Vehicle control method and vehicle control device

Abstract

The invention provides a vehicle control method and a vehicle control device, and relates to the technical field of vehicles. The method comprises the steps that if it is detected that a vehicle sinks, the current height between wheels in the vehicle and a running road surface is obtained; determining the driving direction of the vehicle based on the current height; and controlling the vehicle to run based on the running direction to stop the vehicle from sinking. Based on the scheme, when the vehicle sinks, the accuracy of the vehicle driving direction can be improved, and the vehicle stops sinking.

Description

Technical Field

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

[0002] When a vehicle is driving on a road environment with a low soil density, such as sand, wetlands, and grasslands, there may be a risk of sinking and damage to the road environment. In order to prevent the vehicle from sinking and damaging the road environment, it is necessary to plan the driving direction for the vehicle so that the vehicle can leave the road environment with a low soil density as soon as possible. However, when planning the driving direction for the vehicle, the user generally makes judgments based on driving experience, which is prone to errors, thereby increasing the risk of the vehicle sinking and damage to the road environment.

[0003] Therefore, how to improve the accuracy of the vehicle's driving direction is a problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle control method and a vehicle control device, which can improve the accuracy of the vehicle's driving direction and stop the vehicle from sinking when the vehicle sinks.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] If the vehicle is detected to be sinking, the current height between the wheels of the vehicle and the road surface is obtained; the driving direction of the vehicle is determined based on the current height; and the vehicle is controlled based on the driving direction to stop the vehicle from sinking.

[0007] In an embodiment of the present application, when the vehicle is detected to be sinking, the driving direction of the vehicle can be determined by obtaining the height between the wheels and the road surface on which the vehicle is traveling, and the vehicle's driving can be controlled by the driving direction, so that the vehicle can be driven off the sinking road surface, thereby stopping the vehicle from sinking. Compared with the existing method in which the user determines the driving direction of the vehicle based on driving experience when the vehicle is sinking, the driving direction of the vehicle is determined by the height between the wheels and the road surface on which the vehicle is traveling in the present application, which can avoid the problem of manual judgment prone to errors, thereby improving the accuracy of the vehicle's driving direction and effectively stopping the vehicle from sinking.

[0008] In combination with the first aspect, in certain implementations of the first aspect, determining the driving direction of the vehicle based on the current height includes:

[0009] The maximum current height of the current heights of each wheel in the vehicle and the driving road surface is determined; and the direction of the wheel corresponding to the maximum current height is determined as the driving direction.

[0010] In the embodiment of the present application, when the height of the wheel and the road surface on which the vehicle is traveling is obtained, the maximum current height of each wheel and the road surface on which the vehicle is traveling can be determined first, and the direction of the wheel corresponding to the maximum current height can be determined as the driving direction. Since the maximum current height of the current height of the wheel and the road surface on which the vehicle is traveling can indicate that the smaller the wheel sinks, the more stable the road surface condition corresponding to the wheel is, and the stronger the soil bearing capacity is; therefore, the direction of the wheel corresponding to the maximum current height is determined as the driving direction, which further improves the accuracy of the vehicle's driving direction, thereby controlling the vehicle's driving through the driving direction, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0011] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the direction of the wheel corresponding to the maximum current height as the driving direction includes:

[0012] Determine the number corresponding to the maximum current height; if the number is 1, determine the movement direction of the first wheel corresponding to the 1 maximum current height as the driving direction; if the number is multiple, determine the driving direction based on the lateral directions of multiple wheels corresponding to multiple maximum current heights.

[0013] In the embodiment of the present application, when the maximum current height among the current heights of the wheels and the driving road surface is one, the movement direction corresponding to the maximum current height can be determined as the driving direction of the vehicle; and when the maximum current height among the current heights of the wheels and the driving road surface is multiple, the driving direction of the vehicle needs to be determined by the lateral directions of multiple wheels corresponding to the multiple maximum current heights. By selecting different ways to determine the driving direction of the vehicle through the different maximum current heights, the determined driving direction of the vehicle can be made more accurate, so that the driving of the vehicle can be controlled by the driving direction, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0014] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the movement direction of the first wheel corresponding to the maximum current height as the driving direction includes:

[0015] If the first wheel is the front wheel of the vehicle, the forward direction of the first wheel is determined as the driving direction; if the first wheel is the rear wheel of the vehicle, the backward direction of the first wheel is determined as the driving direction.

[0016] In the embodiment of the present application, when the maximum current height is 1 and the corresponding wheel (i.e., the first wheel) is the front wheel, it means that the road condition corresponding to the forward direction of the first wheel is more stable than that corresponding to the backward direction of the first wheel. Therefore, the forward direction of the first wheel can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can drive away from the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0017] Alternatively, when the maximum current height is 1 and the corresponding wheel (i.e., the first wheel) is the rear wheel, it means that the rearward direction of the first wheel is more stable than the road condition corresponding to the forward direction of the first wheel. Therefore, the rearward direction of the first wheel can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the rearward direction of the first wheel, so that the vehicle can drive away from the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0018] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the driving direction based on the lateral directions of the multiple wheels corresponding to the multiple maximum current heights includes:

[0019] If the lateral directions of multiple wheels indicate that the number of wheels in the first lateral direction is greater than the number of wheels in the second lateral direction, the first lateral direction is determined as the traveling direction; if the lateral directions of multiple wheels indicate that the number of wheels in the first lateral direction is equal to the number of wheels in the second lateral direction, the traveling direction is determined based on a first historical height corresponding to the wheels in the first lateral direction and a second historical height corresponding to the wheels in the second lateral direction; wherein the first lateral direction and the second lateral direction are opposite to each other.

[0020] In an embodiment of the present application, when the lateral directions of multiple wheels indicate that the number of wheels on one side of the vehicle is greater than the number of wheels on the other side of the vehicle, it means that the corresponding road conditions on this side are more stable than the corresponding road conditions on the other side. Therefore, this side can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0021] Alternatively, when the lateral directions of the multiple wheels indicate that the number of wheels on one side of the vehicle is equal to the number of wheels on the other side of the vehicle, it indicates that the stability of the road surface conditions corresponding to the one side is substantially similar to the stability of the road surface conditions corresponding to the other side. Therefore, in order to determine the driving direction of the vehicle in the two lateral directions, the historical height corresponding to the wheels on one side and the historical height corresponding to the wheels on the other side can be considered, that is, the historical height data is introduced, and the height change trend between the wheels and the driving ground is taken into consideration, so as to further improve the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0022] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the driving direction based on the first historical height corresponding to the wheel in the first lateral direction and the second historical height corresponding to the wheel in the second lateral direction includes:

[0023] Determine the maximum historical height between the first historical height and the second historical height; and determine the lateral direction of the wheel corresponding to the maximum historical height as the driving direction.

