Butt joint road surface recognition method, device and equipment, storage medium and program product

Abstract

The invention provides a butt joint road surface recognition method and device, equipment, a storage medium and a program product, and relates to the technical field of vehicle control. The method comprises the steps that after an anti-lock brake system (ABS) of a vehicle is started, the initial state of a vehicle running road surface is determined based on the first deceleration of the vehicle within a first preset time period and the first slip rate of each wheel; acquiring first driving state information and / or second driving state information of the vehicle after the first preset time period; the first driving state information comprises a second slip rate of each wheel and a second deceleration of the vehicle; the second driving state information comprises the stage of the ABS system and the wheel speed information of each wheel; and based on the initial state, the first driving state information and / or the second driving state information, a butt joint road surface in the vehicle driving process is recognized. According to the invention, the delay of butt joint pavement recognition can be avoided, and the accuracy of butt joint pavement recognition is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, equipment, storage medium and program product for identifying a docking road surface. Background Art

[0002] The contact road refers to the situation where the road adhesion conditions change suddenly along the forward direction of the vehicle during driving, which can be divided into the situation from high adhesion state to low adhesion state, and from low adhesion state to high adhesion state. The sudden change of road adhesion conditions has a great influence on the control of ABS (Anti-lock Braking System), so accurate contact road identification can make ABS control more precise.

[0003] In related technologies, the docking road surface is usually identified based on parameters such as pressure level and continuous locking time. This has the problem of long identification delay time, which is not conducive to the precise control of ABS. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, equipment, storage medium and program product for identifying a docking road surface, so as to improve the efficiency and accuracy of the docking road surface identification.

[0005] In a first aspect, an embodiment of the present invention provides a method for identifying a docking road surface, comprising determining an initial state of a road surface on which the vehicle is traveling based on a first deceleration of the vehicle within a first preset time period and a first slip rate of each wheel after an anti-lock braking (ABS) system of the vehicle is started; obtaining first driving state information and / or second driving state information of the vehicle after the first preset time period; the first driving state information includes a second slip rate of each wheel and a second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; and identifying a docking road surface during the driving process of the vehicle based on the initial state, the first driving state information and / or the second driving state information.

[0006] In some embodiments, determining the initial state of the road surface on which the vehicle is traveling based on the first deceleration of the vehicle and the first slip rate of each wheel within a first preset time period includes: determining the first total slip rate of the vehicle based on the first slip rate of each wheel; and determining the initial state based on the first deceleration and the first total slip rate.

[0007] In some embodiments, determining the first total slip rate of the vehicle based on the first slip rates of the individual wheels includes: determining a weight value of each of the wheels based on the wheel end pressure of the ABS system at the initial moment of decompression; and performing weighted summation of the first slip rates of the individual wheels based on the weight value of each wheel to obtain the first total slip rate.

[0008] In some embodiments, determining the initial state based on the first deceleration and the first total slip ratio includes: if the first deceleration and the first total slip ratio both satisfy a first preset condition within the first preset time period, determining that the initial state is a low-adhesion state; wherein the first preset condition is that the first deceleration is less than or equal to a deceleration threshold, and the first total slip ratio is greater than or equal to a first slip ratio threshold; if the first deceleration and the first total slip ratio do not satisfy the first preset condition within the first preset time period, determining that the initial state is a high-adhesion state.

[0009] In some embodiments, the initial state is a high-adhesion state; the identifying of the contacting road surface during the driving process of the vehicle based on the initial state, the first driving state information and / or the second driving state information includes at least one of the following: determining a second total slip rate based on the second slip rates of the respective wheels, and if the second total slip rate is greater than or equal to a second slip rate threshold, and the change rate of the second deceleration is less than or equal to a first deceleration change rate threshold, determining that the driving road surface of the vehicle enters a low-adhesion state from a high-adhesion state; wherein the first deceleration change rate threshold is less than 0; if the ABS system is in a decompression stage, and the wheel deceleration of at least one wheel among the respective wheels is greater than or equal to the first wheel deceleration threshold, determining that the driving road surface of the vehicle enters a low-adhesion state from a high-adhesion state; if the ABS system is in a pressure-maintaining stage, and the wheel acceleration change rate of at least one wheel among the respective wheels is less than or equal to the first wheel acceleration change rate threshold, determining that the driving road surface of the vehicle enters a low-adhesion state from a high-adhesion state; wherein the first wheel acceleration change rate threshold is less than 0.

