Road surface recognition method, device, equipment, medium, product and vehicle

Abstract

The invention discloses a road surface recognition method, device and equipment, a medium, a product and a vehicle, and relates to the technical field of vehicles. The road surface recognition method comprises the steps that first vibration frequency within a first time period when a vehicle runs on a first road surface is obtained, the first time period is the corresponding time period when the vehicle runs on the first road surface, and the first vibration frequency is the vibration frequency after a vehicle body acceleration sensor is buffered by a suspension; according to the first vibration frequency, the first road surface is recognized, and a recognition result is obtained, and the recognition result includes that the first road surface is a fluctuating road surface or is not a fluctuating road surface. According to the scheme disclosed by the invention, the cost can be reduced, and the road surface recognition efficiency can be improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a road surface recognition method, device, equipment, medium, product and vehicle. Background Art

[0002] As users' demands for vehicle comfort become higher and higher, variable stiffness air suspension and variable damping continuous damping control (CDC) are applied to vehicles. The damping and stiffness of the suspension are closely related to the usage scenario. For example, when the vehicle is driving on a bumpy road, in order to prevent the comfort of the passenger compartment from decreasing, the stiffness and damping of the suspension need to be reduced; when the vehicle accelerates or decelerates or turns sharply, in order to prevent the pitch and roll of the vehicle from changing dramatically, the stiffness and damping of the suspension need to be increased. In different scenarios, the driver can choose different suspension modes to maximize the comfort of the vehicle.

[0003] The adjustment of the suspension's damping stiffness needs to take into account both the comfort and sportiness of the suspension. When the vehicle is driving on a bumpy road, smaller damping will provide better comfort. When the vehicle is driving on an undulating road, larger damping will make the vehicle's ups and downs converge quickly. However, changes in the road surface are usually frequent, making it difficult for the driver to switch back and forth between different modes.

[0004] In the related art, when identifying the road surface, it is usually necessary to install a camera sensor on the vehicle, and use the camera to transmit the image collected by the sensor for road surface identification. On the one hand, the need to install an additional camera sensor on the vehicle will increase the cost. On the other hand, road surface identification through images requires image processing, resulting in a long identification time and low identification efficiency. Summary of the invention

[0005] The embodiments of the present application provide a road surface recognition method, device, equipment, medium, product and vehicle, which can solve the problem of high cost and low efficiency in road surface recognition.

[0006] In a first aspect, an embodiment of the present application provides a road surface recognition method, comprising:

[0007] Acquire a first vibration frequency in a first time period when the vehicle is traveling on a first road, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road, and the first vibration frequency is a vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension;

[0008] The first road surface is identified according to the first vibration frequency to obtain an identification result, wherein the identification result includes that the first road surface is an undulating road surface or the first road surface is not an undulating road surface.

[0009] In a second aspect, an embodiment of the present application provides a road surface recognition device, comprising:

[0010] An acquisition module, used to acquire a first vibration frequency in a first time period when the vehicle is traveling on a first road, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road, and the first vibration frequency is a vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension;

[0011] The identification module is used to identify the first road surface according to the first vibration frequency to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the road surface recognition method provided in the embodiment of the present application are implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the road surface recognition method provided in the embodiment of the present application are implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the road surface recognition method provided by the embodiment of the present application.

[0015] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising at least one of the following items:

[0016] The road surface recognition device provided in the embodiment of the present application;

[0017] The electronic device provided by the embodiment of the present application;

[0018] The computer-readable storage medium provided by the embodiments of the present application.

