Method, system, storage medium and vehicle for assisting electric vehicle in crossing a bump

Abstract

This invention discloses a method, system, storage medium, and vehicle for assisting electric vehicles to overcome bumps. The infotainment system determines whether the user has selected the bump-over-bump function, while the vehicle controller determines whether the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed meet the requirements for bump-over-bump functionality. It only requires data collection and analysis using existing systems, and sends relevant switching and control commands to the drive motor controller and infotainment system based on the analysis results. No additional structures are needed, resulting in low control costs and good control performance. Bump-over-bump functionality is achieved through data interaction between the vehicle controller, drive motor controller, and infotainment system. The vehicle switches from torque mode to speed mode, and the controlled object changes from motor torque to motor speed, resulting in smoother vehicle operation and a better user experience.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle assisted bump crossing technology, specifically relating to an electric vehicle assisted bump crossing method, system, storage medium, and vehicle. Background Technology

[0002] When driving outdoors or on off-road terrain, vehicles may encounter various potholes and uneven surfaces. While a vehicle can overcome small bumps or steps using its creep torque, larger bumps or steps require driver intervention. If the driver applies too little throttle, the vehicle's driving force will be insufficient to overcome the bump. Because a larger torque is needed to overcome a bump, but less is needed to clear it, the driver must first apply more throttle to clear it, and then quickly release the throttle and switch to the brakes to prevent the vehicle from lurching forward. This entire process requires considerable driving skill; slight misoperation can cause the vehicle to lurch forward, resulting in a poor driving experience and potentially leading to an accident.

[0003] Existing technologies have proposed relevant technical solutions to address such technical problems. For example, Chinese invention patent CN112537209 B discloses a vehicle, its remote driving method, and a storage medium. The remote driving method includes: detecting that the vehicle is in remote driving mode; collecting vehicle speed information and drive torque information; determining whether the vehicle is in a bump-crossing condition based on the vehicle speed information and the drive torque information; determining that the vehicle is in the bump-crossing condition and obtaining the bump-crossing additional torque; compensating the drive torque based on the bump-crossing additional torque; and driving the vehicle over the bump based on the drive torque. This method requires multiple sensors and controllers for detection and processing, and also requires an additional slope sensor. Furthermore, the process of crossing bumps requires calibrating the base torque, slope compensation torque, and bump-crossing torque, resulting in a large calibration volume. Therefore, this bump-crossing method has a complex system structure, complex control strategy, and high implementation cost. Moreover, because it uses torque control, the vehicle's operation is unstable during bump crossings, leading to a poor user driving experience.

[0004] A new method for assisting electric vehicles in overcoming obstacles is needed to solve the aforementioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide an electric vehicle assisted bump crossing method to solve the technical problems of existing vehicle bump crossing systems, such as complex structure, high control cost, and poor user experience during bump crossing.

[0006] Another objective of this invention is to provide an electric vehicle assisted bump crossing system.

[0007] Another objective of this invention is to provide a computer-readable storage medium.

[0008] Another objective of this invention is to provide a vehicle.

[0009] The technical solution of this invention to solve its technical problem is as follows:

[0010] A method for assisting an electric vehicle in overcoming bumps includes the following steps:

[0011] S1: The infotainment system determines whether the user has selected the bump assist function. If yes, it sends a request command to the vehicle controller to activate the bump assist function and executes step S2; otherwise, it maintains the current state.

[0012] S2: After receiving the request command, the vehicle controller reads the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, and determines whether the above statuses meet the requirements of the bump-crossing function. If yes, the vehicle controller sends a working mode switching command and speed control command to the drive motor controller and executes step S3; if no, it processes the statuses that do not meet the bump-crossing function.

[0013] S3: After receiving the working mode switching command and speed control command, the drive motor controller switches the working mode from torque mode to speed mode, sets the target speed of the drive motor to zero, and feeds back the current working mode to the vehicle controller; after receiving the working mode feedback, the vehicle controller sends the auxiliary bump crossing function status information to the infotainment system.

