and the road surface sign information is set to "True".

[0077] In some embodiments, the wheels of the vehicle are grouped to obtain two wheel groups, and based on the number of times the washboard road surface of the wheels in the wheel group is identified, a first total identification number corresponding to the wheel group is obtained. Further, the first total identification number corresponding to the wheel group is compared with a second identification number threshold. In response to the first total identification number being greater than the second identification number threshold, the second road surface marking information corresponding to the wheel group is determined to be a first indication; otherwise, the second road surface marking information corresponding to the wheel group is determined to be a second indication. Based on the second road surface marking information corresponding to each group, the road surface marking information of the road on which the vehicle is traveling is determined.

[0078] For example, a first total number of recognitions of the washboard road surface of the left front wheel and the washboard road surface of the right front wheel is obtained. If the first total number of recognitions reaches a second recognition number threshold, it is determined that the vehicle is currently traveling on a washboard road surface, and the road surface sign information is set to "True".

[0079] In some embodiments, based on the number of times the washboard road surface is identified for each wheel, a second total number of identifications is obtained, and the second total number of identifications is compared with a third identification number threshold. In response to the second total number of identifications being greater than the third identification number threshold, the road surface marking information is determined to be a first indication; otherwise, the road surface marking information is determined to be a second indication.

[0080] For example, the second total recognition times of the washboard road surface of the left front wheel, the washboard road surface of the right front wheel, the washboard road surface of the left rear wheel and the washboard road surface of the right rear wheel are obtained. If the second total recognition times reaches the third recognition times threshold, it is determined that the vehicle is currently traveling on a washboard road surface, and the road surface sign information is set to "True".

[0081] It is understandable that if the washboard road surface sign information is set to "True", but the number of washboard road surface recognitions of each wheel is 0, it means that the recognition conditions of the washboard road surface are not met and there is misrecognition. The road surface sign information can be set to "False".

[0082] In some embodiments, the first recognition number threshold, the second recognition number threshold, and the third recognition number threshold can all be determined by pre-expression. For example, the first recognition number threshold can be 4 times, the second recognition number threshold can be 7 times, and the third recognition number threshold can be 12 times. It is understood that this is only an example and cannot be used as a condition to limit the present application.

[0083] S304: In response to the road sign information indicating that the road surface on which the vehicle is traveling is a washboard road surface, and the driver's intention is a braking intention, a washboard road surface braking strategy is executed on the vehicle.

[0084] For a detailed description of step S304, please refer to the relevant contents in the above embodiment, and the steps are not repeated here.

[0085] S305, in response to the road sign information indicating that the vehicle is traveling on a non-washboard road surface and the driver's intention is to brake, exit the washboard road braking strategy and execute a default braking strategy for the vehicle.

[0086] In some embodiments, when it is determined that the road surface on which the vehicle is traveling is not a washboard road surface, braking can be performed according to a default braking strategy when braking is required, that is, an adaptive braking strategy is used to control the braking of the vehicle, which can improve vehicle safety.

[0087] In the embodiment of the present application, the wheel speed and wheel acceleration of the vehicle are obtained during driving, and the number of times the wheel recognizes the washboard road surface is obtained according to the wheel speed and the wheel acceleration, and the road sign information is further determined according to the number of times the wheel recognizes the washboard road surface, and when the road surface on which the vehicle is driving is a washboard road surface and the driver intends to brake, the washboard road surface braking strategy is executed on the vehicle. In the embodiment of the present application, the washboard road surface is identified by the tire speed and wheel acceleration information that are in direct contact with the ground, and no longer relies on indirect information such as vehicle speed and motor, so the identification of the washboard road surface is more accurate and efficient, and safe and effective braking can be performed based on the characteristics of the washboard road surface, which is beneficial to improving the safety of the vehicle and reducing the probability of accidents.

[0088] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 4 As shown, the vehicle control device may include: a first acquisition module 401 , a second acquisition module 402 , a determination module 403 and a control module 404 .

[0089] A first acquisition module 401 is used to acquire the wheel speed of the vehicle during driving, and determine the wheel acceleration based on the wheel speed;

[0090] A second acquisition module 402 is used to acquire the number of times each wheel of the vehicle recognizes the washboard road surface according to the wheel speed and the wheel acceleration;

[0091] A determination module 403, for determining road surface marking information according to the number of times each wheel recognizes the washboard road surface;

[0092] The control module 404 is used to execute a washboard road braking strategy for the vehicle when the road sign information indicates that the vehicle is traveling on a washboard road and the driver intends to brake, wherein the braking strategy includes controlling the pressure of the wheels.

