Method and device for controlling vehicle and vehicle

Abstract

The invention provides a method and device for controlling a vehicle and the vehicle, the method is applied to the field of vehicle driving, and the method comprises the steps that road surface information of a road where the vehicle is located is acquired; determining the road type of the road where the vehicle is located according to the road surface information; under the condition that the road type of the road where the vehicle is located is the preset road type, if the distance between the vehicle and the front vehicle is smaller than the preset distance, vehicle windows of the vehicle are controlled to be closed. According to the method, when the road type of the road where the vehicle is located is the preset road type and the vehicle is close to the front vehicle, the vehicle window can be controlled to be closed in time, the timeliness of closing the vehicle window is improved, and the problem that pollution in the vehicle is serious due to the fact that the vehicle window is not closed in time is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving, and more specifically, to a method, a device and a vehicle for controlling a vehicle in the field of vehicle driving. Background Art

[0002] While the vehicle is driving, if the road conditions or environment are poor (for example, driving on dusty roads such as land or sand), when the windows are open, dust on the road may float into the car, causing pollution to the environment inside the car, affecting the user's riding experience. In more serious cases, it may affect the user's driving.

[0003] In a possible implementation, in order to solve the above problem, the concentration of particulate matter during driving can be detected by a fine particulate matter (PM2.5) sensor in the vehicle. When the concentration of particulate matter is greater than a certain concentration, the windows are closed to prevent sand and dust from entering the vehicle.

[0004] The problem with the above method is that the windows can only be closed when the dust has entered the vehicle and reached a certain concentration, resulting in serious pollution of the vehicle environment and obvious lag in the control process.

[0005] In summary, how to avoid pollution of the vehicle interior as much as possible during driving has become an urgent problem that needs to be solved. Summary of the invention

[0006] The present application provides a method, device and vehicle for controlling a vehicle. The method can timely control the closing of vehicle windows when the road type of the vehicle is a preset road type and the distance between the vehicle and the vehicle in front is relatively close, thereby improving the timeliness of closing the vehicle windows and avoiding the problem of serious pollution inside the vehicle caused by untimely closing of the vehicle windows.

[0007] In a first aspect, a method for controlling a vehicle is provided, the method comprising: obtaining road surface information of a road on which the vehicle is located; determining a road type of the road on which the vehicle is located based on the road surface information; and when the road type of the road on which the vehicle is located is a preset road type, if the distance between the vehicle and a preceding vehicle is less than a preset distance, controlling the vehicle's windows to be closed.

[0008] In the above technical solution, in order to keep the internal environment of the vehicle relatively clean while the user is riding in the vehicle, the present application proposes a method for controlling the vehicle. Specifically, the road surface information of the road on which the vehicle is located is first obtained, and the road type of the road on which the vehicle is currently located is determined based on the road surface information. When the road type of the road on which the vehicle is located is a preset road type, if the distance between the vehicle and the vehicle in front is less than the preset distance, the vehicle's windows are controlled to close.

[0009] Among them, the preset road type may include sand and land. When a vehicle is traveling on such a road, it is easy to generate a lot of dust. Therefore, when controlling the vehicle, the present application can preferentially identify whether the road type of the road on which the vehicle is located is a road with a lot of dust. Further, when the road type of the road on which the vehicle is located is a preset road type, if the distance between the vehicle and the vehicle in front is less than the preset distance, the vehicle is controlled. When the vehicle is traveling on a dusty road, the problem of sand and dust floating into the vehicle due to the close distance to the vehicle in front and polluting the environment inside the vehicle can be avoided. On the one hand, the riding experience of the user is improved. On the other hand, when the user is driving the vehicle, the problem of the user's vision being blocked due to a lot of dust can be avoided, thereby ensuring the user's driving safety.

[0010] In combination with the first aspect, in some possible implementations, the road surface information includes at least one of a road surface image and a road surface parameter, and determining the road type of the road on which the vehicle is located based on the road surface information includes: determining the similarity between the road surface image and a preset road surface image, the preset road surface image being an image corresponding to the preset road type; and determining the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameter.

[0011] In the above technical solution, the road surface information may specifically include at least one of a road surface image and a road surface parameter. Specifically, when determining the road type of the road on which the vehicle is located based on the road surface information, the similarity between the road surface image and the preset road surface image may be calculated first. The similarity may indicate the difference between the road type of the road on which the vehicle is located and the preset road type. By calculating the similarity, the road type of the road on which the vehicle is located may be initially determined based on the road surface image. Further, based on the similarity and / or the road surface parameter, the road type of the road on which the vehicle is located may be determined, and different determination results may be obtained based on the size of the similarity.

[0012] In combination with the first aspect, in some possible implementations, the road surface parameters include at least one of a road surface adhesion coefficient and a road surface resistance coefficient, and determining the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameters includes any of the following: when the similarity is greater than or equal to a preset similarity, determining that the road type of the road on which the vehicle is located is the preset road type; when the road surface adhesion coefficient is within a first preset range, and / or the road surface resistance coefficient is within a second preset range, determining that the road type of the road on which the vehicle is located is the preset road type; determining a first weight corresponding to the similarity, a second weight corresponding to the road surface adhesion coefficient, and a third weight corresponding to the road surface resistance coefficient; determining an identification score for the road type of the road on which the vehicle is located based on the similarity, the road surface adhesion coefficient, the road surface resistance coefficient, the second weight, the second weight, and the third weight; when the identification score is greater than or equal to the preset score, determining that the road type of the road on which the vehicle is located is the preset road type.

[0013] In the above technical solution, the road surface parameters include at least one of the road surface adhesion coefficient and the road surface resistance coefficient. When determining the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameters, when the similarity is greater than or equal to the preset similarity, the road type of the road on which the vehicle is located is determined to be the preset road type. When the road surface adhesion coefficient is within the first preset range, and / or the road surface resistance coefficient range is within the second preset range, the road type of the road on which the vehicle is located is determined to be the preset road type. The third method is to combine the respective weights of the similarity, the road surface adhesion coefficient and the road surface resistance coefficient, as well as the similarity, the road surface adhesion coefficient and the road surface resistance coefficient to obtain the recognition score in this recognition process, and when the recognition score is greater than or equal to the preset score, determine that the road type of the road on which the vehicle is located is the preset road type.

[0014] The above-mentioned methods of determining the road type of the road on which the vehicle is located are combined with each other, making the method of determining the road type of the road on which the vehicle is located in the present application more flexible and diverse, avoiding the monotony problem caused by adopting one method.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle's windows to close, the method also includes: when the road type of the road on which the vehicle is located is not the preset road type, or the distance is greater than or equal to the preset distance, controlling the window to return to the previous state.

[0016] In the above technical solution, another solution for controlling the vehicle is proposed. When the road type of the vehicle is not a preset road type, or the distance is greater than or equal to the preset distance, when the vehicle meets any of the conditions, it means that there is no danger of dust drifting into the vehicle. In this case, the window can be restored to the previous state. The above restoration of the window to the previous state takes into account the user's last usage habits and improves the user's riding experience.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the road type of the road on which the vehicle is located is a preset road type, if the distance between the vehicle and the vehicle in front is less than a preset distance, the windows of the vehicle are controlled to be closed, including: when the road type of the road on which the vehicle is located is the preset road type, if the distance is less than the preset distance within a preset time period, the windows are controlled to be closed.