[0014] S4: After receiving the status information, the infotainment system determines whether the bump assist function is active. If yes, proceed to step S5; otherwise, maintain the current state.

[0015] S5: The infotainment system determines whether the user has selected to enter the obstacle-crossing function. If yes, proceed to step S6; otherwise, maintain the current state.

[0016] S6: The vehicle controller reads the brake pedal status and determines whether the brake pedal depth meets the requirements of the bump-crossing function. If so, it sends the target speed N of the drive motor to the drive motor controller. 目标 Upon receiving the control command, the drive motor controller controls the drive motor to operate at the target speed N. 目标 If the vehicle successfully navigates the obstacle, proceed; otherwise, maintain the current state; where N... 目标 This is the calibration value.

[0017] Preferably, it also includes:

[0018] S7: The vehicle controller reads the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status. When any one of these statuses meets the requirements for exiting the bump-crossing function, it sends bump-crossing function status information to the drive motor controller and the infotainment system. After receiving the status information, the drive motor controller determines that the status has been exited and exits the RPM mode. After receiving the status information, the infotainment system determines that the status has been exited and terminates the bump-crossing function.

[0019] The vehicle is deemed to meet the requirements for disabling the bump-crossing function if any of the following conditions are met: the vehicle is not in a ready state, the power battery is in a fault state, the drive motor system is in a fault state, the gear is not in D / R mode, the accelerator pedal is at least 10% open, or the brake pedal is at least 40% deep.

[0020] Preferably, in step S2, if all the following conditions are met: the vehicle is in a ready state, the power battery is in a fault-free state, the drive motor system is in a fault-free state, the gear is in D / R mode, the accelerator pedal is at zero opening, the brake pedal is at a depth of not less than 50%, and the current vehicle speed is zero, then it is determined that the auxiliary bump crossing function requirement is met.

[0021] Preferably, the requirement for brake pedal depth in step S6 is that the brake pedal depth is not greater than 10%.

[0022] Preferably, step S6 specifically involves: the vehicle controller reading the brake pedal status, determining whether the brake pedal depth meets the requirements for the bump-crossing function, and if so, sending the target speed N of the drive motor to the drive motor controller. 目标 The drive motor controller receives the control command and then adjusts it according to the actual speed N of the drive motor. 实际 Target speed N of the drive motor 目标 The difference between them affects the actual speed N of the drive motor. 实际 PI control is performed to achieve the target speed N of the drive motor. 目标 Then control the drive motor to drive it to the target speed N. 目标 To enable vehicles to cross bumps; among them, N 目标 This is the calibration value.

[0023] Preferably, the processing of non-compliant bump-crossing functions in step S2 specifically includes: when the vehicle controller determines that the vehicle is in a non-ready state, the power battery is in a fault state, or the drive motor system is in a fault state, it sends bump-crossing function status information to the infotainment system. After receiving the status information, the infotainment system determines that the status information is inactive and terminates the bump-crossing function; when the vehicle controller determines that the gear is not in D / R gear, the accelerator pedal is not open at zero, the brake pedal is not deeper than 50%, or the current vehicle speed is not zero, it sends bump-crossing function status information to the infotainment system. After receiving the status information, the infotainment system determines that the status information is adjustable and adjusts the non-compliant states accordingly, and rereads and judges each state.

[0024] An auxiliary bump-crossing system employing an electric vehicle-assisted bump-crossing method includes:

[0025] The vehicle controller reads the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed. It determines whether all statuses meet the requirements for the bump-crossing assist function and sends operating mode switching and speed control commands to the drive motor controller. It also sends bump-crossing assist function status information to the infotainment system. Furthermore, it reads the brake pedal status, determines whether the brake pedal depth meets the bump-crossing assist function requirements, and sends the target drive motor speed N to the drive motor controller. 目标 Control commands;

[0026] The infotainment system includes an interface for activating, deactivating, and confirming the bump-avoidance function. This interface determines whether the user has selected the bump-avoidance function, sends an activation request to the vehicle controller, receives bump-avoidance function status information, and determines whether the function is active. Finally, it determines whether the user has selected to use the bump-avoidance function.