[0024] In an embodiment of the present application, when the historical heights corresponding to the wheels on one side of the vehicle and the historical heights corresponding to the wheels on the other side of the vehicle are obtained, the maximum historical height of the historical heights on both sides can be determined, and the lateral direction of the wheel corresponding to the maximum historical height can be determined as the driving direction of the vehicle. By introducing historical height data and taking into account the height change trend between the wheel and the driving ground, the accuracy of the vehicle's driving direction is further improved, thereby controlling the vehicle's driving by the forward direction of the first wheel, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0025] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0026] Obtaining a current ground clearance between a chassis in the vehicle and a driving road surface; the above detection of vehicle sinking includes: if the current ground clearance is less than or equal to a first preset threshold, determining that the vehicle is sinking.

[0027] In the embodiment of the present application, when the current ground clearance between the chassis and the driving road in the vehicle is less than or equal to a preset threshold, it means that the current ground clearance between the chassis and the driving road is shortened, and it can be determined that the vehicle is sinking. By judging whether the vehicle is sinking by the size between the current ground clearance between the chassis and the driving road and the preset threshold, the accuracy of judging whether the vehicle is sinking can be improved compared to judging whether the vehicle is sinking by the user through perception on the vehicle.

[0028] In combination with the first aspect and the above implementations, in some implementations of the first aspect, after controlling the vehicle to travel based on the travel direction, the method further includes:

[0029] A first current ground clearance between a chassis in a vehicle and a driving surface is obtained; if the first current ground clearance is less than or equal to a second preset threshold, a driving direction is updated based on a first current height between a wheel and the driving surface to obtain an updated driving direction; the vehicle is controlled based on the updated driving direction; if the first current ground clearance is greater than the second preset threshold, the vehicle is controlled based on the driving direction.

[0030] In the embodiment of the present application, after controlling the vehicle's travel based on the determined travel direction, the current ground clearance between the chassis and the travel road surface can be further obtained, and when the current ground clearance is small, it can be explained that the determined travel direction cannot enable the vehicle to leave the sunken road surface; therefore, the previously determined travel direction can be updated again by the current height between the wheels and the travel road surface, so as to control the vehicle's travel using the updated travel direction, so that the vehicle can leave the sunken road surface as soon as possible, and further stop the vehicle from sinking. Alternatively, when the current ground clearance is large, it can be explained that the determined travel direction can enable the vehicle to leave the sunken road surface. Therefore, the vehicle's travel can be controlled by the previously determined travel direction, so that the vehicle can leave the sunken road surface as soon as possible, and further stop the vehicle from sinking.

[0031] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes:

[0032] Acquire the environment image and / or target map in which the vehicle is located; the above-mentioned control of the vehicle driving based on the driving direction includes: determining the driving path of the vehicle based on the environment image and / or target map and the driving direction; and controlling the vehicle to travel in the driving direction on the driving path.

[0033] In an embodiment of the present application, when controlling the driving of the vehicle by means of a determined driving direction, the driving path of the vehicle can also be determined jointly by an image of the environment in which the vehicle is located and / or a target map and the determined driving direction, so that the driving path of the vehicle can be more in line with the environment in which the vehicle is located, and the vehicle can be controlled to travel on the driving path in the determined driving direction, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0034] In a second aspect, the present application provides a vehicle control device, the device comprising:

[0035] An acquisition module, for acquiring the current height of the wheels of the vehicle and the road surface when the vehicle is detected to be sinking;

[0036] A processing module for determining a direction of travel of the vehicle based on a current altitude;

[0037] The control module is used for controlling the vehicle to travel based on the travel direction so as to stop the vehicle from sinking.

[0038] In a third aspect, the present application provides a vehicle, 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.

[0039] In a fourth aspect, the present application provides a computer program product, which includes: 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.

[0040] In a fifth aspect, the present application provides a computer-readable storage medium, 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 of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of a vehicle driving scene in the related technology.

[0042] Figure 2 It is a flow chart of a vehicle control method provided in an embodiment of the present application.

[0043] Figure 3 It is a schematic diagram of vehicle driving provided in an embodiment of the present application.

[0044] Figure 4 It is a schematic diagram of the vehicle driving direction provided in an embodiment of the present application.

[0045] Figure 5 It is a structural schematic diagram of a vehicle driving direction provided in an embodiment of the present application.

[0046] Figure 6 It is a flow chart of another vehicle control method provided in an embodiment of the present application.

[0047] Figure 7 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application.

[0048] Figure 8 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] Figure 1 It is a schematic diagram of a vehicle driving scene in the related technology.

[0052] For example, Figure 1 As shown, Figure 1 The vehicle 110 and the grassland road surface 120 are included. The grassland road surface 120 can also be replaced by a road surface environment with a smaller soil density (also referred to as "compactness") such as sandy land and wetlands, which is not limited in the embodiment of the present application.

[0053] For example, when the vehicle 110 drives onto the grassland road surface 120, there may be a risk of sinking and damage to the grassland road surface 120. In order to prevent the vehicle 110 from sinking and damaging the grassland road surface 120, a driving direction may be planned for the vehicle 110 so that the vehicle 110 can leave the grassland road surface 120 as soon as possible. However, when planning the driving direction for the vehicle 110, it is generally determined by the user based on driving experience, which is prone to errors, thereby increasing the risk of the vehicle sinking and damage to the grassland road surface 120.

[0054] Therefore, in order to solve the problem that the vehicle's driving direction is easily incorrect, the present application proposes a vehicle control method and a vehicle control device.

[0055] Combine the following Figures 2 to 6 The vehicle control method provided in the embodiment of the present application is described in detail.

[0056] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. The method can be Figure 1 The vehicle 110 in the vehicle 110 is executed, or the vehicle control unit (VCU) in the vehicle 110 is executed.

[0057] For example, Figure 2 As shown, the method 200 includes S210 - S230 .

[0058] S210: If it is detected that the vehicle is sinking, obtain the current height of the wheels of the vehicle and the driving road surface.

[0059] Exemplarily, when the vehicle is powered on, it can be detected whether the vehicle sinks. When the vehicle sinks, the real-time distance between each wheel in the vehicle and the road surface on which the vehicle is traveling (which can be called "current height") can be obtained.