[0010] In some embodiments, the initial state is a low-adhesion state; the identification of the contacting road surface during the driving of the vehicle based on the initial state, the first driving state information and / or the second driving state information includes at least one of the following: if the second total slip rate is less than or equal to a third slip rate threshold, and the change rate of the second deceleration is greater than or equal to a second deceleration change rate threshold, it is determined that the driving road surface of the vehicle enters a high-adhesion state from a low-adhesion state; wherein the second deceleration change rate threshold is greater than 0; if the ABS system is in a boosting stage, and the wheel acceleration of at least one wheel among the wheels is greater than or equal to a second wheel acceleration threshold, it is determined that the driving road surface of the vehicle enters a high-adhesion state from a low-adhesion state; if the ABS system is in a pressure-maintaining stage, and the wheel acceleration change rate of at least one wheel among the wheels is greater than or equal to a second wheel acceleration change rate threshold, it is determined that the driving road surface of the vehicle enters a high-adhesion state from a low-adhesion state; wherein the second wheel acceleration change rate threshold is greater than 0.

[0011] In a second aspect, an embodiment of the present invention provides a docking road surface identification device, comprising: a determination module, for determining the initial state of the road surface on which the vehicle is traveling based on the first deceleration of the vehicle within a first preset time period and the first slip rate of each wheel after the anti-lock braking (ABS) system of the vehicle is started; an acquisition module, for acquiring first driving state information and / or second driving state information of the vehicle after the first preset time period; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; an identification module, for identifying the docking road surface during the vehicle's driving process based on the initial state, the first driving state information and / or the second driving state information.

[0012] In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory storing a computer program, wherein when the processor executes the program, the docking road surface identification method described in the first aspect is implemented.

[0013] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the docking road surface identification method described in the first aspect is implemented.

[0014] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the docking road surface identification method described in the first aspect.

[0015] According to the docking road surface identification method, device, equipment, storage medium and program product of the embodiment of the present invention, after the anti-lock braking ABS system of the vehicle is started, based on the first deceleration of the vehicle in the first preset period and the first slip rate of each wheel, the initial state of the vehicle's driving road surface is determined; the first driving state information and / or the second driving state information of the vehicle after the first preset period are obtained; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; based on the initial state, the first driving state information and / or the second driving state information, the docking road surface during the vehicle's driving process is identified. After the ABS system is started, the present invention instantaneously performs docking road surface identification based on the initial state of the road surface and the driving state of the vehicle, thereby avoiding the delay of docking road surface identification, and also improving the accuracy of docking road surface identification, providing a basis for the precise control of the ABS system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 One of the flow charts of the method for identifying a docking road surface provided in an embodiment of the present invention; Figure 2 A second flow chart of the method for identifying a docking road surface provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a docking road surface identification device provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that the docking road surface refers to the situation where the road adhesion conditions suddenly change along the forward direction of the vehicle during driving, which is divided into the transition from a high adhesion state to a low adhesion state, and from a low adhesion state to a high adhesion state. The sudden change of road adhesion conditions has a great impact on the control of ABS (Anti-lock Braking System), so accurate docking road surface identification can more accurately control ABS. In related technologies, docking road surface identification is usually performed based on parameters such as pressure level and continuous locking time, which has the problem of long identification delay time, which is not conducive to the precise control of ABS.

[0020] In order to solve the above problems, embodiments of the present invention provide a method, device, equipment, storage medium and program product for identifying a connection road surface.

[0021] Figure 1 This is a flow chart of a method for identifying a docking road surface provided by an embodiment of the present invention. Figure 1 As shown, the method may include the following steps.

[0022] Step 101 : after the ABS system of the vehicle is started, the initial state of the road surface on which the vehicle is traveling is determined based on a first deceleration of the vehicle and a first slip ratio of each wheel within a first preset period of time.

[0023] The initial state of the road surface on which the vehicle is traveling refers to the state of the road surface on which the vehicle is traveling when the ABS system of the vehicle is just started.

[0024] In some embodiments, the first preset period refers to a period of time after the ABS system is activated, such as 50ms after the ABS system is activated. The first deceleration within the first preset period may be the first deceleration of the vehicle at each moment within the first preset period. The first slip rate of each wheel within the first preset period may be the first slip rate of each wheel at each moment within the first preset period.

[0025] Among them, the first slip rate of each wheel can be calculated based on the wheel speed and the reference vehicle speed. For example, for each wheel, the wheel speed of the wheel is subtracted from the reference vehicle speed calculated by the ABS controller to obtain the difference between the two, and the ratio of the difference to the reference vehicle speed is used as the first slip rate of the wheel.