[0019] In the embodiment of the present application, by obtaining the first vibration frequency of the vehicle body in the first time period when the vehicle is traveling on the first road surface, wherein the first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension; according to the first vibration frequency, the first road surface is identified to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface. In this way, by using the vibration frequency of the vehicle body acceleration sensor on the vehicle, it is possible to identify whether the road surface is an undulating road surface, without installing a camera sensor on the vehicle, which can reduce costs and improve the efficiency of road surface identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 is a flow chart of a road surface recognition method provided in an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the low-frequency vibration index value of the vehicle body corresponding to the bumpy road surface provided in the embodiment of the present application;

[0023] Figure 3 is a schematic diagram of the low-frequency vibration index value of the vehicle body corresponding to the undulating road surface provided in the embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a first absolute value, a first threshold, and a first rate provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of the structure of a road surface recognition device provided in an embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0029] The road surface recognition method, device, equipment, medium, product and vehicle provided in the embodiments of the present application are described in detail below in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0030] Figure 1 is a flow chart of the road surface recognition method provided in the embodiment of the present application. Figure 1 As shown, the road surface recognition method may include:

[0031] Step 101: obtaining a first vibration frequency in a first time period when the vehicle is traveling on a first road, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road, and the first vibration frequency is a vibration frequency of a vehicle body acceleration sensor after being buffered by a suspension;

[0032] The embodiment of the present application does not limit the method used to obtain the first vibration frequency. Any available method can be applied to the embodiment of the present application. For example, the vehicle body acceleration sensor collects the acceleration of the vehicle body in the vertical direction, and converts the collected acceleration of the vehicle body in the vertical direction into a vibration frequency, or collects the vibration frequency of the vehicle body acceleration sensor through a vibration meter.

[0033] It should be noted that the acceleration sensor installed on the vehicle body (i.e., the vehicle body acceleration sensor) is different from the acceleration sensor installed on the wheel (i.e., the wheel acceleration sensor) or the acceleration sensor installed on the vehicle suspension (i.e., the suspension acceleration sensor). The vehicle body acceleration sensor is usually installed above the front suspension at the center of gravity of the vehicle.

[0034] Step 102: Identify the first road surface according to the first vibration frequency to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or whether the first road surface is not an undulating road surface.

[0035] In some possible implementations of the embodiments of the present application, step 102 may include: performing a first filtering process on the first vibration frequency to obtain a second vibration frequency; performing a second filtering process on the second vibration frequency to obtain a third vibration frequency; and identifying the first road surface based on the second vibration frequency and the third vibration frequency.

[0036] In some possible implementations of the embodiments of the present application, the first filtering process is used to filter out high-frequency vibrations in the first vibration frequency; the second filtering process is used to filter out deviation values ​​of acceleration in the second vibration frequency. The first filtering process and the second filtering process may be first-order low-pass filtering processes. The cutoff frequency f1 in the first filtering process and the cutoff frequency f2 in the second filtering process may be calibrated in advance through experiments.

[0037] In some possible implementations of the embodiments of the present application, on a bumpy road surface, the vibration frequency of the vehicle body acceleration sensor is usually very high, while on an undulating road surface, the vibration frequency of the vehicle body acceleration sensor is usually relatively low; the present application can screen out low-frequency vibrations of the vehicle body through low-pass filtering, and then identify the undulating road surface.

[0038] In some possible implementations of the embodiments of the present application, when the vehicle is traveling on the road, the vibration frequency will be very high, and the high-frequency vibration frequency will be filtered out by the vehicle suspension, thereby obtaining the vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension. Then, the higher vibration frequency can be filtered out by the filtering process in the embodiments of the present application, thereby obtaining the low-frequency vibration frequency. In addition, the vibration frequency of the vehicle body acceleration sensor can reflect the vibration frequency perceived by the passengers, and it is more direct to use the vibration frequency of the vehicle body acceleration sensor to identify the road surface, which is more in line with the passenger comfort.

[0039] The bumpy road surface in the embodiment of the present application may be a road surface with gravel or cracks, and the undulating road surface refers to a road surface with potholes or bumps, such as deceleration, raised sewer manhole covers, etc.

[0040] In some possible implementations of the embodiments of the present application, identifying the first road surface according to the second vibration frequency and the third vibration frequency may include: calculating the difference between the second vibration frequency and the third vibration frequency; and identifying the first road surface according to a first absolute value of the difference.