[0060] Reference Figure 3 In (a), the current height between the wheel and the road surface can represent the real-time distance between the center of the wheel and the road surface, for example, the real-time distance a.

[0061] Reference Figure 3 In (b), when the vehicle is driving on a road surface, if it drives into a depression, the current height between the vehicle and the road surface will be shortened. For example, the real-time distance b indicates that when the vehicle is driving on a flat road, the current height between the wheel and the road surface is within the set range and will not be less than the set range.

[0062] Among them, the real-time distance b is less than the real-time distance a.

[0063] Optionally, the current height of the wheel and the road surface can be obtained by analyzing the images of the wheel and the road surface collected by an image acquisition device in the vehicle (for example, a camera), or by collecting it through a ranging device installed on the vehicle (for example, a millimeter wave radar, an infrared device), etc., which is not limited to this embodiment of the present application.

[0064] Optionally, a current ground clearance between a chassis in the vehicle and a driving road surface is obtained; if the current ground clearance is less than or equal to a first preset threshold, it is determined that the vehicle is sinking.

[0065] For example, when the vehicle is powered on, the real-time distance between the chassis of the vehicle and the driving road surface (which may be referred to as "current ground clearance") may also be obtained.

[0066] Reference Figure 3 In (a), the current ground clearance between the chassis and the driving road surface may represent the real-time distance between the chassis and the driving road surface, for example, the real-time distance c.

[0067] Reference Figure 3 In (b), when the vehicle is driving on a road surface, if it drives into a depression, the current ground clearance between the chassis and the road surface will be shortened. For example, the real-time distance d indicates that when the vehicle is driving on a flat road, the current ground clearance between the chassis and the road surface is within the design range and will not be less than the design range.

[0068] Among them, the real-time distance d is less than the real-time distance c.

[0069] When the current ground clearance between the chassis and the driving road is obtained, it can be determined whether the current ground clearance is less than or equal to a first preset threshold. When the current ground clearance is less than or equal to the first preset threshold, it indicates that the vehicle may be driving in a depression, causing the vehicle to sink.

[0070] Optionally, when the current ground clearance is less than or equal to the first preset threshold, the decreasing rate of the current ground clearance may also be detected, so as to more accurately capture the movement trend of the vehicle sinking.

[0071] On the contrary, when the current ground clearance is greater than the first preset threshold, it indicates that the vehicle is not traveling in a depression, and the vehicle does not sink.

[0072] The first preset threshold may represent a lower limit of the setting range.

[0073] Optionally, the current ground clearance between the chassis and the driving road surface can be obtained by analyzing the images of the chassis and the driving road surface collected by the image acquisition device in the vehicle, or by collecting the images by the distance measuring device installed in the vehicle (for example, millimeter wave radar, infrared device), etc., which is not limited in the embodiment of the present application. In addition, the setting range and the design range are obtained by actual vehicle calibration, which is not limited in the embodiment of the present application.

[0074] Optionally, when the vehicle is powered on, an image acquisition device in the vehicle may be used to acquire an image of the environment in which the vehicle is currently located, and an image analysis device in the vehicle may be used to analyze the acquired environment image to determine whether the road surface on which the vehicle is traveling is an unpaved natural terrain road. When the road surface on which the vehicle is traveling is a natural terrain road, the vehicle is prone to sinking and causing damage to the natural environment of the natural terrain road. Therefore, in order to prevent the vehicle from sinking and the vehicle from causing damage to the natural environment, the current ground clearance between the chassis in the vehicle and the road surface may be obtained to detect whether the vehicle is sinking.

[0075] Among them, natural terrain roads can refer to natural paths that have not been artificially hardened, such as forest trails, mountain off-road trails, deserts or muddy areas, etc.

[0076] For example, when a vehicle is traveling on a natural terrain road, if the vehicle sinks, it may be due to the low soil density (i.e., soil bearing capacity) of the road surface on which the vehicle is traveling. Therefore, in order to avoid damage to the natural environment, the vehicle's driving direction can be planned so that the vehicle can leave the current road surface as soon as possible; at the same time, a prompt message is sent to the user in the vehicle to remind the user that the soil bearing capacity of the road surface on which the vehicle is traveling is low and the vehicle is prone to sinking.

[0077] The output method of the prompt information may include but is not limited to one or more of a text message prompt, a voice prompt, and an image prompt. For example, a text message prompt "The soil bearing capacity of the road where the vehicle is traveling is small, and there is a risk of the vehicle sinking. Please leave the current road as soon as possible."

[0078] Optionally, soil pressure data of the road surface on which the vehicle is traveling is collected by a pressure sensor array in the vehicle, and the collected soil pressure data is transmitted to a data processing module (e.g., an artificial intelligence model (AI)). The soil pressure data is processed by the data processing module to obtain the soil bearing capacity of the road surface on which the vehicle is traveling.

[0079] In the embodiment of the present application, when the current ground clearance between the chassis and the driving road in the vehicle is less than or equal to a preset threshold, it means that the current ground clearance between the chassis and the driving road is shortened, and it can be determined that the vehicle is sinking. By judging whether the vehicle is sinking by the size between the current ground clearance between the chassis and the driving road and the preset threshold, the accuracy of judging whether the vehicle is sinking can be improved compared to judging whether the vehicle is sinking by the user through perception on the vehicle.

[0080] S220, determining the driving direction of the vehicle based on the current altitude.

[0081] For example, when the vehicle is detected to be sinking, the desired driving direction of the vehicle can be determined by acquiring the current height between the wheels and the driving road surface.

[0082] In one possible implementation, determining the vehicle's driving direction based on the current height includes: determining the maximum current height of the current heights of each wheel in the vehicle and the driving road surface; and determining the direction of the wheel corresponding to the maximum current height as the driving direction.

[0083] For example, when determining the desired driving direction of the vehicle by the current height between the wheels and the driving road, the current height between each wheel and the driving road can be obtained first, and the current height between each wheel and the driving road can be sorted from large to small or from small to large to obtain the maximum current height among multiple current heights.

[0084] When the maximum current height is obtained, the direction of the wheel corresponding to the maximum current height can be determined as the driving direction of the vehicle. This is because the greater the current height between the wheel and the driving road surface, the less the wheel sinks, so it can be determined that the road surface condition corresponding to the wheel is more stable, the soil bearing capacity is stronger, and the degree of vehicle sinking can be reduced.