[0093] In some embodiments, the control module 404 is further configured to exit the washboard road braking strategy when the road sign information indicates that the vehicle is traveling on a non-washboard road and the driver intends to brake.

[0094] In some embodiments, the second acquisition module 402 is also used to: determine whether the wheel acceleration is less than a first acceleration threshold during the timing process for each wheel; in response to the wheel acceleration being less than the first acceleration threshold, obtain the absolute difference between the wheel speed and the vehicle speed, wherein the vehicle speed is determined based on the wheel speed of each wheel; determine whether the absolute difference is less than a speed difference threshold, and whether the wheel acceleration is greater than a second acceleration threshold; in response to the absolute difference being less than a speed threshold, and the wheel acceleration being greater than the second acceleration threshold, add 1 to the number of recognitions of the washboard road surface, clear the timing and output the number of recognitions corresponding to the wheel.

[0095] In some embodiments, the second acquisition module 402 is also used to: in response to at least one of the conditions that the wheel acceleration is greater than or equal to the first acceleration threshold, the absolute difference is greater than or equal to the speed difference threshold, and the wheel acceleration is less than or equal to the second acceleration threshold, determine whether the current timing of the timer is greater than or equal to the time threshold; in response to the current timing being greater than or equal to the time threshold, subtract 1 from the number of recognitions of the washboard road surface, clear the timing and output the number of recognitions corresponding to the wheel.

[0096] In some embodiments, the determination module 403 is further used to: compare the number of recognition times of the wheel with a first recognition time threshold; in response to the number of recognition times being greater than the first recognition time threshold, determine that the first road surface mark information corresponding to the wheel is a first indication, otherwise determine that the first road surface mark information corresponding to the wheel is a second indication, wherein the first indication is used to indicate that the road surface on which the vehicle is traveling is a washboard road surface, and the second indication is used to indicate that the road surface on which the vehicle is traveling is a non-washboard road surface; determine the road surface mark information according to the first road surface mark information corresponding to each wheel.

[0097] In some embodiments, the determination module 403 is further used to: group the wheels of the vehicle to obtain two wheel groups; obtain a first total identification number corresponding to the wheel group based on the number of identifications of the wheels in the wheel group; compare the first total identification number corresponding to the wheel group with a second identification number threshold; in response to the first total identification number being greater than the second identification number threshold, determine that the second road surface mark information corresponding to the wheel group is a first indication, otherwise determine that the second road surface mark information corresponding to the wheel group is a second indication; determine the road surface mark information based on the second road surface mark information corresponding to each group.

[0098] In some embodiments, the determination module 403 is further used to: obtain a second total number of recognitions based on the number of recognitions of each wheel; compare the second total number of recognitions with a third recognition number threshold; in response to the second total number of recognitions being greater than the third recognition number threshold, determine that the road surface mark information is a first indication, otherwise determine that the road surface mark information is a second indication.

[0099] In the embodiment of the present application, the wheel speed and wheel acceleration of the vehicle are obtained during driving, and the number of times the wheel recognizes the washboard road surface is obtained according to the wheel speed and the wheel acceleration, and the road sign information is further determined according to the number of times the wheel recognizes the washboard road surface, and when the road surface on which the vehicle is driving is a washboard road surface and the driver intends to brake, the washboard road surface braking strategy is executed on the vehicle. In the embodiment of the present application, the washboard road surface is identified by the tire speed and wheel acceleration information that are in direct contact with the ground, and no longer relies on indirect information such as vehicle speed and motor, so the identification of the washboard road surface is more accurate and efficient, and safe and effective braking can be performed based on the characteristics of the washboard road surface, which is beneficial to improving the safety of the vehicle and reducing the probability of accidents.

[0100] It should be noted that the explanation of the aforementioned vehicle control method embodiment is also applicable to a vehicle control device of this embodiment, which will not be repeated here.

[0101] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, vehicle-mounted terminals, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0102] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0103] A number of components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as a training method for an image enhancement model or an enhancement method for a document image. For example, in some embodiments, the training of an image enhancement model or an enhancement method for a document image may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the training of the image enhancement model or the enhancement method for a document image described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to execute the vehicle control method of the above embodiments in any other appropriate manner (eg, by means of firmware).

[0105] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0107] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0110] In order to implement the above embodiment, the present application also proposes a vehicle, which may include: Figure 4 Vehicle controls shown.

[0111] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0112] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0113] The collection, storage, use, processing, transmission, provision and application of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0114] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0115] This application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, this application is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, risks can be minimized by limiting data collection and deleting data. In addition, when applicable, personal identifiers are removed from such personal information to protect the privacy of users.

[0116] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example 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, without contradiction.

[0117] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0118] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom 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 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.