[0018] In the above technical solution, in order to avoid the problem of the vehicle's windows switching back and forth due to the back and forth changes in the distance between the vehicle and the vehicle in front, when the road type of the road on which the vehicle is located is a preset road type, if it is detected that the distance between the vehicle and the vehicle in front is less than the preset distance, it can further determine whether to switch the windows according to the length of time the distance is less than the preset distance. Specifically, if the distance between the vehicle and the vehicle in front is less than the preset distance within the preset time, the windows are controlled to be closed. Otherwise, the windows are controlled not to be switched temporarily. The above process can avoid the problem of reduced user experience caused by the back and forth switching of the window status.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the road type of the road on which the vehicle is located is the preset road type and the vehicle window is open, if the concentration of fine particulate matter in the vehicle is greater than or equal to the preset concentration, controlling the vehicle window to close.

[0020] In the above technical solution, the present application also provides another strategy for controlling the vehicle. When the road type of the vehicle is a preset road type and the windows are open, the concentration of fine particles in the vehicle is used to determine that when the concentration of fine particles is greater than or equal to the preset concentration, it indicates that there is a lot of sand and dust in the vehicle, and the windows can be controlled to close.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in certain possible implementation methods, when the road type of the vehicle is the preset road type and the window is open, if the wind speed is greater than or equal to the preset wind speed, or the vehicle speed is greater than or equal to the preset vehicle speed, the window is controlled to close.

[0022] In the above technical solution, the present application also provides another strategy for controlling the vehicle. When the road type of the vehicle is a preset road type and the windows are open, the wind speed and vehicle speed are used to judge. Specifically, when the wind speed is greater than or equal to the preset wind speed, it means that during the driving process of the vehicle, sand and dust may drift into the vehicle due to the influence of the wind. In order to avoid this situation, the windows can be closed. When the vehicle speed is greater than or equal to the preset speed, in order to avoid sand and dust drifting into the vehicle due to the high speed, the windows can also be closed.

[0023] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, after controlling the windows of the vehicle to close, the method further includes: controlling the air conditioner of the vehicle to turn on an internal circulation mode to adjust the environment and temperature inside the vehicle.

[0024] In the above technical solution, after controlling the car windows to close, the present application can further control the vehicle's air conditioner to turn on the internal circulation mode. On the one hand, the temperature inside the car can be adjusted by turning on the air conditioner to maintain a more comfortable temperature inside the car; on the other hand, the internal circulation mode of the air conditioner can also block the air circulation between the inside and outside of the vehicle when the vehicle is driving on a dusty road, thereby preventing the air inside the vehicle from being polluted.

[0025] In a second aspect, a device for controlling a vehicle is provided, the device comprising: an acquisition module for acquiring road surface information of a road on which the vehicle is located; a determination module for determining a road type of the road on which the vehicle is located based on the road surface information; and a first control module for controlling the windows of the vehicle to be closed if the road type of the road on which the vehicle is located is a preset road type and if the distance between the vehicle and a preceding vehicle is less than a preset distance.

[0026] In combination with the second aspect, in some possible implementations, the road surface information includes at least one of a road surface image and a road surface parameter, and the determination module is specifically used to: determine the similarity between the road surface image and a preset road surface image, where the preset road surface image is an image corresponding to the preset road type; and determine the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameter.

[0027] In combination with the second aspect, in some possible implementations, the road surface parameters include at least one of a road surface adhesion coefficient and a road surface resistance coefficient, and the determination module is also used to perform any of the following: when the similarity is greater than or equal to a preset similarity, determining that the road type of the road on which the vehicle is located is the preset road type; when the road surface adhesion coefficient is within a first preset range, and / or the road surface resistance coefficient is within a second preset range, determining that the road type of the road on which the vehicle is located is the preset road type; determining a first weight corresponding to the similarity, a second weight corresponding to the road surface adhesion coefficient, and a third weight corresponding to the road surface resistance coefficient; determining an identification score for the road type of the road on which the vehicle is located based on the similarity, the road surface adhesion coefficient, the road surface resistance coefficient, the second weight, the second weight and the third weight; when the identification score is greater than or equal to the preset score, determining that the road type of the road on which the vehicle is located is the preset road type.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle's windows to close, the device also includes: a second control module, used to control the window to return to the previous state when the road type of the vehicle is not the preset road type, or the distance is greater than or equal to the preset distance.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first control module is specifically used to: when the road type of the road on which the vehicle is located is the preset road type, if the distance within a preset time period is less than the preset distance, control the vehicle window to close.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a third control module, which is used to control the window to close when the road type of the vehicle is the preset road type and the window is open, if the concentration of fine particulate matter in the vehicle is greater than or equal to the preset concentration.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a fourth control module, which is used to control the window to close when the road type of the vehicle is the preset road type and the window is open, if the wind speed is greater than or equal to the preset wind speed, or the vehicle speed is greater than or equal to the preset vehicle speed.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the vehicle's windows to close, the device also includes: a fifth control module, used to control the vehicle's air conditioner to turn on the internal circulation mode to adjust the environment and temperature inside the vehicle.

[0033] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0034] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0035] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of a vehicle driving scenario provided by an embodiment of the present application;

[0037] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application;

[0038] Figure 3 is a schematic flow chart of another method for controlling a vehicle provided in an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of the structure of a device for controlling a vehicle provided in an embodiment of the present application;

[0040] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0042] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0043] Figure 1 It is a schematic diagram of a vehicle driving scenario provided in an embodiment of the present application.

[0044] For example, Figure 1 As shown, when the vehicle 101 is traveling on the road 102 , the working states of the components of the vehicle 101 may change due to the influence of the road type and weather type of the road 102 .

[0045] Optionally, the road types include snow, land, sand, grass, and ordinary road surface, wherein the ordinary road surface may be a relatively flat road surface such as an asphalt road or a cement road.

[0046] Optional weather types include rainy day, sunny day, snowy day, foggy day, etc.

[0047] In one possible implementation, when the weather type is snowy, in order to ensure the safety of vehicle 101, vehicle 101 needs to reduce the speed and drive slowly to prevent the wheels from slipping. When the temperature inside the vehicle is low, the air conditioner of vehicle 101 can also be used to adjust the ambient temperature inside the vehicle.

[0048] In another possible implementation, when the road type of the road 102 is sand or land, there is a lot of dust on the road 102. In order to prevent the dust from entering the vehicle, the vehicle 101 needs to close the windows to prevent the environment inside the vehicle from being polluted.

[0049] Specifically, when the road type of the road 102 is sand or land, in order to close the windows in time, the vehicle 101 can detect the PM2.5 concentration in the vehicle 101 through the fine particulate matter (PM2.5) sensor in the vehicle 101, and when the PM2.5 concentration is greater than or equal to a certain concentration, the windows are controlled to close.

[0050] In the above-mentioned process of closing the windows, there is a lag in the method based on PM2.5 detection, which is specifically reflected in that the closing of the windows is triggered only when dust enters the vehicle 101 and PM2.5 reaches a certain concentration. The problem caused is that the environment inside the car has been seriously polluted, affecting the user's driving and riding experience.

[0051] Based on the above problems, the present application proposes a method for controlling a vehicle, which can control the closing of the windows in time when the road type of the vehicle is a preset road type and the distance between the vehicle and the vehicle in front is close, thereby improving the timeliness of closing the windows and avoiding the problem of serious pollution inside the vehicle caused by untimely closing of the windows.