[0085] refer to Figure 4, the vehicle may include a left front wheel 101, a left rear wheel 102, a right front wheel 103 and a right rear wheel 104. Assuming that the wheel corresponding to the maximum current height of the current height of the driving road surface among the left front wheel 101, the left rear wheel 102, the right front wheel 103 and the right rear wheel 104 is the right front wheel 103, it means that the road surface condition of the forward direction (for example, direction A) corresponding to the right front wheel 103 is more stable than the road surface condition of the directions corresponding to the other wheels (i.e., the left front wheel 101, the left rear wheel 102, and the right rear wheel 104), and the soil bearing capacity is stronger. Therefore, in order to avoid the vehicle from sinking, the forward direction corresponding to the right front wheel 103 can be determined as the driving direction of the vehicle.

[0086] In the embodiment of the present application, when the height of the wheel and the road surface on which the vehicle is traveling is obtained, the maximum current height of each wheel and the road surface on which the vehicle is traveling can be determined first, and the direction of the wheel corresponding to the maximum current height can be determined as the driving direction. Since the maximum current height of the current height of the wheel and the road surface on which the vehicle is traveling can indicate that the smaller the wheel sinks, the more stable the road surface condition corresponding to the wheel is, and the stronger the soil bearing capacity is; therefore, the direction of the wheel corresponding to the maximum current height is determined as the driving direction, which further improves the accuracy of the vehicle's driving direction, thereby controlling the vehicle's driving through the driving direction, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0087] Optionally, the above-mentioned determination of the direction of the wheel corresponding to the maximum current height as the driving direction includes: determining the number corresponding to the maximum current height; if the number is 1, determining the movement direction of the first wheel corresponding to the maximum current height as the driving direction; if the number is multiple, determining the driving direction based on the lateral directions of multiple wheels corresponding to multiple maximum current heights.

[0088] Exemplarily, when the maximum current height between the wheel and the driving road surface is obtained, the number corresponding to the maximum current height can be determined first, and the driving direction of the vehicle can be determined based on the number corresponding to the maximum current height.

[0089] When the number corresponding to the maximum current height is 1, the movement direction of the wheel corresponding to the 1 maximum current height (which may be referred to as a “first wheel”) may be determined as the driving direction of the vehicle.

[0090] Furthermore, the above-mentioned determining the movement direction of the first wheel corresponding to a maximum current height as the driving direction includes: if the first wheel is the front wheel of the vehicle, determining the forward direction of the first wheel as the driving direction; if the first wheel is the rear wheel of the vehicle, determining the backward direction of the first wheel as the driving direction.

[0091] For example, when determining the first wheel, it can be determined whether the first wheel is a front wheel or a rear wheel. When the first wheel is a front wheel, it means that the road condition corresponding to the forward direction of the first wheel is more stable than that corresponding to the backward direction of the first wheel. If the first wheel moves backward, the current height between the first wheel and the driving road surface may continue to decrease, so the forward direction of the first wheel can be determined as the driving direction of the vehicle. Figure 4 Direction A shown.

[0092] When the first wheel is a rear wheel, it means that the road condition corresponding to the backward direction of the first wheel is more stable than that corresponding to the forward direction of the first wheel. If the first wheel continues to move forward, the current height between the first wheel and the driving road surface may continue to decrease. Therefore, the backward direction of the first wheel can be determined as the driving direction of the vehicle. Figure 4 Direction B shown.

[0093] refer to Figure 4 If the wheel corresponding to the maximum current height of the current height of the driving road surface among the left front wheel 101, the left rear wheel 102, the right front wheel 103 and the right rear wheel 104 is the right rear wheel 104, it means that the road condition of the backward direction (for example, direction B) corresponding to the right rear wheel 104 is more stable than the road condition of the directions corresponding to the other wheels (i.e., the left front wheel 101, the left rear wheel 102, and the right front wheel 103), and the soil bearing capacity is stronger. Therefore, in order to prevent the vehicle from sinking, the backward direction corresponding to the right rear wheel 104 can be determined as the driving direction of the vehicle.

[0094] In the embodiment of the present application, when the maximum current height is 1 and the corresponding wheel (i.e., the first wheel) is the front wheel, it means that the road condition corresponding to the forward direction of the first wheel is more stable than that corresponding to the backward direction of the first wheel, so the forward direction of the first wheel can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking. Alternatively, when the maximum current height is 1 and the corresponding wheel (i.e., the first wheel) is the rear wheel, it means that the road condition corresponding to the backward direction of the first wheel is more stable than that corresponding to the forward direction of the first wheel, therefore the backward direction of the first wheel can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the backward direction of the first wheel, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0095] When there are multiple maximum current heights, the lateral directions of multiple wheels corresponding to the multiple maximum current heights may be acquired, and the driving direction of the vehicle may be determined through the lateral directions of the multiple wheels.

[0096] The lateral directions of the plurality of wheels may include directions that are opposite to each other, for example, the left side direction and the right side direction are opposite to each other, and the front side direction and the rear side direction are opposite to each other.

[0097] In the embodiment of the present application, when the maximum current height among the current heights of the wheels and the driving road surface is one, the movement direction corresponding to the maximum current height can be determined as the driving direction of the vehicle; and when the maximum current height among the current heights of the wheels and the driving road surface is multiple, the driving direction of the vehicle needs to be determined by the lateral directions of multiple wheels corresponding to the multiple maximum current heights. By selecting different ways to determine the driving direction of the vehicle through the different maximum current heights, the determined driving direction of the vehicle can be made more accurate, so that the driving of the vehicle can be controlled by the driving direction, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0098] Furthermore, the above-mentioned determination of the driving direction based on the lateral directions of multiple wheels corresponding to multiple maximum current heights includes: if the lateral directions of multiple wheels indicate that the number of wheels in a first lateral direction is greater than the number of wheels in a second lateral direction, determining the first lateral direction as the driving direction; if the lateral directions of multiple wheels indicate that the number of wheels in the first lateral direction is equal to the number of wheels in the second lateral direction, determining the driving direction based on a first historical height corresponding to the wheels in the first lateral direction and a second historical height corresponding to the wheels in the second lateral direction; wherein the first lateral direction and the second lateral direction are opposite to each other.

[0099] When one of the left side direction and the right side direction is the first side direction, the other is the second side direction. For example, if the left side direction is the first side direction, the right side direction is the second side direction. Alternatively, when one of the front side direction and the rear side direction is the first side direction, the other is the second side direction. For example, if the rear side direction is the first side direction, the front side direction is the second side direction.