[0041] In some possible implementations of the embodiment of the present application, the difference between the second vibration frequency and the third vibration frequency is used to characterize an index of low-frequency vibration of the vehicle body.

[0042] When the vehicle is driving on a bumpy road, the low-frequency vibration index value of the vehicle body is very small, while when the vehicle is driving on an undulating road, the low-frequency vibration index value of the vehicle body fluctuates greatly. Figure 2 and Figure 3 As shown, Figure 2is a schematic diagram of the low-frequency vibration index value of the vehicle body corresponding to the bumpy road surface provided in the embodiment of the present application; Figure 3 Schematic diagram of the low-frequency vibration index value of the vehicle body corresponding to the undulating road surface provided by the embodiment of the present application. Figure 2 In the Figure 3 In the test, the low-frequency vibration index value of the vehicle body fluctuates greatly.

[0043] In some possible implementations of the embodiments of the present application, identifying the first road surface based on the first absolute value of the difference may include: when there is a second absolute value greater than or equal to the first threshold in the first absolute value, determining the first road surface undulation value corresponding to the first time period based on the second road surface undulation value and the integral value of the second absolute value, wherein the second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period before the first time period; when there is no absolute value greater than or equal to the first threshold in the first absolute value, clearing the integral value of the pre-calibrated first rate from the second road surface undulation value to obtain the first road surface undulation value; identifying the first road surface based on the first road surface undulation value.

[0044] In some possible implementations of the embodiments of the present application, when there is a second absolute value greater than or equal to the first threshold value in the first absolute value, when determining the first road surface undulation value corresponding to the first time period according to the second road surface undulation value and the integral value of the second absolute value, the following formula (1) can be used to determine:

[0045] RollRoadLvl=RollRoadLvl_Old+(ABS(az_f-az_f_da))*dt (1)

[0046] Wherein, in formula (1), RollRoad is the first road undulation value of Lv, RollRoadLvl_Old is the second road undulation value, ABS(·) is the absolute value function, az_f is the first absolute value, az_f_da is the first threshold, az_f-az_f_da is the second absolute value, and dt is the integral operation.

[0047] In some possible implementations of the embodiment of the present application, when there is no absolute value greater than or equal to the first threshold value in the first absolute value, the pre-calibrated integral value of the first rate is cleared from the second road surface undulation value. When the first road surface undulation value is obtained, the pre-calibrated integral value of the first rate in the second road surface undulation value can be cleared by the following formula (2):

[0048] RollRoadLvl=RollRoadLvl_Old-RateDwn*dt (2)

[0049] Wherein, in formula (2), RollRoad is the first road undulation value of Lv, RollRoadLvl_Old is the second road undulation value, RateDwn is the pre-calibrated first rate, and dt is the integral operation.

[0050] As shown in 4, Figure 4 Schematic diagram of the first absolute value, the first threshold value and the first rate provided in the embodiment of the present application. Figure 4 ABS(az_f) is the first absolute value, az_f_dz is the first threshold, and RateDwn is the pre-calibrated first rate.

[0051] In some possible implementations of the embodiments of the present application, identifying the first road surface based on the first road surface undulation value may include: determining that the first road surface is an undulating road surface when the first road surface undulation value is greater than or equal to a second threshold value; and determining that the first road surface is not an undulating road surface when the first road surface undulation value is less than the second threshold value.

[0052] When the first road surface undulation value RollRoadLvl is greater than or equal to the second threshold, the first road surface is determined to be an undulating road surface; when the first road surface undulation value RollRoadLvl is less than the second threshold, the first road surface is determined not to be an undulating road surface.

[0053] The first threshold and the second threshold in the embodiment of the present application can be calibrated in advance through experiments.