[0026] In some embodiments, based on the first deceleration of the vehicle within a first preset time period and the first slip rate of each wheel, the implementation method of determining the initial state of the vehicle's driving surface may include: a slip rate threshold for each wheel may be pre-set, and if the first slip rate of each wheel within the first preset time period is greater than or equal to its corresponding slip rate threshold, and the first deceleration is less than or equal to the deceleration threshold, then the initial state of the vehicle's driving surface is determined to be a low-adhesion state; otherwise, the initial state of the wheel's driving surface is determined to be a high-adhesion state.

[0027] Step 102, obtaining the first driving state information and / or the second driving state information of the vehicle after the first preset time period; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel.

[0028] That is to say, based on the first deceleration and the first slip rate of the wheel within the first preset time period, the initial state of the road surface after the ABS system is started is determined, and then based on the first driving state information and / or the second driving state information of the vehicle at each moment after the first preset time period, it is determined whether the state of the road surface on which the wheel is driving has switched, that is, the docking road surface identification is performed.

[0029] The stage of the ABS system may include a pressure reduction stage, a pressure maintenance stage, etc. The wheel speed information of each wheel may be the wheel speed of each wheel.

[0030] Step 103: Identify the road surface that the vehicle contacts during driving based on the initial state, the first driving state information and / or the second driving state information.

[0031] In some embodiments, the state switching conditions corresponding to the first driving state information and / or the second driving state information can be pre-set. If at least one of the first driving state information and the second driving state information meets the corresponding state switching conditions, it is determined that the vehicle is driving through the docking road surface.

[0032] Since the first driving state information and the second driving state information are both instantaneous information, the instantaneous result of the docking road surface recognition can be obtained based on the information, thereby avoiding the delay of the docking road surface recognition process and improving the accuracy of the docking road surface recognition.

[0033] It should be noted that if a docking road surface is currently identified, the new road surface state is updated to the initial state, the first driving state information and / or the second driving state information are continued to be obtained, and the docking road surface identification is continued based on the updated initial state, the first driving state information and / or the second driving state information.

[0034] According to the docking road surface identification method, device, equipment, storage medium and program product of the embodiment of the present invention, after the anti-lock braking ABS system of the vehicle is started, based on the first deceleration of the vehicle in the first preset period and the first slip rate of each wheel, the initial state of the vehicle's driving road surface is determined; the first driving state information and / or the second driving state information of the vehicle after the first preset period are obtained; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; based on the initial state, the first driving state information and / or the second driving state information, the docking road surface during the vehicle's driving process is identified. After the ABS system is started, the present invention instantaneously performs docking road surface identification based on the initial state of the road surface and the driving state of the vehicle, thereby avoiding the delay of docking road surface identification, and also improving the accuracy of docking road surface identification, providing a basis for the precise control of the ABS system.

[0035] Figure 2 The second flow chart of the method for identifying a docking road surface provided by an embodiment of the present invention. Figure 2 As shown, based on the above embodiment, based on the first deceleration of the vehicle in the first preset period and the first slip rate of each wheel, the implementation process of determining the initial state of the road surface on which the vehicle is traveling may include: Step 201: determining a first total slip ratio of the vehicle based on a first slip ratio of each wheel.

[0036] In some embodiments, a weight value for each wheel may be preset, and based on the preset weight value, a weighted sum calculation is performed on the first slip rate of each wheel, and the weighted sum result is used as the first total slip rate of the vehicle.

[0037] In order to improve the accuracy of calculation, different weight values ​​may be assigned to the slip rate of each wheel according to the axle load distribution state. Specifically, based on the first slip rate of each wheel, the implementation process of determining the first total slip rate of the vehicle may include the following steps.

[0038] Step S1, determining the weight value of each wheel based on the wheel end pressure of the ABS system at the initial moment of decompression.

[0039] In some embodiments, after each ABS is activated, the wheel end pressure of the ABS system at the initial moment of decompression may be different, so the weight value of each wheel may be calculated once each time the ABS system is activated. That is, for the current execution process, the wheel end pressure of the ABS system at the initial moment of decompression refers to the wheel end pressure at the initial moment of decompression after the current ABS system is activated.

[0040] As an example, based on the wheel end pressure of the ABS system at the initial moment of decompression, the implementation process of determining the weight value of each wheel can be shown in the following formula (1).

[0041] (1); in, is the weight value of the w-th wheel; is the wheel end pressure of the wth wheel at the initial moment of decompression of the ABS system. In order to avoid measurement errors, It can also be the average of the wheel end pressure measured multiple times continuously on the wth wheel; is the correction factor, generally taken as 0.15.

[0042] Step S2: performing weighted summation on the first slip rates of the wheels based on the weight value of each wheel to obtain a first total slip rate.

[0043] Step 202 : determining an initial state based on a first deceleration and a first total slip ratio.