[0100] For example, when the lateral directions of multiple wheels corresponding to multiple maximum current heights are obtained, the lateral directions of the multiple wheels can be grouped, the wheels in the same lateral direction can be grouped, and the number of wheels in each lateral direction can be counted. Then, it is determined whether the number of wheels in the first lateral direction is greater than the number of wheels in the second lateral direction based on the counting result.

[0101] When it is determined that the number of wheels in the first side direction is greater than the number of wheels in the second side direction, the first side direction may be determined as the driving direction of the vehicle. Figure 5 As shown, when the number of wheels on the right side of the vehicle (for example, 2) is greater than the number of wheels on the left side (for example, 1), the right side of the vehicle body (for example, Figure 5 The direction C) in the figure is determined as the driving direction of the vehicle.

[0102] When it is determined that the number of wheels on the first side is equal to the number of wheels on the second side, the historical height corresponding to each wheel on the first side at the moment before the current moment (which may be referred to as the "first historical height") and the historical height corresponding to each wheel on the second side at the moment before the current moment (which may be referred to as the "second historical height") may be obtained. The driving direction of the vehicle is then determined based on the first historical height and the second historical height.

[0103] Among them, the timestamp of the first historical height and the second historical height is the same.

[0104] In an embodiment of the present application, when the lateral directions of multiple wheels indicate that the number of wheels on one side of the vehicle is greater than the number of wheels on the other side of the vehicle, it means that the corresponding road conditions on this side are more stable than the corresponding road conditions on the other side. Therefore, this side can be determined as the driving direction of the vehicle, further improving the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0105] Alternatively, when the lateral directions of the multiple wheels indicate that the number of wheels on one side of the vehicle is equal to the number of wheels on the other side of the vehicle, it indicates that the stability of the road surface conditions corresponding to the one side is substantially similar to the stability of the road surface conditions corresponding to the other side. Therefore, in order to determine the driving direction of the vehicle in the two lateral directions, the historical height corresponding to the wheels on one side and the historical height corresponding to the wheels on the other side can be considered, that is, the historical height data is introduced, and the height change trend between the wheels and the driving ground is taken into consideration, so as to further improve the accuracy of the driving direction of the vehicle, thereby controlling the driving of the vehicle through the forward direction of the first wheel, so that the vehicle can leave the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0106] Furthermore, the above-mentioned determination of the driving direction based on the first historical height corresponding to the wheel in the first side direction and the second historical height corresponding to the wheel in the second side direction includes: determining the maximum historical height between the first historical height and the second historical height; and determining the lateral direction of the wheel corresponding to the maximum historical height as the driving direction.

[0107] Exemplarily, when the first historical height and the second historical height are obtained, the first historical height and the second historical height may be sorted from large to small or from small to large to obtain the maximum historical height of the first historical height and the second historical height.

[0108] When the maximum historical height is obtained, the side direction corresponding to the maximum historical height can be used to determine the driving direction of the vehicle. For example, if the side direction corresponding to the maximum historical height is the left side direction, the left side direction of the vehicle body can be used to determine the driving direction of the vehicle.

[0109] Optionally, if the first historical height is still the same as the second historical height, the historical height corresponding to the moment before the moment before the current moment of each wheel in the first side direction can be updated to the first historical height, and the historical height corresponding to the moment before the moment before the current moment of each wheel in the second side direction can be updated to the second historical height, until the maximum historical height between the first historical height and the second historical height is determined.

[0110] In an embodiment of the present application, when the historical heights corresponding to the wheels on one side of the vehicle and the historical heights corresponding to the wheels on the other side of the vehicle are obtained, the maximum historical height of the historical heights on both sides can be determined, and the lateral direction of the wheel corresponding to the maximum historical height can be determined as the driving direction of the vehicle. By introducing historical height data and taking into account the height change trend between the wheel and the driving ground, the accuracy of the vehicle's driving direction is further improved, thereby controlling the vehicle's driving by the forward direction of the first wheel, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0111] S230: Control the vehicle to travel based on the travel direction so that the vehicle stops sinking.

[0112] For example, when the driving direction of the vehicle is determined, the driving direction can be used to control the vehicle to stop sinking until the vehicle stops sinking. Figure 4 If the direction is B, the vehicle can be controlled to travel in direction B.

[0113] Alternatively, when the vehicle's driving direction is determined, the driving direction can be displayed to the driver in the vehicle through a display screen in the vehicle (for example, a central control screen) or a mobile terminal, so that the driver can drive the vehicle according to the driving direction.

[0114] In such Figure 2 In the method 200 shown, when the vehicle sinks, the vehicle's driving direction can be determined by obtaining the height between the wheels and the road surface on which the vehicle is traveling, and the vehicle's driving can be controlled by the driving direction so that the vehicle can leave the sinking road surface, thereby stopping the vehicle from sinking. Compared with the existing method in which the user determines the vehicle's driving direction based on driving experience when the vehicle sinks, the vehicle's driving direction is determined by the height between the wheels and the road surface on which the vehicle is traveling in the present application, which can avoid the problem of manual judgment prone to errors, thereby improving the accuracy of the vehicle's driving direction and effectively stopping the vehicle from sinking.

[0115] Furthermore, when the vehicle sinks, the driving direction of the vehicle is determined by the height between the wheels and the road surface on which the vehicle is driving, thereby improving the intelligence of determining the driving direction of the vehicle.

[0116] In one possible implementation, after controlling the vehicle's travel based on the travel direction, obtain a first current ground clearance between the vehicle's chassis and the travel road surface; if the first current ground clearance is less than or equal to a second preset threshold, update the travel direction based on a first current height between the wheel and the travel road surface to obtain an updated travel direction; control the vehicle's travel based on the updated travel direction; if the first current ground clearance is greater than the second preset threshold, control the vehicle's travel based on the travel direction.

[0117] For example, when controlling the driving of the vehicle by determining the driving direction, the real-time ground clearance between the chassis of the vehicle and the driving road surface (which may be referred to as the "first current ground clearance") can be obtained, and the first current ground clearance can be used to detect whether the vehicle has left the sinking area, that is, whether the vehicle has stopped sinking.

[0118] When the first current ground clearance is obtained, it can be determined whether the first current ground clearance is less than or equal to the second preset threshold. When the first current ground clearance is ≤ the second preset threshold, it means that the vehicle is still sinking, and the determined driving direction cannot make the vehicle leave the sinking area. Therefore, it is necessary to re-acquire the real-time current height between the wheel and the driving road surface (which can be called the "first current height"), and update the determined driving direction through the acquired first current height, so that when the vehicle is controlled by the updated driving direction, the vehicle can leave the sinking area.