[0052] Figure 2 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application. It should be understood that the method can be applied to Figure 1 The vehicle 101 in the embodiment can be specifically applied to any electronic control unit (Electronic Control Unit, ECU, also known as a controller) in the vehicle 101. In the following embodiment of the present application, a method for controlling a vehicle provided in an embodiment of the present application is described in detail by taking a vehicle control unit (VCU, also known as a vehicle controller) as an example.

[0053] For example, Figure 2 As shown, the method 200 includes:

[0054] 201, obtaining road surface information of the road where the vehicle is located.

[0055] It should be understood that the specific application scenario of the embodiment of the present application is that during the driving process of the vehicle, if the vehicle is driving on a dusty road, in order to avoid the serious pollution of the vehicle environment due to the influence of sand and dust as much as possible, the windows need to be closed in time. Based on the above application scenario, the VCU can first determine whether the vehicle is on a dusty road during the driving process, and then adjust the windows.

[0056] Optionally, the road types of the dusty road in the embodiment of the present application include sand and land.

[0057] Specifically, the embodiments of the present application can obtain road surface information during vehicle driving, and then determine whether the vehicle is on a dusty road based on the road surface information. The road surface information is used to indicate the contact state between the wheels and the road on which the vehicle is located during driving and / or the road state of the road on which the vehicle is located. The contact state between the wheels and the road can be specifically understood as the friction between the wheels and the road, or the force of the road acting on the wheels during driving. The road state of the road on which the vehicle is located can be understood as parameters such as the flatness of the road on which the vehicle is located, the road material, etc.

[0058] Optionally, the road surface information includes at least one of a road surface image and a road surface parameter.

[0059] It should be understood that various ECUs in a vehicle can be communicatively connected to each other to implement the transmission process of vehicle data in the vehicle.

[0060] Optionally, the communication connection method includes Controller Area Network (CAN) bus connection, Local Interconnect Network (LIN) bus connection, Flex Ray bus connection, Media Oriented Systems Transport (MOST) bus connection, and Ethernet connection. Correspondingly, the communication methods between ECUs include CAN bus communication, LIN bus communication, Flex Ray bus communication, MOST bus communication, and Ethernet communication. The embodiments of the present application are described using CAN communication as an example.

[0061] For example, the road surface image can be obtained by taking a photo with an image acquisition device in the vehicle, and the image acquisition device sends the road surface image to the VCU via a CAN bus in the vehicle.

[0062] Optionally, the image acquisition device is a vehicle-mounted camera in the vehicle, specifically a front-view camera, a surround-view camera, a rear-view camera, a side-view camera, etc. in the vehicle, which is not limited in the embodiments of the present application.

[0063] Optionally, the road surface parameters include at least one of a road surface adhesion coefficient and a road surface resistance coefficient.

[0064] The road adhesion coefficient, also known as the friction coefficient, refers to the amount of friction between the road surface and the wheels. It is used to reflect the roughness and wetness of the road and its interaction with the tires.

[0065] The road resistance coefficient is used to indicate the resistance of the current road to the vehicle when the vehicle is traveling on the current road surface.

[0066] For example, the road adhesion coefficient generally refers to the adhesion coefficient of the vehicle driving wheels. In the embodiment of the present application, it can be calculated by the engine torque of the vehicle, the longitudinal acceleration of the vehicle and the lateral acceleration of the vehicle.

[0067] Specifically, the embodiment of the present application can calculate the adhesion coefficient of the driving wheel according to the following steps (1)-(5).

[0068] (1) Determine the ground tangential reaction force acting on the current driving wheel.

[0069] The process of determining the ground tangential reaction force can be specifically referred to the following formula (1):

[0070] F x =k1*F t1 +(1-k1)*F t2 Formula (1)

[0071] Wherein, in formula (1):

[0072] F x : ground tangential reaction force, unit: Newton (N);

[0073] F t1 : Driving force estimated from engine torque;

[0074] F t2 : Driving force estimated from the longitudinal acceleration of the vehicle;

[0075] k1: Proportional coefficient, which can be calibrated by technicians according to vehicle driving requirements.

[0076] Furthermore, the above formula (1) can be further transformed into the following formula (2):

[0077]

[0078] Wherein, in formula (2):

[0079] T tq : Engine torque, unit: Newton-meter (N˙m);

[0080] i g : transmission ratio of the transmission;

[0081] i0: transmission ratio of the main reducer;

[0082] η T : Mechanical efficiency of the transmission system;

[0083] n: the number of driving wheels. If the vehicle is a two-wheel drive vehicle, then n = 2; if the vehicle is a four-wheel drive vehicle, then n = 4;

[0084] r: vehicle wheel radius, unit: millimeter (mm);

[0085] m: vehicle mass, unit: kilogram (Kg);

[0086] k2: The mass coefficient of the current driving wheel, which can be calibrated by the technicians themselves. If the mass of the vehicle is evenly distributed to the four wheels, k2 = 4;

[0087] a x : Longitudinal acceleration, unit: meter / square second (m / s 2 ).

[0088] (2) Determine the ground normal reaction force acting on the current driving wheel.

[0089] The process of determining the ground normal reaction force can be specifically referred to the following formula (3):

[0090]

[0091] Wherein, in formula (3):

[0092] F z : ground normal reaction force, unit: Newton (N);

[0093] g: gravitational acceleration, unit: meter / square second (m / s 2 );

[0094] (3) Determine the longitudinal adhesion coefficient of the current driving wheel based on the ground tangential reaction force and the ground normal reaction force.

[0095] The calculation of the longitudinal adhesion coefficient can be specifically obtained by the following formula (4):

[0096]

[0097] Wherein, in formula (4):

[0098] C ψx : Longitudinal adhesion coefficient of the current driving wheel.

[0099] (4) Determine the lateral adhesion coefficient of the current driving wheel based on the lateral acceleration of the vehicle.

[0100] The lateral adhesion coefficient can be specifically calculated by the following formula (5):

[0101]

[0102] Wherein, in formula (5):

[0103] C ψy : The lateral adhesion coefficient of the current driving wheel;

[0104] a y : Lateral acceleration, unit: meter / square second (m / s 2 ).

[0105] (5) Determine the adhesion coefficient of the current driving wheel based on the lateral adhesion coefficient and the longitudinal adhesion coefficient.

[0106] Specifically, the adhesion coefficient can be calculated according to the following formula (6):

[0107]

[0108] Wherein, in formula (6):

[0109] C ψ : The adhesion coefficient of the current driving wheel.

[0110] For example, the road resistance coefficient can be obtained by the total mass of the vehicle, the steering torque output by the steering motor of the vehicle, the steering angle output by the steering motor, and the inner wheel angle and outer wheel angle of the wheels.

[0111] Specifically, the vehicle has an initial mass value when it leaves the factory. During the driving process of the vehicle, due to the influence of the load, people and other conditions, the overall mass of the vehicle will change. The gross vehicle mass in this application refers to the mass of the vehicle, the people and objects in the vehicle.