[0027] The drive motor controller receives the operating mode switching command and speed control command from the vehicle controller, and controls the operation of the drive motor according to the speed control command; it also feeds back the operating mode to the vehicle controller.

[0028] The power battery is the vehicle's energy source, providing energy to the drive motor.

[0029] The drive motor is the vehicle's power source, driving the vehicle to move according to the instructions of the drive motor controller.

[0030] Accelerator pedal, generates accelerator pedal opening signal in real time;

[0031] Brake pedal, generates brake pedal depth signal in real time;

[0032] The gear position controller records the vehicle's gear position signal in real time.

[0033] The ABS system records vehicle speed signals in real time.

[0034] The vehicle controller is connected to the infotainment system, drive motor controller, accelerator pedal, brake pedal, gear position controller, and ABS system, respectively. The drive motor controller is connected to the power battery and drive motor, respectively.

[0035] Preferably, the vehicle controller further includes: reading the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status; determining whether the status meets the requirements for exiting the bump-crossing function; and sending bump-crossing function status information to the drive motor controller and the infotainment system.

[0036] A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the device containing the computer-readable storage medium to perform an electric vehicle assisted bump crossing method.

[0037] A vehicle that uses an electric vehicle-assisted bump-crossing system.

[0038] The beneficial effects of this invention are as follows: The infotainment system determines whether the user selects the bump-crossing assist function, while the vehicle controller determines whether the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed meet the requirements for the bump-crossing assist function. This only requires using existing systems to collect data, perform data analysis, and send relevant switching and control commands to the drive motor controller and infotainment system based on the analysis results. No additional structures are needed, resulting in low control costs and good control performance. Bump-crossing assist is achieved through data interaction between the vehicle controller, drive motor controller, and infotainment system. The vehicle switches from torque mode to speed mode, and the controlled object changes from motor torque to motor speed, resulting in smoother vehicle operation and a better user experience. Attached Figure Description

[0039] Figure 1 This is a flowchart of the electric vehicle assisted bump crossing method of the present invention;

[0040] Figure 2 This is a schematic diagram of the electric vehicle assisted bump crossing system of the present invention. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0042] Example 1:

[0043] like Figure 1 As shown, this invention discloses a method for assisting an electric vehicle in crossing bumps, comprising the following steps:

[0044] S1: The infotainment system (IVI) determines whether the user has selected the bump assist function. If yes, it sends a request command to the vehicle controller to activate the bump assist function and executes step S2; otherwise, it maintains the current state.

[0045] S2: After receiving the request command, the vehicle controller (VCU) reads the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, and determines whether the above statuses meet the requirements of the bump-crossing function. If yes, the vehicle controller sends a working mode switching command and speed control command to the drive motor controller; and executes step S3; if no, it processes the statuses that do not meet the bump-crossing function.

[0046] The vehicle is deemed to meet the requirements for the bump-crossing function when all of the following conditions are met: the vehicle is in a ready state, the power battery is in a fault-free state, the drive motor system is in a fault-free state, the gear is in D / R mode, the accelerator pedal is at zero opening, the brake pedal is at a depth of not less than 50%, and the current vehicle speed is zero.

[0047] The system handles situations where the bump-crossing assist function is not activated. Specifically, when the vehicle control unit (VCU) determines that the vehicle is not ready, the power battery is faulty, or the drive motor system is faulty, it sends bump-crossing assist function status information to the infotainment system. Upon receiving the status information, the infotainment system determines that the status is inactive and terminates the bump-crossing assist function. In practical applications, the system can remind the user by displaying "Bump-crossing assist function cannot be activated" on the screen. When the vehicle controller determines that the gear is not in D / R mode, the accelerator pedal is not open to zero, the brake pedal is not deeper than 50%, and the current vehicle speed is not zero, it sends the bump-crossing function status information to the infotainment system. After receiving the status information, the infotainment system determines that the status is adjustable and makes corresponding adjustments for any unmet requirements. In actual driving, to facilitate timely adjustments, the infotainment system (IVI) can also inform the user of any unmet requirements through voice or text prompts, such as: "Please shift to D or R," "Please release the accelerator pedal," "Please depress the brake pedal," and "Please bring the vehicle to a stop," and then rereads and judges each status.