[0119] When the first current ground clearance is greater than the second preset threshold, it indicates that the vehicle stops sinking, and the determined driving direction allows the vehicle to leave the sinking area. Therefore, the vehicle can continue to be controlled by the determined driving direction to allow the vehicle to leave the sinking area as soon as possible.

[0120] The second preset threshold may be equal to the first preset threshold, or the second preset threshold may not be equal to the first preset threshold.

[0121] In the embodiment of the present application, after controlling the vehicle's travel based on the determined travel direction, the current ground clearance between the chassis and the travel road surface can be further obtained, and when the current ground clearance is small, it can be explained that the determined travel direction cannot enable the vehicle to leave the sunken road surface; therefore, the previously determined travel direction can be updated again by the current height between the wheels and the travel road surface, so as to control the vehicle's travel using the updated travel direction, so that the vehicle can leave the sunken road surface as soon as possible, and further stop the vehicle from sinking. Alternatively, when the current ground clearance is large, it can be explained that the determined travel direction can enable the vehicle to leave the sunken road surface. Therefore, the vehicle's travel can be controlled by the previously determined travel direction, so that the vehicle can leave the sunken road surface as soon as possible, and further stop the vehicle from sinking.

[0122] In one possible implementation, an environment image and / or a target map in which the vehicle is located is obtained; the above-mentioned control of the vehicle's driving based on the driving direction includes: determining the vehicle's driving path based on the environment image and / or the target map and the driving direction; and controlling the vehicle to travel in the driving direction on the driving path.

[0123] Exemplarily, when the driving of the vehicle is controlled by the determined driving direction, an image of the environment in which the vehicle is located and / or a map of the location of the vehicle (which may be referred to as a "target map") may also be acquired.

[0124] When the environmental image is acquired, an environmental map of the vehicle can be constructed through the environmental image, and AI can be used to process and analyze the constructed environmental map and the determined driving direction to plan the vehicle's driving path so that the planned driving path conforms to the environment in which the vehicle is located; and the vehicle can be controlled to travel on the planned driving path in the determined driving direction.

[0125] When the target map is obtained, AI can be used to process and analyze the target map, the vehicle's own location information on the map, and the determined driving direction to plan the vehicle's driving path; and control the vehicle to travel on the planned driving path in the determined driving direction.

[0126] When the environmental image and target map are obtained, AI can be used to process and analyze the target map, the vehicle's own position information on the map, and the determined driving direction to plan the vehicle's initial driving path; then, the initial driving path can be adjusted by constructing the environmental map of the vehicle through the environmental image to obtain an adjusted driving path, so that the adjusted driving path is more in line with the vehicle's environment and more accurate; and the vehicle can be controlled to travel on the adjusted driving path in the determined driving direction.

[0127] Optionally, when the vehicle's driving path is determined, the driving path can be displayed to the driver in the vehicle through a display screen in the vehicle (for example, a central control screen) or a mobile terminal, so that the driver can drive the vehicle on the driving path in the determined driving direction.

[0128] The position information of the vehicle itself on the map can be collected in real time by a positioning module (eg, Global Positioning System (GPS)) integrated in the vehicle.

[0129] The environmental map may represent map data obtained by processing and analyzing environmental images through a Geographic Information System (GIS) integrated in the vehicle.

[0130] The map of the vehicle's location may be pre-stored in a storage device of the vehicle, and when the vehicle's driving path needs to be planned, the map of the vehicle's location is retrieved.

[0131] In an embodiment of the present application, when controlling the driving of the vehicle by means of a determined driving direction, the driving path of the vehicle can also be determined jointly by an image of the environment in which the vehicle is located and / or a target map and the determined driving direction, so that the driving path of the vehicle can be more in line with the environment in which the vehicle is located, and the vehicle can be controlled to travel on the driving path in the determined driving direction, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0132] Figure 6 is a flow chart of another vehicle control method provided by an embodiment of the present application. The method can be Figure 1 The vehicle 110 in the vehicle 110 executes, or the VCU in the vehicle 110 executes.

[0133] For example, Figure 6 As shown, the method 600 includes S601-S615.

[0134] S601, obtaining the real-time position and environment image of the vehicle, and analyzing the type of road the vehicle is traveling on through the real-time position and environment image.

[0135] For example, when the vehicle is powered on, the real-time position of the vehicle can be collected through the GPS installed on the vehicle, and the environment image of the vehicle can be collected through the camera installed on the vehicle. When the real-time position of the vehicle and the environment image of the vehicle are obtained, the type of road the vehicle is currently traveling on can be analyzed by implementing the position and / or environment image.

[0136] The road types may include artificially paved roads (eg, asphalt roads, cement roads, etc.) and unartificially paved roads (ie, the above-mentioned natural terrain roads).

[0137] Optionally, when the real-time location of the vehicle is in a natural area such as an ecological protection area, a water source, a habitat of rare animals and plants, etc., it can be indicated that the type of road the vehicle is traveling on is a natural terrain road. And / or, when the environment image includes natural factors such as vegetation, water sources, grasslands, etc., it can also be indicated that the type of road the vehicle is traveling on is a natural terrain road.

[0138] S602, determine whether the road type on which the vehicle is traveling is a natural terrain road. If yes, execute S603; if not, execute S601.

[0139] For example, when the type of road on which the vehicle is traveling is obtained, it can be determined whether the road type is a natural terrain road.

[0140] S603, obtaining a current ground clearance between the vehicle chassis and the driving road surface.

[0141] For example, if it is determined through S602 that the type of road on which the vehicle is traveling is a natural terrain road, in order to detect whether the vehicle sinks on the natural terrain road, the current ground clearance between the chassis of the vehicle and the road surface can be obtained.

[0142] For example, if it is determined through S602 that the type of road the vehicle is traveling on is a man-made road, S601 may be continued to obtain the real-time position and environmental image of the vehicle, and the type of road the vehicle is traveling on is analyzed through the real-time position and environmental image.

[0143] S604, determine whether the current ground clearance is less than or equal to the design value. If yes, execute S605; if not, execute S603.

[0144] For example, when determining the current ground clearance between the chassis of the vehicle and the driving road surface, it can be determined whether the current ground clearance is less than or equal to the design value (ie, the first preset threshold value).

[0145] S605, determining that the vehicle is sinking.

[0146] For example, if the current ground clearance between the chassis and the driving road surface is less than or equal to the design value obtained in S604, it means that the vehicle may be driving on a road surface with low soil density, thereby causing the vehicle to sink.