[0112] When calculating the road resistance coefficient of a vehicle, it can be determined by the acceleration of the vehicle at the starting stage, the gear ratio of the transmission, the rear axle ratio, the wheel rolling radius, and the driving torque output by the vehicle's driving device at the starting acceleration stage. Specifically, the calculation is divided into the following steps (1)-(5):

[0113] (1) Calculate the driving torque output by the vehicle's driving device during the starting acceleration phase.

[0114] For example, the driving torque output by the driving device of the vehicle during the starting acceleration phase can be obtained by the following formula (7):

[0115] T1=(k1*p) / n Formula (7)

[0116] Wherein, in formula (7):

[0117] k1: the first coefficient, which may be 9550 in the embodiment of the present application;

[0118] P: output power, unit: watt (w);

[0119] n: speed, unit: revolutions per minute (r / min);

[0120] T1: driving torque, unit: Newton-meter (N-m).

[0121] For non-electric vehicles, the driving device is the engine; for electric vehicles, the driving device is the motor. Usually, the output torque of the driving device is transmitted to the wheels through a series of changes in the gearbox, drive shaft, and rear axle reducer to drive the vehicle forward.

[0122] (2) Calculate the gross mass of the vehicle.

[0123] Exemplarily, the total mass of the vehicle can be solved by the following formula (8).

[0124] M=(T1*I1*I2) / (r*a) Formula (8)

[0125] Wherein, in formula (8):

[0126] T1: driving torque, unit: Newton-meter (N˙m);

[0127] I1: gear ratio of transmission;

[0128] I2: rear axle speed ratio;

[0129] r: The rolling radius of the wheel, in millimeters (mm). The rolling radius of the wheel refers to the actual radius of the wheel in contact with the ground when it rolls on the ground. Generally, the rolling radius of the wheel can be calculated by the number of rotations and the rotation distance.

[0130] a: vehicle acceleration, unit: m / s2 2 ).

[0131] (3) After obtaining the total vehicle mass, determine the current front axle load of the vehicle.

[0132] For example, the front axle load of the vehicle can be determined based on the initial amount of the front axle load of the vehicle and the change in the front axle load, wherein the initial amount of the front axle load is the amount of the front axle load when the vehicle is not in a driving state and is unloaded.

[0133] The change in the front axle load of a vehicle refers to the change in the load on the front axle of the vehicle caused by the influence of people and objects carried in the vehicle during driving.

[0134] Specifically, in the embodiment of the present application, the front axle load change of the vehicle can be obtained by the following formula (9).

[0135] ΔF=[(M-M0)*g*L0] / L Formula (9)

[0136] Wherein, in formula (9):

[0137] M: gross vehicle mass, unit: kilogram (kg);

[0138] M0: initial value of vehicle mass, unit: kilogram (kg);

[0139] g: gravitational acceleration, unit: meter / square second (m / s 2 );

[0140] L0: distance from the center of mass to the rear axle of the vehicle, unit: millimeter (mm);

[0141] L: vehicle's wheelbase, unit: millimeter (mm).

[0142] After obtaining the change in the front axle load, sum it with the initial amount of the front axle load to obtain the front axle load of the vehicle.

[0143] (4) Calculate the wheel resistance torque of the vehicle.

[0144] For example, the resistance torque of the wheel can be calculated according to the following formula (10):

[0145] T f =(T2*θ) / [η*(θ n +θ w )] Formula (10)

[0146] Wherein, in formula (10):

[0147] T2: steering torque;

[0148] θ: steering angle, unit: degree (°);

[0149] η: forward transmission efficiency;

[0150] θ n : Inner wheel turning angle, unit: degree (°);

[0151] θ w : Outer wheel angle, unit: degree (°);

[0152] T f : Wheel resistance torque, unit: Newton˙meter (N˙m).

[0153] (5) Based on the calculated front axle load and wheel resistance torque, the road resistance coefficient is obtained.

[0154] For example, the road resistance coefficient of the road on which the vehicle is traveling can be determined based on the front axle load of the vehicle and the wheel resistance torque of the vehicle, as well as the pre-stored correspondence between the front axle load, the wheel resistance torque and the road resistance coefficient. Relevant data of the vehicle in various environments and scenarios, such as the front axle load, the wheel resistance torque and the road resistance coefficient, can be experimented and collected, and then the correspondence between the front axle load, the wheel resistance torque and the road resistance coefficient is formed and stored for use in the above process.

[0155] 202. Determine the road type of the road on which the vehicle is located according to the road surface information.

[0156] After acquiring the road surface information in step 201, the VCU may identify the road type of the vehicle based on the road surface information.

[0157] In a possible implementation, determining the road type of the road on which the vehicle is located according to the road surface information includes:

[0158] Determining a similarity between the road surface image and a preset road surface image, the preset road surface image being an image corresponding to a preset road type;

[0159] The road type of the road on which the vehicle is located is determined according to the similarity and / or the road surface parameters.

[0160] It should be understood that the preset road type in the embodiment of the present application refers to sand and land, so the preset road surface image can specifically include a sand image and a land image. The embodiment of the present application can store the sand image and the land image in the VCU. After obtaining the road surface image, the VCU can respectively calculate the similarity between the road surface image and the sand image, and the similarity between the road surface image and the land image.

[0161] Optionally, methods for calculating the similarity between the road surface image and the preset road surface image include mean square error (MSE), peak signal-to-noise ratio (PSNR), structural similarity (SSIM), histogram, hash algorithm, mutual information, cosine similarity, Euclidean distance, Minkowski distance, Manhattan distance, Chebyshev distance, and Hamming distance. The following embodiment of the present application takes the calculation of cosine similarity as an example to introduce the process of calculating similarity in the embodiment of the present application.

[0162] For example, when calculating the similarity between two images by cosine similarity, the road surface image can be represented as vector 1, the sand image can be represented as vector 2, and the land image can be represented as vector 3. By using the cosine formula, the cosine distance between vector 1 and vector 2, and the cosine distance between vector 1 and vector 3 are calculated, so as to obtain the similarity between the road surface image and the sand image, and the similarity between the road surface image and the land image.

[0163] Furthermore, the VCU determines the road type of the road on which the vehicle is located based on the similarity and / or road surface parameters.

[0164] In the above technical solution, the road surface information may specifically include at least one of a road surface image and a road surface parameter. Specifically, when determining the road type of the road on which the vehicle is located based on the road surface information, the similarity between the road surface image and the preset road surface image may be calculated first. The similarity may indicate the difference between the road type of the road on which the vehicle is located and the preset road type. By calculating the similarity, the road type of the road on which the vehicle is located may be initially determined based on the road surface image. Further, based on the similarity and / or the road surface parameter, the road type of the road on which the vehicle is located may be determined, and different determination results may be obtained based on the size of the similarity.

[0165] In another possible implementation, the embodiment of the present application may also extract image features corresponding to various road types in advance based on road surface images corresponding to various road types, as multiple preset image features, to construct and train a multi-classification model, and the multi-classification model is used to output the road type of the road on which the vehicle is located.

[0166] Optionally, the image feature includes at least one of a color feature, a texture feature, a shape feature, and a spatial relationship feature. The color feature may specifically include a color histogram, a color set, a color moment, a color aggregation vector, and the like.

[0167] Optionally, algorithms for extracting image features include scale invariant feature transform (SIFT) algorithm, oriented gradient histogram (HOG) algorithm, fast feature point extraction and description (ORB) algorithm, HAAR algorithm, deep learning algorithm, such as Visual Geometry Group (VGG) algorithm of Oxford University, deep residual network (Resnet) algorithm, etc., which are not limited to the embodiments of the present application.