[0044] Since the adhesion coefficient of the road will affect the vehicle's deceleration and total slip rate during braking, the corresponding deceleration and total slip rate conditions for different road conditions can be set in advance. Based on the preset conditions, the initial state of the road surface on which the wheels are currently traveling can be determined based on the real-time deceleration and total slip rate.

[0045] As a possible implementation manner, based on the first deceleration and the first total slip ratio, the implementation process of determining the initial state may include the following steps.

[0046] Step S3: if the first deceleration and the first total slip ratio both satisfy a first preset condition within a first preset period, determine that the initial state is a low-adhesion state; wherein the first preset condition is that the first deceleration is less than or equal to a deceleration threshold, and the first total slip ratio is greater than or equal to a first slip ratio threshold.

[0047] As an example, the deceleration threshold may be 0.2g, the duration of the first preset time period may be 50ms, and the first slip rate threshold may be 20; if the first deceleration of the vehicle at each moment in the first preset time period is less than or equal to 0.2g, and the first total slip rate is greater than or equal to 20, then it is determined that the initial state of the vehicle's driving road surface is a low adhesion state.

[0048] Step S4: if the first deceleration and the first total slip ratio do not satisfy a first preset condition within a first preset period of time, determining that the initial state is a high-adhesion state.

[0049] That is to say, if the first deceleration of the vehicle in the first preset time period is greater than 0.2g, or the first total slip ratio of the vehicle in the first preset time period is less than 20, it is determined that the initial state of the vehicle's driving road is a high adhesion state.

[0050] According to the method for identifying a docking road surface in an embodiment of the present invention, a first total slip rate of the vehicle is determined based on the first slip rate of each wheel; an initial state is determined based on the first deceleration and the first total slip rate, and when calculating the first total slip rate, a weight value of each wheel is determined by the wheel end pressure of the ABS system at the initial moment of decompression, thereby making the obtained initial state more accurate and facilitating the accuracy of identifying the docking road surface.

[0051] Next, Figure 1 In some embodiments, if the initial state is a high-attachment state, then Figure 1 The implementation process of step 103 in may include at least one of the following steps.

[0052] Step S5, determining a second total slip rate based on the second slip rates of each wheel; if the second total slip rate is greater than or equal to a second slip rate threshold, and the second deceleration change rate is less than or equal to a first deceleration change rate threshold, determining that the vehicle's driving surface has entered a low adhesion state from a high adhesion state; wherein the first deceleration change rate threshold is less than 0.

[0053] The process of determining the second total slip ratio based on the second slip ratio of each wheel may be consistent with the implementation of the above embodiment, which will not be described in detail here.

[0054] That is to say, if the initial state is a high-attachment state, and Figure 1 The data acquired in step 102 in the method includes the first driving state information of the vehicle after the first preset period of time. Then, based on the first driving state information at each moment after the first preset period of time, the second total slip rate at each moment after the first preset period of time can be determined, and the second total slip rate can be compared with the second slip rate threshold. Based on the second deceleration at each moment after the first preset period of time, the second deceleration change rate at each moment can be determined, and the second deceleration change rate at each moment after the first preset period of time can be compared with the first deceleration change rate threshold. If the second total slip rate is greater than or equal to the second slip rate threshold, and the change rate of the second deceleration is less than or equal to the first deceleration change rate threshold, it is determined that the driving road surface of the vehicle enters the low-adhesion state from the high-adhesion state.

[0055] Since the friction of a high-adhesion road surface is relatively large, when a vehicle brakes on a high-adhesion road surface, a large total slip rate will not occur, and the vehicle's deceleration will not change greatly. Therefore, when the two suddenly change, it can be determined that the state of the road surface on which the vehicle is traveling has suddenly changed, that is, the vehicle's driving surface has changed from a high-adhesion state to a low-adhesion state.

[0056] In some embodiments, in order to avoid data problems, when the second total slip rate within a certain continuous time (for example, 40ms) is greater than or equal to the second slip rate threshold, and the change rate of the second deceleration is less than or equal to the first deceleration change rate threshold, it can be determined that the vehicle's driving surface has entered a low adhesion state from a high adhesion state.

[0057] As an example, the second slip rate threshold may be 40, and the first deceleration change rate threshold may be -150. If the second total slip rate is greater than or equal to 40, and the reduction in the second deceleration at the current moment compared with the vehicle deceleration at the previous moment exceeds 0.15g (in milliseconds), and the reduction in the second deceleration compared with the vehicle deceleration at the previous moment exceeds 0.3g, then it is determined that the vehicle's driving surface has entered a low-adhesion state from a high-adhesion state.