[0147] For example, if the current ground clearance between the chassis and the driving road surface obtained by S604 is greater than the design value, it means that the vehicle may be driving on a road surface with high soil density and the vehicle is not easy to sink; S603 can be continued to obtain the current ground clearance between the chassis and the driving road surface in the vehicle.

[0148] S606, output vehicle sinking prompt information.

[0149] For example, when it is determined that the vehicle is sinking, a prompt message of the vehicle sinking may be output to the user in the vehicle so that the user can be informed of the vehicle sinking in time. For example, a text message prompt may be sent saying "The soil bearing capacity of the road surface where the vehicle is traveling is small, and there is a risk of the vehicle sinking. Please leave the current road surface as soon as possible."

[0150] S607, obtaining the current height of each wheel of the vehicle relative to the driving road surface.

[0151] For example, when determining that the vehicle is sinking, the current height of each wheel in the vehicle relative to the driving road surface may be obtained.

[0152] S608, determining the maximum current height of the current heights of each wheel of the vehicle and the driving road surface.

[0153] Exemplarily, when the current height between each wheel and the driving road surface is obtained, the maximum current height among the current heights between each wheel in the vehicle and the driving road surface can be determined by sorting.

[0154] S609: Determine the direction of the wheel corresponding to the maximum current height as the driving direction.

[0155] Exemplarily, when the maximum current height is determined, the direction of the wheel corresponding to the maximum current height may be determined as the driving direction of the vehicle.

[0156] S610, determining a driving path of the vehicle through an image of the environment in which the vehicle is located and / or a target map and a driving direction.

[0157] For example, when determining the direction of travel of a vehicle, AI can be used to first process and analyze the target map, the vehicle's own position information on the map, and the determined direction of travel, and plan the vehicle's initial driving path; then, the initial driving path can be adjusted by constructing an environmental map of the vehicle through terrain information, flora and fauna information, etc. in the environmental image, so as to obtain an adjusted driving path, so that the adjusted driving path can enable the vehicle to leave the sunken road surface as soon as possible, and minimize damage to the natural terrain and road surface, thereby making a positive contribution to the protection of the ecological environment.

[0158] S611, output the driving route and driving direction.

[0159] Exemplarily, when the adjusted driving path corresponding to the vehicle is determined, the adjusted driving path and driving direction can be output to the user in the vehicle, so that the user can understand the driving path and driving direction of the vehicle, thereby reducing the user's panic.

[0160] S612, controlling the vehicle to travel in the travel direction on the travel path.

[0161] For example, when the adjusted driving path corresponding to the vehicle is determined, the vehicle can be controlled to travel in the determined driving direction along the adjusted driving path.

[0162] S613, obtaining the real-time ground clearance between the chassis and the driving road surface again.

[0163] For example, when the vehicle is controlled to travel along the adjusted driving path in the determined driving direction, the real-time ground clearance between the chassis and the driving road surface (ie, the first current ground clearance) may be acquired again.

[0164] S614, determine whether the real-time ground clearance is less than or equal to the design value. If not, execute S615; if so, execute S607.

[0165] Exemplarily, when the real-time ground clearance between the chassis and the driving road surface is obtained, it can be determined whether the real-time ground clearance is less than or equal to the design value (ie, the second preset threshold value).

[0166] S615, controlling the vehicle to travel in the travel direction on the travel path.

[0167] For example, when the real-time ground clearance obtained in S614 is greater than the design value, it indicates that the vehicle has stopped sinking, and the determined driving direction allows the vehicle to leave the sinking area. Therefore, the vehicle can continue to be controlled to travel along the adjusted driving path in the determined driving direction, so that the vehicle can leave the sinking area as soon as possible.

[0168] For example, when the real-time ground clearance is ≤ the design value obtained through S614, it means that the vehicle is still sinking, and the determined driving direction and the adjusted driving path cannot make the vehicle leave the sinking area. Therefore, it is necessary to re-acquire the current height of the wheel and the driving road surface, that is, to execute S607 in a loop and obtain the current height of each wheel in the vehicle and the driving road surface again. And the determined driving direction and the adjusted driving path are updated by the obtained current height of each wheel and the driving road surface, so as to control the vehicle to continue to drive in the updated driving direction on the updated driving path until the vehicle leaves the sinking area.

[0169] In summary, when the present application detects that a vehicle is traveling on a natural terrain road surface that is sinking, the vehicle's driving direction can be determined by obtaining the height between the wheels and the vehicle's driving surface, and the vehicle's driving can be controlled by the driving direction, so that the vehicle can drive away from the sinking road surface. By determining the vehicle's driving direction by the height between the wheels and the vehicle's driving surface, the problem of manual judgment that is prone to errors can be avoided, thereby improving the accuracy of the vehicle's driving direction, effectively stopping the vehicle from sinking and protecting the natural terrain road surface (i.e., the natural environment).

[0170] Afterwards, when the vehicle is traveling in the determined driving direction, if the current ground clearance between the chassis and the driving road is still small, it means that the determined driving direction cannot enable the vehicle to leave the sinking road surface; therefore, the previously determined driving direction can be updated again according to the current height of the wheels and the driving road surface, so as to use the updated driving direction to control the vehicle's driving, so that the vehicle can leave the sinking road surface as soon as possible and further stop the vehicle from sinking.

[0171] In addition, when controlling the driving of the vehicle by the determined driving direction, the driving path of the vehicle can also be determined by the environmental image and / or target map of the vehicle and the determined driving direction, so that the driving path of the vehicle can be more in line with the environment in which the vehicle is located, and the vehicle can be controlled to travel on the driving path in the determined driving direction, so that the vehicle can drive off the sinking road surface as soon as possible, and further stop the vehicle from sinking.

[0172] It should be noted that Figure 6 All steps in Figures 2 to 5 The corresponding embodiments are described in detail and will not be described again here.

[0173] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0174] Combination of the above Figures 1 to 6 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 7 and Figure 8 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0175] Figure 7 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application.

[0176] For example, Figure 7 As shown, the device 700 includes:

[0177] An acquisition module 710 is used to acquire the current height of the wheels of the vehicle and the driving road surface if the vehicle sinks;

[0178] A processing module 720, for determining a direction of travel of the vehicle based on the current altitude;

[0179] The control module 730 is used to control the vehicle's travel based on the travel direction so that the vehicle stops sinking.

[0180] In a possible implementation, the processing module 720 is specifically used to: determine the maximum current height of the current heights of each wheel in the vehicle and the driving road surface; and determine the direction of the wheel corresponding to the maximum current height as the driving direction.