[0048] S3: After receiving the working mode switching command and speed control command, the drive motor controller switches the working mode from torque mode to speed mode, sets the target speed of the drive motor to zero, and feeds back the current working mode to the vehicle controller; after receiving the working mode feedback, the vehicle controller sends the auxiliary bump crossing function status information to the infotainment system.

[0049] S4: After receiving the status information, the infotainment system determines whether the bump assist function is active. If yes, proceed to step S5; otherwise, maintain the current state.

[0050] S5: The infotainment system determines whether the user has selected to enter the obstacle-crossing function. If yes, proceed to step S6; otherwise, maintain the current state.

[0051] S6: The vehicle controller reads the brake pedal status and determines whether the brake pedal depth meets the requirements for the bump-crossing function. Specifically, the brake pedal depth should not exceed 10%. If so, it sends the target drive motor speed N to the drive motor controller. 目标 The drive motor controller receives the control command and then adjusts it according to the actual speed N of the drive motor. 实际 Target speed N of the drive motor 目标 The difference between them affects the actual speed N of the drive motor. 实际 PI control is performed to achieve the target speed N of the drive motor. 目标 Then control the drive motor to drive it to the target speed N. 目标 To enable vehicles to cross bumps; among them, N 目标 This is the calibration value;

[0052] PI control is a commonly used adjustment method in engineering technology, where the actual speed N of the drive motor is... 实际 With the target speed N of the drive motor 目标 The larger the difference, the larger the values ​​of the proportional constant Kp and the integral constant Ki. In specific adjustments, if the actual speed N of the drive motor... 实际 ≤ target speed of drive motor N 目标 The output torque of the drive motor is ≥0. If the actual speed of the drive motor N... 实际 >Target speed N of the drive motor 目标 The output torque of the drive motor is <0.

[0053] S7: The vehicle controller reads the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status. When any of these statuses meets the requirements for discontinuing the bump assist function, it sends bump assist function status information to the drive motor controller and the infotainment system. After receiving the status information, the drive motor controller determines that the status has been discontinued and exits the RPM mode. After receiving the status information, the infotainment system determines that the status has been discontinued and terminates the bump assist function. At this time, the infotainment system (IVI) can display "Brake assist function discontinued, please take over the vehicle" on the screen to remind the user.

[0054] The vehicle is deemed to meet the requirements for disabling the bump-crossing function if any of the following conditions are met: the vehicle is not in a ready state, the power battery is in a fault state, the drive motor system is in a fault state, the gear is not in D / R mode, the accelerator pedal is at least 10% open, or the brake pedal is at least 40% deep.

[0055] In practical engineering applications, the accelerator pedal's open position and the brake pedal's deep position need to be calibrated according to the engineering conditions. This embodiment is only for the convenience of explanation and provides examples of relevant values, and does not serve to limit the scope.

[0056] Example 2:

[0057] like Figure 2 As shown, an auxiliary bump-crossing system employing an electric vehicle-assisted bump-crossing method includes:

[0058] The vehicle controller reads the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed. It determines whether all statuses meet the requirements for the bump-crossing assist function and sends operating mode switching and speed control commands to the drive motor controller. It also sends bump-crossing assist function status information to the infotainment system. Furthermore, it reads the brake pedal status, determines whether the brake pedal depth meets the bump-crossing assist function requirements, and sends the target drive motor speed N to the drive motor controller. 目标 The system executes control commands; reads vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status, and determines whether the status meets the requirements for exiting the bump-crossing function; and sends bump-crossing function status information to the drive motor controller and infotainment system.