[0054] In the embodiment of the present application, by obtaining the first vibration frequency in the first time period when the vehicle is traveling on the first road surface, wherein the first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension; according to the first vibration frequency, the first road surface is identified to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface. In this way, by using the vibration frequency of the vehicle body acceleration sensor on the vehicle, it is possible to identify whether the road surface is an undulating road surface, without installing a camera sensor on the vehicle, which can reduce costs and improve the efficiency of road surface identification.

[0055] In some possible implementations of the embodiments of the present application, the road surface recognition method provided by the embodiments of the present application may further include: when the first road surface is an undulating road surface, switching the vehicle suspension damping mode to a sports mode.

[0056] In some possible implementations of the embodiments of the present application, the vehicle suspension damping mode includes but is not limited to normal mode, sports mode, comfort mode, etc.

[0057] When the first road surface is an undulating road surface, by switching the vehicle suspension damping mode to the sports mode, the energy of the vehicle's undulating vibration can be quickly absorbed, thereby improving the comfort of the vehicle after passing over the undulating road surface.

[0058] The present application also provides a road surface recognition device, such as Figure 5 shown. Figure 5 is a schematic diagram of the structure of a road surface recognition device provided in an embodiment of the present application. The road surface recognition device 500 may include:

[0059] An acquisition module 501 is used to acquire a first vibration frequency in a first time period when the vehicle is traveling on a first road, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road, and the first vibration frequency is a vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension;

[0060] The identification module 502 is used to identify the first road surface according to the first vibration frequency to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface.

[0061] In the embodiment of the present application, by obtaining the first vibration frequency in the first time period when the vehicle is traveling on the first road surface, wherein the first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension; according to the first vibration frequency, the first road surface is identified to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface. In this way, by using the vibration frequency of the vehicle body acceleration sensor on the vehicle, it is possible to identify whether the road surface is an undulating road surface, without installing a camera sensor on the vehicle, which can reduce costs and improve the efficiency of road surface identification.

[0062] In some possible implementations of the embodiments of the present application, the identification module 502 includes:

[0063] A first filtering submodule, used for performing a first filtering process on the first vibration frequency to obtain a second vibration frequency;

[0064] A second filtering submodule, used for performing a second filtering process on the second vibration frequency to obtain a third vibration frequency;

[0065] The identification submodule is used to identify the first road surface according to the second vibration frequency and the third vibration frequency.

[0066] In some possible implementations of the embodiments of the present application, the identification submodule includes:

[0067] A calculation unit, used for calculating the difference between the second vibration frequency and the third vibration frequency;

[0068] The identification unit is used to identify the first road surface according to the first absolute value of the difference.

[0069] In some possible implementations of the embodiments of the present application, the identification unit includes:

[0070] A first determining subunit is used to determine, when there is a second absolute value greater than or equal to the first threshold value in the first absolute value, the first road surface undulation value corresponding to the first time period according to the second road surface undulation value and the integral value of the second absolute value, wherein the second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period before the first time period;

[0071] A second determining subunit is used to remove the pre-calibrated integral value of the first rate from the second road surface undulation value to obtain the first road surface undulation value when there is no absolute value greater than or equal to the first threshold in the first absolute value;

[0072] The identification subunit is used to identify the first road surface according to the first road surface undulation value.

[0073] In some possible implementations of the embodiments of the present application, the identification subunit is specifically used for:

[0074] When the first road surface undulation value is greater than or equal to the second threshold, determining that the first road surface is an undulating road surface;

[0075] When the first road surface undulation value is less than the second threshold, it is determined that the first road surface is not an undulating road surface.

[0076] In some possible implementations of the embodiments of the present application, the road surface recognition device provided by the embodiments of the present application further includes:

[0077] The switching unit is used to switch the vehicle suspension damping mode to a sports mode when the first road surface is an undulating road surface.

[0078] In the embodiment of the present application, by switching the vehicle suspension damping mode to the sports mode, the energy of the vehicle's ups and downs vibration can be quickly absorbed, thereby improving the comfort of the vehicle after passing over an undulating road surface.