[0181] In one possible implementation, the processing module 720 is specifically used to: determine the number corresponding to the maximum current height; if the number is 1, determine the movement direction of the first wheel corresponding to the 1 maximum current height as the driving direction; if the number is multiple, determine the driving direction based on the lateral directions of multiple wheels corresponding to multiple maximum current heights.

[0182] In one possible implementation, the processing module 720 is specifically used to: if the first wheel is the front wheel of the vehicle, determine the forward direction of the first wheel as the driving direction; if the first wheel is the rear wheel of the vehicle, determine the backward direction of the first wheel as the driving direction.

[0183] In one possible implementation, the processing module 720 is specifically used to: if the lateral directions of multiple wheels indicate that the number of wheels in the first lateral direction is greater than the number of wheels in the second lateral direction, determine the first lateral direction as the driving direction; if the lateral directions of multiple wheels indicate that the number of wheels in the first lateral direction is equal to the number of wheels in the second lateral direction, determine the driving direction based on a first historical height corresponding to the wheels in the first lateral direction and a second historical height corresponding to the wheels in the second lateral direction; wherein the first lateral direction and the second lateral direction are opposite to each other.

[0184] In a possible implementation, the processing module 720 is specifically used to: determine the maximum historical height between the first historical height and the second historical height; and determine the lateral direction of the wheel corresponding to the maximum historical height as the driving direction.

[0185] In a possible implementation, the acquisition module 710 is further used to: acquire a current ground clearance between a chassis in the vehicle and a driving road surface; and determine that the vehicle sinks if the current ground clearance is less than or equal to a first preset threshold.

[0186] In one possible implementation, the control module 730 is also used to: obtain a first current ground clearance between the chassis of the vehicle and the driving surface; if the first current ground clearance is less than or equal to a second preset threshold, update the driving direction based on the first current height of the wheel and the driving surface to obtain an updated driving direction; control the vehicle driving based on the updated driving direction; if the first current ground clearance is greater than the second preset threshold, control the vehicle driving based on the driving direction.

[0187] In one possible implementation, the acquisition module 710 is also used to: acquire the environment image and / or target map in which the vehicle is located; the control module 730 is specifically used to: determine the vehicle's driving path based on the environment image and / or target map and the driving direction; and control the vehicle to travel in the driving direction on the driving path.

[0188] It should be noted that the above device 700 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0189] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0190] Therefore, the modules of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0191] Figure 8 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0192] For example, Figure 8 As shown, the vehicle 800 includes: a memory 810 and a processor 820, wherein the memory 810 stores an executable program code 8101, and the processor 820 is used to call and execute the executable program code 8101 to perform a vehicle control method.

[0193] The present application can divide the functional modules of the vehicle 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.

[0194] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a processing module, a 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.

[0195] The vehicle provided in the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0196] In the case of an integrated unit, the vehicle may include a processing module and a storage module. 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 related program codes and data.

[0197] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of 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.

[0198] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a micro drive and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0199] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0200] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0201] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0202] 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.

[0203] 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.

[0204] 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 vehicle control method, characterized in that: The method comprises: If the vehicle is detected to be sinking, obtaining the current height of the wheels of the vehicle and the road surface; determining a travel direction of the vehicle based on the current altitude; The vehicle is controlled to travel based on the travel direction so that the vehicle stops sinking.

2. The method according to claim 1, characterized in that The determining the driving direction of the vehicle based on the current height includes: determining a maximum current height of each wheel of the vehicle relative to the driving surface; The direction of the wheel corresponding to the maximum current height is determined as the driving direction.

3. The method according to claim 2, characterized in that The step of determining the direction of the wheel corresponding to the maximum current height as the driving direction includes: Determine the number corresponding to the maximum current height; If the number is 1, the movement direction of the first wheel corresponding to the maximum current height is determined as the driving direction; If the number is multiple, the driving direction is determined based on the lateral directions of multiple wheels corresponding to multiple maximum current heights.

4. The method according to claim 3, characterized in that The step of determining the movement direction of the first wheel corresponding to a maximum current height as the driving direction includes: If the first wheel is the front wheel of the vehicle, determining the forward direction of the first wheel as the driving direction; If the first wheel is a rear wheel of the vehicle, the backward direction of the first wheel is determined as the traveling direction.

5. The method according to claim 3, characterized in that: The determining the driving direction based on the lateral directions of the multiple wheels corresponding to the multiple maximum current heights includes: If the lateral directions of the multiple wheels indicate that the number of wheels in a first lateral direction is greater than the number of wheels in a second lateral direction, determining the first lateral direction as the driving direction; If the lateral directions of the multiple wheels indicate that the number of wheels in the first lateral direction is equal to the number of wheels in the second lateral direction, determining the driving direction based on a first historical height corresponding to the wheels in the first lateral direction and a second historical height corresponding to the wheels in the second lateral direction; The first side direction and the second side direction are opposite to each other.

6. The method according to claim 5, characterized in that The determining the driving direction based on a first historical height corresponding to the wheel in the first lateral direction and a second historical height corresponding to the wheel in the second lateral direction includes: Determine the maximum historical altitude between the first historical altitude and the second historical altitude; The lateral direction of the wheel corresponding to the maximum historical height is determined as the driving direction.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Obtaining a current ground clearance between a chassis of the vehicle and the driving road; The detecting that the vehicle sinks comprises: If the current ground clearance is less than or equal to a first preset threshold, it is determined that the vehicle is sinking.

8. The method according to any one of claims 1 to 6, characterized in that After controlling the vehicle to travel based on the travel direction, the method further includes: Acquire a first current ground clearance between a chassis of the vehicle and the driving road surface; If the first current ground clearance is less than or equal to a second preset threshold, updating the driving direction based on a first current height between the wheel and the driving road surface to obtain an updated driving direction; and controlling the vehicle to travel based on the updated driving direction; If the first current ground clearance is greater than the second preset threshold, the vehicle is controlled to travel based on the driving direction.

9. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Acquiring an environment image and / or a target map in which the vehicle is located; The controlling the vehicle to travel based on the travel direction comprises: Determining a driving path of the vehicle based on the environment image and / or the target map and the driving direction; The vehicle is controlled to travel along the travel path in the travel direction.

10. A vehicle control device, characterized in that: The device comprises: an acquisition device, for acquiring the current height of the wheels of the vehicle and the driving road surface if the vehicle is detected to be sinking; processing means for determining a direction of travel of the vehicle based on the current altitude; A control device is used to control the vehicle to travel based on the travel direction so that the vehicle stops sinking.

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