[0059] The infotainment system includes an interface for activating, deactivating, and confirming the bump-avoidance function. This interface determines whether the user has selected the bump-avoidance function, sends an activation request to the vehicle controller, receives bump-avoidance function status information, and determines whether the function is active. Finally, it determines whether the user has selected to use the bump-avoidance function.

[0060] The drive motor controller receives the operating mode switching command and speed control command from the vehicle controller, and controls the operation of the drive motor according to the speed control command; it also feeds back the operating mode to the vehicle controller.

[0061] The power battery is the vehicle's energy source, providing energy to the drive motor.

[0062] The drive motor is the vehicle's power source, driving the vehicle to move according to the instructions of the drive motor controller.

[0063] Accelerator pedal, generates accelerator pedal opening signal in real time;

[0064] Brake pedal, generates brake pedal depth signal in real time;

[0065] The gear position controller records the vehicle's gear position signal in real time.

[0066] The ABS system records vehicle speed signals in real time.

[0067] The vehicle controller is connected to the infotainment system, drive motor controller, accelerator pedal, brake pedal, gear position controller, and ABS system, respectively. The drive motor controller is connected to the power battery and drive motor, respectively.

[0068] Example 3:

[0069] A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the device containing the computer-readable storage medium to perform an electric vehicle assisted bump crossing method.

[0070] Example 4:

[0071] A vehicle that uses an electric vehicle-assisted bump-crossing system.

[0072] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A method for assisting an electric vehicle in crossing bumps, characterized in that, Includes the following steps: S1: The infotainment system determines whether the user has selected the bump assist function. If yes, it sends a request command to the vehicle controller to activate the bump assist function and executes step S2; otherwise, it maintains the current state. S2: After receiving the request command, the vehicle controller reads the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, and determines whether the above statuses meet the requirements of the bump-crossing function. If yes, the vehicle controller sends a working mode switching command and speed control command to the drive motor controller and executes step S3; if no, it processes the statuses that do not meet the bump-crossing function. S3: After receiving the working mode switching command and speed control command, the drive motor controller switches the working mode from torque mode to speed mode, sets the target speed of the drive motor to zero, and feeds back the current working mode to the vehicle controller; after receiving the working mode feedback, the vehicle controller sends the auxiliary bump crossing function status information to the infotainment system. S4: After receiving the status information, the infotainment system determines whether the bump assist function is active. If yes, proceed to step S5; otherwise, maintain the current state. S5: The infotainment system determines whether the user has selected to enter the obstacle-crossing function. If yes, proceed to step S6; otherwise, maintain the current state. S6: The vehicle controller reads the brake pedal status and determines whether the brake pedal depth meets the requirements of the bump-crossing function. If so, it sends the target speed N of the drive motor to the drive motor controller. 目标 Upon receiving the control command, the drive motor controller controls the drive motor to operate at the target speed N. 目标 If the vehicle successfully navigates the obstacle, proceed; otherwise, maintain the current state; where N... 目标 This is the calibration value.

2. The electric vehicle assisted bump crossing method according to claim 1, characterized in that, Also includes: S7: The vehicle controller reads the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status. When any one of these statuses meets the requirements for exiting the bump-crossing function, it sends bump-crossing function status information to the drive motor controller and the infotainment system. After receiving the status information, the drive motor controller determines that the status has been exited and exits the RPM mode. After receiving the status information, the infotainment system determines that the status has been exited and terminates the bump-crossing function. The vehicle is deemed to meet the requirements for disabling the bump-crossing function if any of the following conditions are met: the vehicle is not in a ready state, the power battery is in a fault state, the drive motor system is in a fault state, the gear is not in D / R mode, the accelerator pedal is at least 10% open, or the brake pedal is at least 40% deep.

3. The electric vehicle assisted bump crossing method according to claim 1, characterized in that: In step S2, if all the following conditions are met: the vehicle is in a ready state, the power battery is in a fault-free state, the drive motor system is in a fault-free state, the gear is in D / R mode, the accelerator pedal is at zero opening, the brake pedal is at a depth of not less than 50%, and the current vehicle speed is zero, then it is determined that the auxiliary bump crossing function requirements are met.