[0058] Step S6: If the ABS system is in the decompression stage and the wheel deceleration of at least one wheel among the wheels is greater than or equal to the first wheel deceleration threshold, it is determined that the vehicle's driving road surface enters a low-adhesion state from a high-adhesion state.

[0059] That is to say, if Figure 1 The data acquired in step 102 in the above method include the stage of the ABS system of the vehicle after the first preset period and the wheel speed information of each wheel. Then, based on the wheel speed information at each moment after the first preset period, the deceleration of each wheel at each moment after the first preset period can be determined, and when the initial state is the high-adhesion state and the system is in the decompression stage, the wheel deceleration of each wheel is compared with the first wheel deceleration threshold. If the ABS system is in the decompression stage, and the wheel deceleration of at least one wheel among the wheels is greater than or equal to the first wheel deceleration threshold, it is determined that the vehicle's driving road surface has entered the low-adhesion state from the high-adhesion state.

[0060] In some embodiments, when the ABS system is in the decompression stage and the road surface condition remains unchanged, the wheel speed of each wheel will gradually increase or slowly decrease. Therefore, if the wheel speed decreases significantly, it means that the road surface has become a low-adhesion state, and the wheel speed changes due to the sudden change in friction.

[0061] In order to avoid sudden changes caused by data problems, it can be determined based on data from multiple consecutive moments. For example, if the ABS system is in the decompression stage, and at least one wheel among each wheel has a deceleration greater than or equal to the first wheel deceleration threshold at multiple consecutive moments, it can be determined that the vehicle's driving surface has entered a low-adhesion state from a high-adhesion state.

[0062] Step S7: If the ABS system is in the pressure-maintaining stage and the wheel acceleration change rate of at least one wheel among the wheels is less than or equal to the first wheel acceleration change rate threshold, it is determined that the vehicle's driving road surface has entered a low adhesion state from a high adhesion state; wherein the first wheel acceleration change rate threshold is less than 0.

[0063] Among them, the ABS system is in the pressure maintenance stage, which is equivalent to the pressure on each axle wheel remaining unchanged. At this time, the wheel is in the process of recovering from locking to the initial wheel speed. If the wheel acceleration during wheel speed recovery is significantly reduced, that is, the wheel speed recovery speed is significantly reduced, it can be considered that the ground friction is significantly reduced at this time, that is, the vehicle's driving surface has entered a low adhesion state from a high adhesion state.

[0064] That is to say, if Figure 1 The data acquired in step 102 in the above process include the stage of the ABS system of the vehicle after the first preset period of time and the wheel speed information of each wheel. Then, when the ABS system is in the pressure holding stage and the initial state is the high-adhesion state, the wheel acceleration change rate of each wheel at each moment can be determined based on the wheel acceleration of each wheel at each moment after the first preset period of time. If the wheel acceleration change rate of at least one wheel among the wheels is less than or equal to the first wheel acceleration change rate threshold, it is determined that the driving road surface of the vehicle enters the low-adhesion state from the high-adhesion state.

[0065] In order to improve the accuracy of recognition, it can be determined based on data from multiple consecutive moments.

[0066] In some embodiments, if Figure 1 If step 102 in the above only obtains the first driving state information of the vehicle after the first preset period of time, and the initial state of the road surface is a high-adhesion state, the process of identifying the connecting road surface during the vehicle driving process based on the initial state, the first driving state information and / or the second driving state information only includes step S5; Figure 1 In step 102 of the method, only the second driving state information of the vehicle after the first preset period of time is obtained, and the initial state of the road surface is a high-adhesion state, then the process of identifying the contacting road surface during the vehicle driving process based on the initial state, the first driving state information and / or the second driving state information may include at least one of step S6 and step S7; if Figure 1In step 102, only the first driving state information and the second driving state information of the vehicle after the first preset time period are obtained, and the initial state of the road surface is a high-adhesion state. Then, the process of identifying the connecting road surface during the vehicle driving process based on the initial state and / or the second driving state information may include at least one of step S5, step S6, and step S7.

[0067] In some embodiments, if the initial state is a low adhesion state, then Figure 1 The implementation process of step 103 in may include at least one of the following steps.

[0068] Step S8: If the second total slip ratio is less than or equal to the third slip ratio threshold, and the change rate of the second deceleration is greater than or equal to the second deceleration change rate threshold, it is determined that the vehicle's driving surface has entered a high adhesion state from a low adhesion state; wherein the second deceleration change rate threshold is greater than 0.