[0168] After obtaining the road surface image, feature extraction is performed on the road surface image to obtain image features, and the image features are input into a multi-classification model to obtain the road type corresponding to the road surface image.

[0169] In the above technical solution, in addition to similarity, the embodiment of the present application can also determine the recognition result of the road surface image through a multi-classification model. The two methods are combined with each other to provide a rich method for processing road surface images, making the processing process of road surface images flexible and diverse.

[0170] In a possible implementation, the road surface parameter includes at least one of a road surface adhesion coefficient and a road surface resistance coefficient. The road type of the road on which the vehicle is located is determined according to the similarity and / or the road surface parameter, specifically including any of the following:

[0171] When the similarity is greater than or equal to a preset similarity, determining that the road type of the road on which the vehicle is located is a preset road type;

[0172] When the road adhesion coefficient is within a first preset range and / or the road resistance coefficient is within a second preset range, determining that the road type of the vehicle is a preset road type;

[0173] Determine a first weight corresponding to the similarity, a second weight corresponding to the road adhesion coefficient, and a third weight corresponding to the road resistance coefficient; determine an identification score for the road type of the road on which the vehicle is located based on the similarity, the road adhesion coefficient, the road resistance, the second weight, the third weight, and the third weight; when the identification score is greater than or equal to the preset score, determine that the road type of the road on which the vehicle is located is the preset road type.

[0174] Specifically, when determining the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameters, it can be determined based on the similarity parameter, the road surface parameter, or the similarity and the road surface parameter. The road type of the road on which the vehicle is located is described below according to the above different scenarios:

[0175] In the first scenario, the similarity is greater than or equal to the preset similarity, and the road type of the road where the vehicle is located is determined to be the preset road type.

[0176] It should be understood that the similarity obtained in the above calculation process includes the similarity between the road image and the sand image, and the similarity between the road image and the land image. If any one of the two similarities is greater than or equal to the preset similarity, the VCU determines that the road type of the vehicle is the preset road type.

[0177] For example, assuming that the preset similarity is 95%, through the above similarity calculation, the similarity between the road image and the sand image is 98%, and the similarity between the road image and the land image is 20%. Then the VCU can determine that the road type of the vehicle is the preset road type.

[0178] On the contrary, when the similarity between the road surface image and the sand image, and the similarity between the road surface image and the land image are both less than the preset similarity, in one case, the embodiment of the present application can directly determine that the road type of the road on which the vehicle is located is not the preset road type.

[0179] In another case, since the collection of road surface images may be affected by light and weather, in order to ensure the accuracy of the judgment result. The VCU can also further judge by at least one of the road surface adhesion coefficient and the road surface resistance coefficient. As described below, if the road surface parameter is the road surface adhesion coefficient, when the road surface adhesion coefficient is within the first preset range, it is determined that the road on which the vehicle is located is a preset road type; if the road surface parameter is the road surface resistance coefficient, when the road surface resistance coefficient is within the second preset range, it is determined that the road on which the vehicle is located is a preset road type; if the road surface parameters are the road surface adhesion coefficient and the road surface resistance coefficient, when the road surface adhesion coefficient is within the first preset range and the road surface resistance coefficient is within the second preset range, it is determined that the road type of the road on which the vehicle is located is a preset road type. On the contrary, if the road surface parameter is the road surface adhesion coefficient, when the road surface adhesion coefficient is not within the first preset range, it is determined that the road the vehicle is on is not the preset road type; if the road surface parameter is the road surface resistance coefficient, when the road surface resistance coefficient is not within the second preset range, it is determined that the road the vehicle is on is not the preset road type; if the road surface parameter is the road surface adhesion coefficient and the road surface resistance coefficient, when the road surface adhesion coefficient is not within the first preset range, or the road surface resistance coefficient is not within the second preset range, it is determined that the road type of the road the vehicle is on is not the preset road type.

[0180] In the second scenario, the road adhesion coefficient is within a first preset range, and / or the road resistance coefficient is within a second preset range, and the road type of the vehicle is determined to be a preset road type.

[0181] Exemplarily, the embodiment of the present application can pre-set the possible value range of the corresponding road adhesion coefficient when the vehicle is driving on land and sand as the first preset range. Assume that the first preset range includes the road adhesion coefficient range [a, b] corresponding to land, and the road adhesion coefficient range [c, d] corresponding to sand. Similarly, the possible value range of the road resistance coefficient is set as the second preset range, and it is assumed that the second preset range includes the road resistance coefficient range [A, B] corresponding to land, and the road resistance coefficient range [C, D] corresponding to sand, and the above-mentioned first preset range and second preset range are all stored in the VCU.

[0182] In step 201, assuming that the road surface parameter obtained by the VCU is the road surface adhesion coefficient, the VCU can determine whether the road surface adhesion coefficient is in [a, b] or in [c, d]. Assuming that the road surface parameter obtained by the VCU is the road surface resistance coefficient, the VCU can determine whether the road surface resistance coefficient is in [A, B] or in [C, D]. Assuming that the road surface parameters obtained by the VCU are the road surface adhesion coefficient and the road surface resistance coefficient, the VCU can determine whether the road surface adhesion coefficient is in [a, b], and whether the road surface resistance coefficient is in [A, B], and whether the road surface adhesion coefficient is in [c, d], and whether the road surface resistance coefficient is in [C, D].

[0183] Exemplarily, assuming that the road surface parameters obtained by the VCU are the road surface adhesion coefficient, [a, b] is [0.2, 0.5], and the road surface adhesion coefficient calculated by the VCU is 0.3, then the VCU can determine that the road type of the vehicle's road is land; assuming that the road surface parameters obtained by the VCU are the road surface resistance coefficient, [A, B] is [0.4, 0.8], and the road surface resistance coefficient calculated by the VCU is 0.6, then the VCU can determine that the road type of the vehicle's road is land. Assuming that the road surface parameters obtained by the VCU are the road surface adhesion coefficient and the road surface resistance coefficient, [a, b] is [0.2, 0.5], [A, B] is [0.4, 0.8], and the road surface adhesion coefficient calculated by the VCU is 0.3, and the road surface resistance coefficient is 0.6. By comparison, the VCU can determine that the road type of the vehicle's road is land, which means that the road type of the vehicle's road is the preset road type.

[0184] On the contrary, when the pavement parameter is the pavement adhesion coefficient, if the pavement adhesion coefficient is not in [a, b], it means that the road type of the road on which the vehicle is located is not land. If the pavement adhesion coefficient is not in [c, d], it means that the road type of the road on which the vehicle is located is not sand. When the pavement parameter is the pavement resistance coefficient, if the pavement resistance coefficient is not in [A, B], it means that the road type of the road on which the vehicle is located is not land. If the pavement resistance coefficient is not in [C, D], it means that the road type of the road on which the vehicle is located is not sand. When the pavement parameters are the pavement adhesion coefficient and the pavement resistance coefficient, if the pavement adhesion coefficient is not in [a, b] or the pavement resistance coefficient is not in [A, B], it means that the road type of the road on which the vehicle is located is not land. If the pavement adhesion coefficient is not in [c, d] or the pavement resistance coefficient is not in [C, D], it means that the road type of the road on which the vehicle is located is not sand.