4. The electric vehicle assisted bump crossing method according to claim 1, characterized in that: The specific requirement for brake pedal depth in step S6 is that the brake pedal depth is no more than 10%.

5. The electric vehicle assisted bump crossing method according to claim 1, characterized in that: Step S6 specifically involves: the vehicle controller reading the brake pedal status and determining whether the brake pedal depth meets the requirements for the bump-crossing function. If so, it sends the target speed N of the drive motor to the drive motor controller. 目标 The drive motor controller receives the control command and then adjusts it according to the actual speed N of the drive motor. 实际 Target speed N of the drive motor 目标 The difference between them affects the actual speed N of the drive motor. 实际 PI control is performed to achieve the target speed N of the drive motor. 目标 Then control the drive motor to drive it to the target speed N. 目标 To enable vehicles to cross bumps; among them, N 目标 This is the calibration value.

6. The electric vehicle assisted bump crossing method according to claim 1, characterized in that, In step S2, the processing of cases where the assisted bump-crossing function is not met specifically includes: when the vehicle controller determines that the vehicle is in a non-ready state, the power battery is in a fault state, or the drive motor system is in a fault state, it sends assisted bump-crossing function status information to the infotainment system. After receiving the status information, the infotainment system determines that the status information is inactive and terminates the assisted bump-crossing function; when the vehicle controller determines that the gear is not in D / R gear, the accelerator pedal is not open to zero, the brake pedal is not deeper than 50%, or the current vehicle speed is not zero, it sends assisted bump-crossing function status information to the infotainment system. After receiving the status information, the infotainment system determines that the status information is adjustable and adjusts the non-met states accordingly, and rereads and judges each state.

7. An auxiliary bump-crossing system employing the electric vehicle auxiliary bump-crossing method according to any one of claims 1-6, characterized in that, include: The vehicle controller reads the vehicle's driving status, power battery status, drive motor system status, gear status, accelerator pedal status, brake pedal status, and current vehicle speed. It determines whether all statuses meet the requirements for the bump-crossing assist function and sends operating mode switching and speed control commands to the drive motor controller. It also sends bump-crossing assist function status information to the infotainment system. Furthermore, it reads the brake pedal status, determines whether the brake pedal depth meets the bump-crossing assist function requirements, and sends the target drive motor speed N to the drive motor controller. 目标 Control commands; The infotainment system includes an interface for activating, deactivating, and confirming the bump-avoidance function. This interface determines whether the user has selected the bump-avoidance function, sends an activation request to the vehicle controller, receives bump-avoidance function status information, and determines whether the function is active. Finally, it determines whether the user has selected to use the bump-avoidance function. The drive motor controller receives the operating mode switching command and speed control command from the vehicle controller, and controls the operation of the drive motor according to the speed control command; it also feeds back the operating mode to the vehicle controller. The power battery is the vehicle's energy source, providing energy to the drive motor. The drive motor is the vehicle's power source, driving the vehicle to move according to the instructions of the drive motor controller. Accelerator pedal, generates accelerator pedal opening signal in real time; Brake pedal, generates brake pedal depth signal in real time; The gear position controller records the vehicle's gear position signal in real time. The ABS system records vehicle speed signals in real time. The vehicle controller is connected to the infotainment system, drive motor controller, accelerator pedal, brake pedal, gear position controller, and ABS system, respectively. The drive motor controller is connected to the power battery and drive motor, respectively.

8. The electric vehicle assisted bump-crossing system according to claim 7, characterized in that, The vehicle controller also includes: reading the vehicle driving status, power battery status, drive motor system status, gear status, accelerator pedal status, and brake pedal status; determining whether the status meets the requirements for exiting the bump-crossing function; and sending bump-crossing function status information to the drive motor controller and infotainment system.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the device containing the computer-readable storage medium to perform the method of any one of claims 1-6.

10. A vehicle, characterized in that: The electric vehicle bump-crossing system according to any one of claims 7-8 is adopted.

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