[0069] In some embodiments, if the initial state of the road surface on which the vehicle is traveling is a low-adhesion state, during the braking process, the total slip rate becomes relatively small and the deceleration of the vehicle increases significantly, it can be determined that the current road surface state has changed from a low-adhesion state to a high-adhesion state with greater friction.

[0070] As an example, the third slip rate threshold may be 20. If the second total slip rate is less than or equal to 20, and the increase in the vehicle deceleration at the current moment exceeds 0.05g compared with the vehicle deceleration at the previous moment, and the increase in the wheel deceleration at the previous moment exceeds 0.1g, then it can be determined that the vehicle's driving surface at the current moment has entered a high adhesion state from a low adhesion state.

[0071] Step S9: If the ABS system is in the boost stage and the wheel acceleration of at least one wheel among the wheels is greater than or equal to the second wheel acceleration threshold, it is determined that the driving road surface of the vehicle enters a high-adhesion state from a low-adhesion state.

[0072] In some embodiments, when the ABS system is in the boost stage and the road surface condition remains unchanged, the wheel speed of each wheel will decrease, and the rate of wheel speed reduction will increase. However, if the wheel speed increases significantly, that is, the wheel acceleration is greater than or equal to the second wheel acceleration threshold, it means that the road surface has become a high-adhesion state, and the wheel speed changes due to the sudden change in friction.

[0073] In order to improve the accuracy of recognition, when the ABS system is in the boost stage and the wheel acceleration of at least one wheel among each wheel is greater than or equal to the second wheel acceleration threshold at multiple consecutive moments, it can be determined that the vehicle's driving surface has entered a high-adhesion state from a low-adhesion state.

[0074] Step S10: If the ABS system is in the pressure-maintaining stage and the wheel acceleration change rate of at least one wheel among the wheels is greater than or equal to the second wheel acceleration change rate threshold, it is determined that the vehicle's driving surface has entered a high adhesion state from a low adhesion state; wherein the second wheel acceleration change rate threshold is greater than 0.

[0075] Among them, the ABS system is in the pressure maintenance stage, which is equivalent to the wheel end pressure of each axle remaining unchanged. At this time, the wheel is in the process of recovering from locking to the initial wheel speed. If the wheel speed recovery speed becomes significantly faster at this time, that is, the wheel acceleration during wheel speed recovery increases significantly, it can be considered that the ground friction at this time increases significantly, that is, the vehicle's driving surface enters a high adhesion state from a low adhesion state.

[0076] In some embodiments, if the ABS system is in the pressure holding stage, the wheel acceleration of each wheel at each moment after the first preset time period can be determined based on the wheel speed information of each wheel at each moment after the first preset time period, and the wheel acceleration change rate of each wheel at each moment can be determined based on the wheel acceleration of each wheel at each moment, and the wheel acceleration change rate of each wheel is compared with the second acceleration change rate threshold value respectively. If the wheel acceleration change rate of at least one wheel is greater than or equal to the second wheel acceleration change rate threshold value for multiple consecutive moments, it is determined that the vehicle's driving road surface has entered a high adhesion state from a low adhesion state.

[0077] In some embodiments, if Figure 1 If step 102 in the above only obtains the first driving state information of the vehicle after the first preset period of time, and the initial state of the road surface is a low adhesion state, the process of identifying the connecting road surface during the vehicle driving based on the initial state, the first driving state information and / or the second driving state information only includes step S8; Figure 1 In step 102 of the method, only the second driving state information of the vehicle after the first preset period of time is obtained, and the initial state of the road surface is a low-adhesion state, then the process of identifying the contacting road surface during the vehicle driving process based on the initial state, the first driving state information and / or the second driving state information may include at least one of step S9 and step S10; if Figure 1 In step 102, only the first driving state information and the second driving state information of the vehicle after the first preset time period are obtained, and the initial state of the road surface is a low-adhesion state. The process of identifying the connecting road surface during the vehicle driving process based on the initial state and / or the second driving state information may include at least one of step S8, step S9, and step S10.

[0078] In order to implement the above embodiment, an embodiment of the present invention provides a docking road surface identification device.

[0079] Figure 3 This is a schematic diagram of the structure of the docking road surface identification device provided by an embodiment of the present invention. Figure 3 As shown, the device may include: a determination module 310, an acquisition module 320 and an identification module 330. The determination module 310 is used to determine the initial state of the road surface on which the vehicle is traveling based on the first slip rate of each wheel of the vehicle and the deceleration of the vehicle within a first preset period of time after the anti-lock braking (ABS) system of the vehicle is activated; the acquisition module 320 is used to obtain the first driving state information and / or the second driving state information of the vehicle after the first preset period of time; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; the identification module 330 is used to identify the contact road surface during the driving process of the vehicle based on the initial state, the first driving state information and / or the second driving state information.