[0185] In the above technical solution, when determining the road type of the vehicle based on the road surface parameters, compared with using a single road surface parameter determination method, the road type of the vehicle is determined by combining the road surface adhesion coefficient and the road surface resistance coefficient. This can ensure the accuracy of the judgment process, avoid the errors that may be caused by using a single road surface parameter judgment, and ensure the accuracy of the determination.

[0186] Since the judgment of the road adhesion coefficient and the road resistance coefficient is usually not affected by the environment and light, the judgment result obtained is more accurate than the road image. Therefore, when it is judged that the road type of the vehicle is not the preset road type based on at least one of the road adhesion coefficient and the road resistance coefficient, it is not necessary to judge again in conjunction with the road image, and it is directly considered that the road type of the vehicle is not the preset road type.

[0187] In the third scenario, the road type of the vehicle is determined to be a preset road type through the recognition score of the road type of the vehicle.

[0188] For example, when determining the road type of the vehicle based on the road image and road parameters, according to the impact of the accuracy of different parameters on the judgment result, the embodiment of the present application can set the weight corresponding to each parameter and store it in the VCU.

[0189] When judging whether the road the vehicle is on is a preset road type based on the similarity, the road adhesion coefficient and the road resistance coefficient, the VCU may first determine the respective weights, specifically the first weight corresponding to the similarity, the second weight corresponding to the road adhesion coefficient and the third weight corresponding to the road resistance coefficient. The sum of the first weight, the second weight and the third weight is 1.

[0190] Further, a recognition score is obtained according to the similarity, the road adhesion coefficient, the road resistance coefficient, the first weight, the second weight and the third weight.

[0191] For example, assume that the first weight is 0.2, the second weight is 0.4, and the third weight is 0.4. The similarities corresponding to the road images are 20% and 98%, respectively, the road adhesion coefficient is 0.3, and the road resistance coefficient is 0.6. Each similarity accounts for half of the first weight. Then the VCU can calculate the recognition score P = 0.2*0.1+0.98*0.1+0.3*0.4+0.6*0.4=0.478.

[0192] Assuming that the preset score is 0.4, the VCU can determine that the road type of the vehicle is the preset road type.

[0193] In the above technical solution, the road surface parameters include at least one of the road surface adhesion coefficient and the road surface resistance coefficient. When determining the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameters, when the similarity is greater than or equal to the preset similarity, the road type of the road on which the vehicle is located is determined to be the preset road type. When the road surface adhesion coefficient is within the first preset range, and / or the road surface resistance coefficient range is within the second preset range, the road type of the road on which the vehicle is located is determined to be the preset road type. The third method is to combine the respective weights of the similarity, the road surface adhesion coefficient and the road surface resistance coefficient, as well as the similarity, the road surface adhesion coefficient and the road surface resistance coefficient to obtain the recognition score in this recognition process, and when the recognition score is greater than or equal to the preset score, determine that the road type of the road on which the vehicle is located is the preset road type.

[0194] The above-mentioned methods of determining the road type of the road on which the vehicle is located are combined with each other, making the method of determining the road type of the road on which the vehicle is located in the present application more flexible and diverse, avoiding the monotony problem caused by adopting one method.

[0195] 203 , when the road type on which the vehicle is located is a preset road type, if the distance between the vehicle and the vehicle in front is less than a preset distance, control the vehicle's windows to close.

[0196] After determining that the road type of the vehicle is the preset road type according to step 202, it indicates that the road type of the vehicle is sand or land. In this case, when the distance between the vehicle and the vehicle in front is close, dust generated during the driving of the vehicle in front may float into the vehicle. In order to keep the environment inside the vehicle from pollution, the vehicle needs to close the windows in time.

[0197] Therefore, after determining that the road type of the vehicle is the preset road type, the VCU can further determine whether the distance between the vehicle and the preceding vehicle is close.

[0198] For example, the distance between the vehicle and the vehicle in front can be obtained through the laser radar in the vehicle. The principle of laser radar is to emit a laser beam through the transmitting unit, which is reflected after encountering an obstacle and captured by the receiving unit. By calculating the time difference between the laser radar emission time and the reception time, the distance between the vehicle and the vehicle in front is calculated, and the obtained distance is further sent to the VCU.

[0199] Assume that the preset distance is 2m, and the distance sent by the laser radar obtained by the VCU is 1m. This means that the distance between the vehicle and the vehicle in front is very close. In this case, the vehicle can control the window to close.

[0200] Specifically, before controlling the window to close, the VCU may first obtain and store the current state of the window.

[0201] When closing the window, the VCU can generate a window closing command and send it to the body control module (BCM, also known as the body controller) in the vehicle. After receiving the window closing command, the BCM controls the window to close.

[0202] In a possible implementation, when the distance between the vehicle and the vehicle ahead changes frequently, frequently closing the window may result in a degraded user experience. In this case, when the distance between the vehicle and the vehicle ahead is less than a preset distance, the duration for which the distance is less than the preset distance may be detected, and the window may be controlled to close after a certain duration is met, specifically including:

[0203] When the road type of the vehicle is a preset road type, if the distance within the preset time period is less than the preset distance, the window is controlled to close.

[0204] Optionally, the preset duration is 10s, which means starting from the current moment and continuing for the next 10s.

[0205] For example, assuming that the preset distance is 2m, and the distance sent by the laser radar obtained by the VCU is 1m, within the next 10s, if the distance between the vehicle and the vehicle in front is less than 2m, the VCU further controls the window to close.

[0206] On the contrary, if within the next 10 seconds, the distance between the vehicle and the vehicle in front is greater than or equal to 2 meters, in this case, the VCU determines not to close the window.

[0207] In the above technical solution, in order to avoid the problem of the vehicle's windows switching back and forth due to the back and forth changes in the distance between the vehicle and the vehicle in front, when the road type of the road on which the vehicle is located is a preset road type, if it is detected that the distance between the vehicle and the vehicle in front is less than the preset distance, it can further determine whether to switch the windows according to the length of time the distance is less than the preset distance. Specifically, if the distance between the vehicle and the vehicle in front is less than the preset distance within the preset time, the windows are controlled to be closed. Otherwise, the windows are controlled not to be switched temporarily. The above process can avoid the problem of reduced user experience caused by the back and forth switching of the window status.

[0208] In a possible implementation, when the road type of the vehicle is a preset road type, in addition to determining whether to close the window based on the distance, the PM2.5 concentration in the vehicle may also be used to determine whether to close the window, including:

[0209] When the road type of the vehicle is a preset road type and the windows are open, if the concentration of fine particulate matter in the vehicle is greater than or equal to the preset concentration, the windows are controlled to close.

[0210] For example, vehicles are usually equipped with PM2.5 sensors, which can collect the concentration of fine particles in the vehicle when the windows are open. Based on this, a PM2.5 critical value can be preferentially set as a preset concentration and stored in the VCU. When the PM2.5 concentration in the vehicle is greater than or equal to the preset concentration, the vehicle is triggered to close the windows.

[0211] Specifically, when the road type of the vehicle is a preset road type and the windows are open, the VCU can obtain the fine particle concentration collected by the PM2.5 sensor in real time and compare whether it exceeds the preset concentration. When the fine particle concentration is greater than or equal to the preset concentration, it means that there are more fine particles in the vehicle at this time. In order to avoid serious pollution of the interior environment, the VCU can control the windows to close.