[0119] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0120] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0121] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0123] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. 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 limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring a wheel speed of the vehicle during travel, and determining a wheel acceleration based on the wheel speed; According to the wheel speed and the wheel acceleration, obtaining the number of times each wheel of the vehicle recognizes the washboard road surface; Determine the road surface marking information according to the number of times each wheel recognizes the washboard road surface; In response to the road sign information indicating that the vehicle is traveling on a washboard road and the driver's intention is a braking intention, a washboard road braking strategy is executed on the vehicle, the braking strategy including controlling the pressure of the wheels.

2. The method according to claim 1, characterized in that: The method further comprises: In response to the road sign information indicating that the vehicle is traveling on a non-washboard road, the washboard road braking strategy is exited and a default braking strategy is executed for the vehicle.

3. The method according to claim 1, characterized in that The step of obtaining the number of times each wheel of the vehicle recognizes the washboard road surface according to the wheel speed and the wheel acceleration includes: During the timing process, for each wheel, determining whether the wheel acceleration is less than a first acceleration threshold for the first time; In response to the wheel acceleration being less than the first acceleration threshold for the first time, obtaining an absolute difference between the wheel speed and a vehicle speed, the vehicle speed being determined based on a wheel speed of each wheel; determining whether the absolute difference is less than a speed difference threshold, and whether the wheel acceleration is greater than a second acceleration threshold; In response to the absolute difference being less than a speed threshold and the wheel acceleration being greater than the second acceleration threshold, the number of recognition times of the washboard road surface is incremented by 1, the timing is cleared, and the number of recognition times corresponding to the wheel is output.

4. The method according to claim 3, characterized in that: The method further comprises: In response to at least one of the wheel acceleration being less than the first acceleration threshold for a non-first time, the absolute difference being greater than or equal to the speed difference threshold, and the wheel acceleration being less than or equal to the second acceleration threshold satisfying a condition, determining whether a current count of the timer is greater than or equal to a time threshold; In response to the current timing being greater than or equal to the time threshold, the number of times the washboard road surface is recognized is reduced by 1, the timing is cleared, and the number of times the wheel is recognized is output.

5. The method according to any one of claims 1 to 4, characterized in that Determining the road surface marking information according to the number of times each wheel recognizes the washboard road surface includes: comparing the number of wheel identifications with a first identification number threshold; In response to the recognition number being greater than the first recognition number threshold, determining the first road surface marking information corresponding to the wheel as a first indication, otherwise determining the first road surface marking information corresponding to the wheel as a second indication, wherein the first indication is used to indicate that the road surface on which the vehicle is traveling is a washboard road surface, and the second indication is used to indicate that the road surface on which the vehicle is traveling is a non-washboard road surface; The road surface marking information is determined according to the first road surface marking information corresponding to each wheel.

6. The method according to any one of claims 1 to 4, characterized in that Determining the road surface marking information according to the number of times each wheel recognizes the washboard road surface includes: Grouping the wheels of the vehicle to obtain two wheel groups; According to the number of identifications of the wheels in the wheel group, obtaining a first total number of identifications corresponding to the wheel group; Comparing a first total number of recognition times corresponding to the wheel group with a second recognition number threshold; In response to the first total recognition number being greater than the second recognition number threshold, determining the second road surface marking information corresponding to the wheel group as a first indication, otherwise determining the second road surface marking information corresponding to the wheel group as a second indication; The road surface marking information is determined according to the second road surface marking information corresponding to each group.

7. The method according to any one of claims 1 to 4, characterized in that Determining the road surface marking information according to the number of times each wheel recognizes the washboard road surface includes: According to the recognition times of each wheel, a second total recognition times is obtained; comparing the second total recognition times with a third recognition times threshold; In response to the second total recognition times being greater than the third recognition times threshold, the road surface mark information is determined to be a first indication; otherwise, the road surface mark information is determined to be a second indication.

8. A vehicle control device, characterized in that: The device comprises: A first acquisition module, used for acquiring a wheel speed of a vehicle during driving, and determining a wheel acceleration based on the wheel speed; A second acquisition module is used to acquire the number of times each wheel of the vehicle recognizes the washboard road surface according to the wheel speed and the wheel acceleration; A determination module, used to determine road surface marking information according to the number of times each wheel recognizes the washboard road surface; The control module is used to execute a washboard road braking strategy for the vehicle when the road sign information indicates that the vehicle is traveling on a washboard road and the driver intends to brake, wherein the braking strategy includes controlling the pressure of the wheels.

9. A vehicle, characterized in that: The vehicle includes the vehicle control device according to claim 8.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

11. A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor, enables the processor to perform the method according to any one of claims 1 to 7.

12. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

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