[0080] In some embodiments, the determination module 310 is specifically configured to: determine a first total slip ratio of the vehicle based on the first slip ratios of the respective wheels; and determine the initial state based on the first deceleration and the first total slip ratio.

[0081] In some embodiments, the determination module 310 is further used to: determine the weight value of each of the wheels based on the wheel end pressure of the ABS system at the initial moment of decompression; and perform weighted summation of the first slip rates of the individual wheels based on the weight value of each of the wheels to obtain the first total slip rate.

[0082] In some embodiments, the determination module 310 is further used to: if the first deceleration and the first total slip ratio both satisfy a first preset condition within the first preset time period, determine that the initial state is a low-adhesion state; wherein the first preset condition is that the first deceleration is less than or equal to a deceleration threshold, and the first total slip ratio is greater than or equal to a first slip ratio threshold; if the first deceleration and the first total slip ratio do not satisfy the first preset condition within the first preset time period, determine that the initial state is a high-adhesion state.

[0083] In some embodiments, the initial state is a high-adhesion state; the identification module 330 is used for at least one of the following: determining a second total slip rate based on the second slip rates of the respective wheels; if the second total slip rate is greater than or equal to a second slip rate threshold, and the change rate of the second deceleration is less than or equal to a first deceleration change rate threshold, determining that the vehicle's driving surface enters a low-adhesion state from a high-adhesion state; wherein the first deceleration change rate threshold is less than 0; if the ABS system is in a decompression stage, and at least one of the wheels has a wheel deceleration greater than or equal to the first wheel deceleration threshold, determining that the vehicle's driving surface enters a low-adhesion state from a high-adhesion state; if the ABS system is in a pressure-maintaining stage, and at least one of the wheels has a wheel acceleration change rate less than or equal to the first wheel acceleration change rate threshold, determining that the vehicle's driving surface enters a low-adhesion state from a high-adhesion state; wherein the first wheel acceleration change rate threshold is less than 0.

[0084] In some embodiments, the initial state is a low-adhesion state; the identification module 330 is used for at least one of the following: if the second total slip rate is less than or equal to a third slip rate threshold, and the change rate of the second deceleration is greater than or equal to a second deceleration change rate threshold, it is determined that the vehicle's driving surface enters a high-adhesion state from a low-adhesion state; wherein the second deceleration change rate threshold is greater than 0; if the ABS system is in a boost stage, and at least one of the wheels has a wheel acceleration greater than or equal to a second wheel acceleration threshold, it is determined that the vehicle's driving surface enters a high-adhesion state from a low-adhesion state; if the ABS system is in a pressure-maintaining stage, and at least one of the wheels has a wheel acceleration change rate greater than or equal to a second wheel acceleration change rate threshold, it is determined that the vehicle's driving surface enters a high-adhesion state from a low-adhesion state; wherein the second wheel acceleration change rate threshold is greater than 0.

[0085] According to the docking road surface recognition device of the embodiment of the present invention, after the ABS system is started, the docking road surface recognition is instantaneously performed based on the initial state of the road surface and the driving state of the vehicle, thereby avoiding the delay of docking road surface recognition and improving the accuracy of docking road surface recognition, providing a basis for the precise control of the ABS system.

[0086] It should be noted that the explanations about the docking road surface identification method in the above embodiment are also applicable to the docking road surface identification device in the embodiment of the present invention, and will not be repeated here.

[0087] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call a computer program in the memory 430 to execute the steps of the docking road surface recognition method.

[0088] For example, the method includes: after the anti-lock braking (ABS) system of the vehicle is started, determining the initial state of the road surface on which the vehicle is driving based on the first deceleration of the vehicle within a first preset time period and the first slip rate of each wheel; obtaining the first driving state information and / or the second driving state information of the vehicle after the first preset time period; the first driving state information includes the second slip rate of each wheel and the second deceleration of the vehicle; the second driving state information includes the stage of the ABS system and the wheel speed information of each wheel; based on the initial state, the first driving state information and / or the second driving state information, identifying the contacting road surface during the driving process of the vehicle.

[0089] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0090] On the other hand, an embodiment of the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the steps of the docking road surface identification method provided in the above-mentioned embodiments.

[0091] On the other hand, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the steps of the docking road surface identification method provided in the above embodiments.