[0212] In the above technical solution, the present application also provides another strategy for controlling the vehicle. When the road type of the vehicle is a preset road type and the windows are open, the concentration of fine particles in the vehicle is used to determine that when the concentration of fine particles is greater than or equal to the preset concentration, it indicates that there is a lot of sand and dust in the vehicle, and the windows can be controlled to close.

[0213] In another possible implementation, in addition to the distance and PM2.5 concentration, wind speed and vehicle speed are also important factors that may cause the vehicle interior environment to be polluted. Therefore, in the embodiment of the present application, the window closing can also be controlled by wind speed and vehicle speed, specifically including:

[0214] When the road type of the vehicle is a preset road type and the windows are open, if the wind speed is greater than the preset wind speed, or the vehicle speed is greater than the preset vehicle speed, the windows are controlled to close.

[0215] For example, for the vehicle speed, the vehicle speed sensor can obtain the vehicle speed and send the vehicle speed to the ABS. The ABS can send the vehicle speed to the VCU via the CAN bus. Alternatively, the VCU can also obtain the vehicle speed directly from the instrument controller. The embodiment of the present application does not specifically limit the way in which the VCU obtains the vehicle speed.

[0216] For wind speed, the VCU can collect the wind speed of the vehicle during driving through the wind speed sensor in the vehicle.

[0217] Optionally, assume that the preset wind speed is 10m / s and the preset vehicle speed is 60km / h.

[0218] For example, if the wind speed obtained by the VCU is 13m / s and the vehicle speed is 65km / h, it means that the wind speed is high and the vehicle speed is high during driving, and dust may drift into the car. In this case, the VCU can control the windows to close.

[0219] In the above technical solution, the present application also provides another strategy for controlling the vehicle. When the road type of the vehicle is a preset road type and the windows are open, the wind speed and vehicle speed are used to judge. Specifically, when the wind speed is greater than or equal to the preset wind speed, it means that during the driving process of the vehicle, sand and dust may drift into the vehicle due to the influence of the wind. In order to avoid this situation, the windows can be closed. When the vehicle speed is greater than or equal to the preset speed, in order to avoid sand and dust drifting into the vehicle due to the high speed, the windows can also be closed.

[0220] Furthermore, after controlling the windows to be closed, the VCU can also adjust the state of the windows according to the actual driving conditions of the vehicle, including:

[0221] When the road type of the vehicle is not a preset road type, or the distance is greater than or equal to the preset distance, the vehicle windows are controlled to return to the previous state.

[0222] Exemplarily, when the VCU determines through any one or more of road surface images and road surface parameters that the road type of the vehicle is not sand or land, or that the distance between the vehicle and the vehicle in front is greater than 2m, the vehicle is controlled based on the recorded previous state of the window.

[0223] For example, assuming that the previous state of the window stored in the VCU is closed, the VCU sends a window closing instruction to the BCM, so that the BCM controls the window to continue to remain in the closed state.

[0224] In the above technical solution, another solution for controlling the vehicle is proposed. When the road type of the vehicle is not the preset road type, or the distance is greater than or equal to the preset distance, when the vehicle meets any of the conditions, it means that there is no danger of dust drifting into the vehicle. In this case, the window can be restored to the previous state, taking into account the user's previous usage habits and improving the user's riding experience.

[0225] In another possible implementation, when the road type of the vehicle is not a preset road type, or the distance is greater than or equal to a preset distance, the VCU can also control the multimedia device in the vehicle to broadcast a prompt message, or display a prompt message to prompt the user whether he needs to continue closing the windows, and control the vehicle based on the user's response to the prompt message.

[0226] In the above technical solution, when the road type of the vehicle is not the preset road type, or the distance is greater than or equal to the preset distance, when the vehicle meets any one of the conditions, it can also ask the user about the current needs by broadcasting prompt information or displaying prompt information, so as to further control the vehicle according to the user's needs, providing the user with a flexible way to open and close the windows.

[0227] After closing the car windows, in order to prevent the outside air from entering the car through the air-conditioning inlet, you can also turn on the air-conditioning internal circulation mode to block the air exchange between the car and the outside world, including:

[0228] The air conditioner of the vehicle is controlled to start the internal circulation mode to adjust the environment and temperature inside the vehicle.

[0229] The internal circulation mode of the air conditioner is also called "internal circulation", which means that the air inside the car is heated or cooled before being sent back into the car. Corresponding to the internal circulation mode is the external circulation mode (also called "external circulation"), which means that the air outside the car is heated or cooled before being sent into the car, that is, the gas exchange between the inside and outside of the car.

[0230] Exemplarily, the turning on of the air conditioner can be triggered by setting a preset temperature and weather type. For example, the preset temperature of the air conditioner can be set to 26°C in summer and 20°C in winter. Then after closing the car windows, if the current weather type is summer and the temperature inside the car is greater than the preset temperature of 26°C, the VCU can send an air conditioner start command to the air conditioner controller to automatically turn on the cooling mode of the air conditioner to achieve a rapid cooling effect. At the same time, in this case, the VCU can also send an internal circulation mode start command to the air conditioner controller to prevent the air inside the car from circulating with the outside air so that sand and dust can enter the car.

[0231] In the above technical solution, after controlling the car windows to close, the present application can further control the vehicle's air conditioner to turn on the internal circulation mode. On the one hand, the temperature inside the car can be adjusted by turning on the air conditioner to maintain a more comfortable temperature inside the car; on the other hand, the internal circulation mode of the air conditioner can also block the air circulation between the inside and outside of the vehicle when the vehicle is driving on a dusty road, thereby preventing the air inside the vehicle from being polluted.

[0232] In order to facilitate understanding of the technical solution of this application, Figure 3 The process of controlling the vehicle in this application is introduced in detail.

[0233] Figure 3 It is a schematic flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0234] For example, Figure 3 As shown, the method 300 includes:

[0235] 301, obtaining road surface information of the road where the vehicle is located.

[0236] Step 301 and the aforementioned step 201 belong to the same inventive concept, and details can be found in step 201 , which will not be described again here.

[0237] 302. Determine the road type of the road on which the vehicle is located according to the road surface information.

[0238] 303 , determining whether the road type of the road on which the vehicle is located is a preset road type.

[0239] Steps 302-303 and the aforementioned step 202 belong to the same inventive concept, and details can be found in step 202, which will not be described again here.

[0240] When the road type of the road on which the vehicle is located is a preset road type, step 305 is executed; otherwise, step 304 is executed.

[0241] 304, end.

[0242] When it is determined through steps 302 - 303 that the road type of the vehicle is not the preset road type, the process of controlling the vehicle this time ends.

[0243] 305, obtaining the distance between the vehicle and the preceding vehicle.

[0244] 306 , determining whether the distance between the vehicle and the preceding vehicle is less than a preset distance.

[0245] Steps 305-306 have the same inventive concept as step 203, please refer to step 203 for details, and will not be repeated here.

[0246] When the distance between the vehicle and the preceding vehicle is less than the preset distance, step 307 is executed.

[0247] When the distance between the vehicle and the preceding vehicle is greater than or equal to the preset distance, step 304 is executed and the process ends.

[0248] 307, record the current window status of the vehicle.