[0079] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0080] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0081] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0082] The memory 602 may include a large capacity memory for data or instructions. For example, but not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the electronic device. In some specific embodiments, the memory 602 is a non-volatile solid-state memory.

[0083] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the road surface recognition method according to the present application.

[0084] The processor 601 implements the steps of the road surface recognition method provided in the embodiment of the present application by reading and executing the computer program instructions stored in the memory 602.

[0085] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0086] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0087] The bus 610 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro channel architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 610 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0088] The electronic device can execute the steps of the road surface recognition method provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the road surface recognition method provided in the embodiment of the present application.

[0089] In addition, in combination with the road surface recognition method in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the steps of the road surface recognition method provided in the embodiment of the present application are implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disk or optical disk, etc.

[0090] An embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the road surface recognition method provided in the embodiment of the present application and can achieve the same technical effect. To avoid repetition, they are not repeated here.

[0091] The present application provides a vehicle, comprising at least one of the following items:

[0092] The road surface recognition device provided in the embodiment of the present application;

[0093] The electronic device provided by the embodiment of the present application;

[0094] The computer-readable storage medium provided by the embodiments of the present application.

[0095] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0096] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0097] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0098] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0099] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A road surface recognition method, characterized in that: The method comprises: Acquire a first vibration frequency in a first time period when the vehicle is traveling on a first road, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road, and the first vibration frequency is a vibration frequency of a vehicle body acceleration sensor after being buffered by a suspension; The first road surface is identified according to the first vibration frequency to obtain an identification result, wherein the identification result includes that the first road surface is an undulating road surface or the first road surface is not an undulating road surface.

2. The method according to claim 1, characterized in that The step of identifying the first road surface according to the first vibration frequency includes: Performing a first filtering process on the first vibration frequency to obtain a second vibration frequency; performing a second filtering process on the second vibration frequency to obtain a third vibration frequency; The first road surface is identified based on the second vibration frequency and the third vibration frequency.

3. The method according to claim 2, characterized in that The step of identifying the first road surface according to the second vibration frequency and the third vibration frequency includes: calculating a difference between the second vibration frequency and the third vibration frequency; The first road surface is identified based on a first absolute value of the difference.

4. The method according to claim 3, characterized in that The step of identifying the first road surface according to the first absolute value of the difference comprises: In the case where there is a second absolute value greater than or equal to the first threshold value in the first absolute value, determining the first road surface undulation value corresponding to the first time period according to the second road surface undulation value and the integral value of the second absolute value, wherein the second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period before the first time period; When there is no absolute value greater than or equal to the first threshold value in the first absolute values, clearing the pre-calibrated integral value of the first rate from the second road surface undulation value to obtain the first road surface undulation value; The first road surface is identified according to the first road surface undulation value.

5. The method according to claim 4, characterized in that The step of identifying the first road surface according to the first road surface undulation value includes: When the first road surface undulation value is greater than or equal to a second threshold, determining that the first road surface is an undulating road surface; When the first road surface undulation value is smaller than the second threshold, it is determined that the first road surface is not an undulating road surface.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the first road surface is an undulating road surface, the vehicle suspension damping mode is switched to a sport mode.

7. A road surface recognition device, characterized in that: The device comprises: an acquisition module, configured to acquire a first vibration frequency in a first time period when the vehicle is traveling on a first road surface, wherein the first time period is a time period corresponding to when the vehicle is traveling on the first road surface, and the first vibration frequency is a vibration frequency of a vehicle body acceleration sensor after being buffered by a suspension; The identification module is used to identify the first road surface according to the first vibration frequency to obtain an identification result, wherein the identification result includes that the first road surface is an undulating road surface or the first road surface is not an undulating road surface.

8. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the road surface recognition method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the road surface recognition method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the road surface recognition method as described in any one of claims 1 to 6.

11. A vehicle, characterized in that: The vehicle includes at least one of the following: The road surface recognition device according to claim 7; The electronic device according to claim 8; The computer readable storage medium of claim 9.

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