[0092] The non-transitory computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0093] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for identifying a butted road surface, characterized in that: include: After the anti-lock braking system (ABS) of the vehicle is activated, determining an initial state of the road surface on which the vehicle is traveling based on a first deceleration of the vehicle and a first slip rate of each wheel within a first preset period of time; Acquiring first driving state information and / or second driving state information of the vehicle after the first preset period of time; the first driving state information includes a second slip rate of each wheel and a second deceleration of the vehicle; the second driving state information includes a stage of the ABS system and wheel speed information of each wheel; Based on the initial state, the first driving state information and / or the second driving state information, an interface road surface during driving of the vehicle is identified.

2. The method according to claim 1, characterized in that The determining the initial state of the road surface on which the vehicle is traveling based on the first deceleration of the vehicle and the first slip rate of each wheel within the first preset time period includes: determining a first total slip ratio of the vehicle based on the first slip ratios of the respective wheels; The initial state is determined based on the first deceleration and the first total slip ratio.

3. The method according to claim 2, characterized in that The determining a first total slip ratio of the vehicle based on the first slip ratios of the respective wheels comprises: Determining a weight value of each wheel based on the wheel end pressure of the ABS system at the initial moment of decompression; Based on the weight value of each of the wheels, a weighted sum is performed on the first slip rates of the wheels to obtain the first total slip rate.

4. The method according to claim 2, characterized in that: The determining the initial state based on the first deceleration and the first total slip ratio includes: If the first deceleration and the first total slip ratio both meet a first preset condition within the first preset period, determining that the initial state is a low-adhesion state; wherein the first preset condition is that the first deceleration is less than or equal to a deceleration threshold, and the first total slip ratio is greater than or equal to a first slip ratio threshold; If the first deceleration and the first total slip ratio do not satisfy the first preset condition within the first preset period, it is determined that the initial state is a high-adhesion state.

5. The method according to claim 1, characterized in that The initial state is a high-adhesion state; and the identifying of the contacting road surface during the driving of the vehicle based on the initial state, the first driving state information and / or the second driving state information includes at least one of the following: determining a second total slip rate based on the second slip rates of the respective wheels, and determining that the driving road surface of the vehicle enters a low-adhesion state from a high-adhesion state if the second total slip rate is greater than or equal to a second slip rate threshold and the change rate of the second deceleration is less than or equal to a first deceleration change rate threshold; wherein the first deceleration change rate threshold is less than 0; If the ABS system is in the decompression stage, and the wheel deceleration of at least one wheel among the wheels is greater than or equal to the first wheel deceleration threshold, it is determined that the driving road surface of the vehicle enters a low-adhesion state from a high-adhesion state; If the ABS system is in the pressure-maintaining stage, and the wheel acceleration change rate of at least one wheel among the wheels is less than or equal to a first wheel acceleration change rate threshold, it is determined that the driving surface of the vehicle has entered a low adhesion state from a high adhesion state; wherein the first wheel acceleration change rate threshold is less than 0.

6. The method according to claim 5, characterized in that The initial state is a low-adhesion state; and the identifying of the contacting road surface during the driving of the vehicle based on the initial state, the first driving state information and / or the second driving state information includes at least one of the following: If the second total slip ratio is less than or equal to a third slip ratio threshold, and the change rate of the second deceleration is greater than or equal to a second deceleration change rate threshold, it is determined that the driving road surface of the vehicle enters a high adhesion state from a low adhesion state; wherein the second deceleration change rate threshold is greater than 0; If the ABS system is in a boosting stage and the wheel acceleration of at least one wheel among the wheels is greater than or equal to a second wheel acceleration threshold, it is determined that the driving road surface of the vehicle enters a high-adhesion state from a low-adhesion state; If the ABS system is in the pressure holding stage, and the wheel acceleration change rate of at least one wheel among the wheels is greater than or equal to a second wheel acceleration change rate threshold, it is determined that the driving surface of the vehicle enters a high adhesion state from a low adhesion state; wherein, the second wheel acceleration change rate threshold is greater than 0.

7. A docking road surface recognition device, characterized in that: include: A determination module, configured to determine an initial state of a road surface on which the vehicle is traveling based on a first slip rate of each wheel of the vehicle within a first preset period of time and a deceleration of the vehicle after an anti-lock braking (ABS) system of the vehicle is activated; an acquisition module, configured to acquire first driving state information and / or second driving state information of the vehicle after the first preset period of time; the first driving state information includes a second slip rate of each wheel and a second deceleration of the vehicle; the second driving state information includes a stage of the ABS system and wheel speed information of each wheel; An identification module is used to identify the contacting road surface during the driving process of the vehicle based on the initial state, the first driving state information and / or the second driving state information.

8. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the method for identifying abutting road surface according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for identifying a connecting road surface according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for identifying abutting road surface according to any one of claims 1 to 6 is implemented.

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