[0249] When it is determined that the distance between the vehicle and the vehicle in front is less than a preset distance, the present application can record the current state of the window before controlling the window to close, so as to record the user's current usage habits.

[0250] 308, close the car windows.

[0251] Specifically, step 308 and step 203 belong to the same inventive concept, and the VCU can control the window to close through the BCM.

[0252] 309 , further determining whether the road the vehicle is on is a preset road type, and whether the distance between the vehicle and the preceding vehicle is less than a preset distance.

[0253] After completing the control of the vehicle, the VCU can monitor in real time whether the vehicle meets the control conditions in order to continuously adjust the vehicle's status.

[0254] When the road on which the vehicle is located is a preset road type and the distance between the vehicle and the preceding vehicle is less than the preset distance, the process continues with step 308 to control the vehicle windows to be closed. Otherwise, the process proceeds to step 310.

[0255] 310, control the vehicle window to return to the previous state.

[0256] When the vehicle does not meet the control condition, in order to retain the user's usage habits, the windows can be restored to the previous state according to the window state of the user's last use recorded in step 307.

[0257] Figure 4 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0258] For example, Figure 4 As shown, the device 400 includes:

[0259] The acquisition module 401 is used to acquire the road surface information of the road where the vehicle is located;

[0260] A determination module 402 is used to determine the road type of the road on which the vehicle is located according to the road surface information;

[0261] The first control module 403 is used to control the windows of the vehicle to close when the road type of the vehicle is a preset road type and the distance between the vehicle and the preceding vehicle is less than a preset distance.

[0262] In one possible implementation, the road surface information includes at least one of a road surface image and a road surface parameter, and the determination module 402 is specifically used to: determine the similarity between the road surface image and a preset road surface image, where the preset road surface image is an image corresponding to the preset road type; and determine the road type of the road on which the vehicle is located based on the similarity and / or the road surface parameter.

[0263] In one possible implementation, the road surface parameters include at least one of a road surface adhesion coefficient and a road surface resistance coefficient, and the determination module 402 is also used to perform any of the following: when the similarity is greater than or equal to a preset similarity, determining that the road type of the road on which the vehicle is located is the preset road type; when the road surface adhesion coefficient is within a first preset range, and / or the road surface resistance coefficient is within a second preset range, determining that the road type of the road on which the vehicle is located is the preset road type; determining a first weight corresponding to the similarity, a second weight corresponding to the road surface adhesion coefficient, and a third weight corresponding to the road surface resistance coefficient; determining an identification score for the road type of the road on which the vehicle is located based on the similarity, the road surface adhesion coefficient, the road surface resistance coefficient, the second weight, the second weight, and the third weight; when the identification score is greater than or equal to the preset score, determining that the road type of the road on which the vehicle is located is the preset road type.

[0264] Optionally, after controlling the vehicle's windows to close, the device further includes: a second control module, used to control the windows to return to a previous state when the road type of the vehicle is not the preset road type, or when the distance is greater than or equal to the preset distance.

[0265] In a possible implementation, the first control module 403 is specifically used to: when the road type of the vehicle is the preset road type, if the distance is less than the preset distance within a preset time period, control the window to close.

[0266] Optionally, the device also includes: a third control module, used to control the window to close when the road type of the vehicle is the preset road type and the window is open, if the concentration of fine particulate matter in the vehicle is greater than or equal to a preset concentration.

[0267] Optionally, the device also includes: a fourth control module, used to control the window to close when the road type of the vehicle is the preset road type and the window is open, if the wind speed is greater than or equal to the preset wind speed, or the vehicle speed is greater than or equal to the preset vehicle speed.

[0268] Optionally, after controlling the windows of the vehicle to close, the device further includes: a fifth control module, used to control the air conditioner of the vehicle to start an internal circulation mode to adjust the environment and temperature inside the vehicle.

[0269] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0270] For example, Figure 5 As shown, the vehicle 101 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a method for controlling a vehicle.

[0271] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0272] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0273] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a determination module, a first control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0274] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0275] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing mutual program codes, etc.

[0276] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0277] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0278] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0279] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0280] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0281] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0282] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0283] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: Obtaining road surface information of the road where the vehicle is located; Determining the road type of the road on which the vehicle is located according to the road surface information; When the road type of the road on which the vehicle is located is a preset road type, if the distance between the vehicle and a preceding vehicle is less than a preset distance, the windows of the vehicle are controlled to be closed.

2. The method according to claim 1, characterized in that The road surface information includes at least one of a road surface image and a road surface parameter, and determining the road type of the road on which the vehicle is located according to the road surface information includes: Determining a similarity between the road surface image and a preset road surface image, the preset road surface image being an image corresponding to the preset road type; The road type of the road on which the vehicle is located is determined according to the similarity and / or the road surface parameter.

3. The method according to claim 2, characterized in that The road surface parameter includes at least one of a road surface adhesion coefficient and a road surface resistance coefficient. The determining the road type of the road on which the vehicle is located according to the similarity and / or the road surface parameter includes any one of the following: When the similarity is greater than or equal to a preset similarity, determining that the road type of the road on which the vehicle is located is the preset road type; When the road adhesion coefficient is within a first preset range and / or the road resistance coefficient is within a second preset range, determining that the road type of the vehicle is the preset road type; Determining a first weight corresponding to the similarity, a second weight corresponding to the road adhesion coefficient, and a third weight corresponding to the road resistance coefficient; determining an identification score of the road type of the road on which the vehicle is located according to the similarity, the road adhesion coefficient, the road resistance coefficient, the second weight, the second weight, and the third weight; When the recognition score is greater than or equal to the preset score, the road type of the road on which the vehicle is located is determined to be the preset road type.

4. The method according to claim 1, characterized in that: After controlling the window of the vehicle to close, the method further includes: When the road type of the road on which the vehicle is located is not the preset road type, or the distance is greater than or equal to the preset distance, the vehicle window is controlled to return to a previous state.

5. The method according to claim 1, characterized in that When the road type of the vehicle is a preset road type, if the distance between the vehicle and the preceding vehicle is less than a preset distance, controlling the window of the vehicle to close includes: In a case where the road type of the vehicle is the preset road type, if the distance within a preset time period is less than the preset distance, the vehicle window is controlled to be closed.

6. The method according to claim 1, characterized in that The method further comprises: When the road type of the road on which the vehicle is located is the preset road type and the vehicle window is open, if the concentration of fine particulate matter in the vehicle is greater than or equal to the preset concentration, the vehicle window is controlled to close.

7. The method according to claim 1, characterized in that The method further comprises: When the road type of the road on which the vehicle is located is the preset road type and the vehicle window is open, if the wind speed is greater than or equal to the preset wind speed, or the vehicle speed is greater than or equal to the preset vehicle speed, the vehicle window is controlled to close.

8. The method according to claim 1, characterized in that After controlling the window of the vehicle to close, the method further includes: The air conditioner of the vehicle is controlled to start an internal circulation mode to adjust the environment and temperature inside the vehicle.

9. A device for controlling a vehicle, characterized in that: The device comprises: An acquisition module, used to acquire road surface information of the road on which the vehicle is located; A determination module, used to determine the road type of the road on which the vehicle is located according to the road surface information; The control module is used to control the windows of the vehicle to close when the road type of the road on which the vehicle is located is a preset road type and the distance between the vehicle and the preceding vehicle is less than a preset distance.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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