Vehicle obstacle crossing method, electronic equipment, vehicle and computer readable storage medium

Abstract

According to the vehicle obstacle crossing method, the electronic device, the vehicle and the computer readable storage medium, by implementing the embodiment of the invention, when at least one wheel of the vehicle runs according to the current running path and encounters an obstacle, the at least one wheel is controlled to sequentially execute the lifting action so that the at least one wheel can sequentially cross the obstacle. In this way, the wheels cross the obstacles unilaterally, the vehicle is kept not suspended when the wheels are lifted, the risk that the wheels burst and sink into gullies can be reduced, it can be guaranteed that the wheels cross the obstacles, meanwhile, the operation requirement of a driver is met, the vehicle safety is guaranteed, and the driving experience of the driver is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle obstacle surmounting method, an electronic device, a vehicle and a computer-readable storage medium. Background Art

[0002] When the vehicle is driving, it may encounter some dangerous small obstacles or small gullies (such as manhole covers) on the wheel track. If the wheels are not avoided in time, sharp objects may cause a tire blowout, or the tire may get stuck in a gully, causing chassis damage or driving state changes that may cause personal injury. In order to ensure the stability of the driving state and the safety of the wheels, the laser radar sensor can be used to determine the type and danger of the obstacle, and make corresponding decisions to control the vehicle to jump to avoid the obstacle and prevent a tire blowout. However, when avoiding obstacles using this method, the vehicle needs to jump as a whole, with all four wheels off the ground and a certain amount of air time. The driver cannot control the car while it is in the air, which increases the driving risk and driving experience. Summary of the invention

[0003] The embodiments of the present application provide a vehicle obstacle surmounting method, an electronic device, a vehicle and a computer-readable storage medium, which are helpful for avoiding small obstacles while maintaining the stability of the vehicle body.

[0004] In a first aspect, an embodiment of the present application provides a vehicle obstacle surmounting method, comprising:

[0005] When at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, the at least one wheel is controlled to perform a lifting action in sequence so that the at least one wheel passes over the obstacle.

[0006] In a second aspect, an embodiment of the present application provides a vehicle obstacle crossing device, comprising:

[0007] The wheel control module is used to control at least one wheel of the vehicle to perform a lifting action in sequence when at least one wheel of the vehicle will encounter an obstacle while traveling along the current driving path, so that the at least one wheel passes over the obstacle. The lifting action is performed when the vehicle meets a preset obstacle crossing condition.

[0008] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer storage medium stores a computer program, and the computer program includes program instructions, which, when executed by a processor, cause the processor to perform some or all of the steps described in the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing some or all of the steps described in the first aspect of the embodiment of the present application.

[0010] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0011] In a sixth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising the electronic device as described in the fourth aspect.

[0012] By implementing the embodiment of the present application, when at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, the at least one wheel is controlled to perform a lifting action in sequence, so that the at least one wheel passes over the obstacle in sequence. In this way, the wheel can pass over the obstacle on one side, and the vehicle is kept in the air when the wheel is lifted, which is not only conducive to reducing the risk of tire blowout and falling into a ravine, but also ensures that the driver's operating needs are met while the wheel passes over the obstacle, thereby ensuring vehicle safety and improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0014] Figure 1 This is a system architecture diagram of a vehicle obstacle crossing provided by an embodiment of the present application;

[0015] Figure 2 It is a flow chart of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0016] Figure 3 It is a scene schematic diagram of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0017] Figure 4a It is a scene schematic diagram of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0018] Figure 4b is a schematic diagram of another scenario of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0019] Figure 5A schematic diagram of another vehicle obstacle surmounting method provided in an embodiment of the present application,

[0020] Figure 6 is a schematic diagram of another scenario of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0021] Figure 7 It is a flow chart of a vehicle obstacle surmounting method provided in an embodiment of the present application;

[0022] Figure 8 It is a flow chart of another vehicle obstacle surmounting method provided in an embodiment of the present application;

[0023] Fig. 9 is a structural schematic diagram of a vehicle obstacle crossing device provided in an embodiment of the present application;

[0024] Fig.10 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or electronic device that includes a series of steps or units is not limited to the listed steps or units, but in an optional example also includes steps or units that are not listed, or in an optional example also includes other steps or units inherent to these processes, methods, products, or electronic devices.

[0027] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] See also Figure 1 , Figure 1is a system architecture diagram of a vehicle obstacle crossing provided by an embodiment of the present application, such as Figure 1 As shown, the vehicle obstacle crossing system includes: a detection device 110 , a control device 120 , a spring device 130 , a drive motor 140 , and a wheel direction control device 150 .

[0029] Among them, the detection device 110, the control device 120, the spring device 130, the drive motor 140, and the wheel direction control device 150 are placed in the vehicle.

[0030] The detection device 110 is used to detect whether there is an obstacle in the driving direction of the vehicle's wheels, obtain the height information of the obstacle, and transmit the obstacle height information and vehicle speed information to the control device 120. The detection device 110 can be a sensor or other device, which is not limited here.

[0031] Among them, the control device 120 can be an electronic device, and the electronic device can also include the following parts, control software, sensors, electronic control units, buses, etc. Among them, the control software is a program running in the electronic control unit to realize the control and management of various functions; the sensor is used to monitor various parameters of the vehicle, such as vehicle speed, etc., to provide data for the control system; the bus is used to transmit signals and power to ensure communication and collaboration between various components; the electronic control unit, as the core of the system, processes sensor data and issues control instructions. After the control device 120 receives the information transmitted by the detection device 110, it can make an obstacle crossing operation decision based on the acquired vehicle speed information and obstacle height information. The decision of the obstacle crossing operation can include multiple, which can be the first obstacle crossing operation, the second obstacle crossing operation, and the third obstacle crossing operation, which are not limited here.

[0032] There are multiple spring devices 130 for pressurizing or depressurizing the frame of the wheel, and each wheel can have a spring device 130, so that the wheel can be quickly lifted or lowered. After the control device 120 makes an obstacle-crossing operation decision, the control device 120 controls the spring device 130 according to the specific content of the decision, so that the wheel can be quickly lifted or lowered.

[0033] Among them, the drive motor 140 is used to instantly brake or drive the wheel. There are multiple drive motors 140, and each wheel can have a drive motor 140. After the control device 120 makes an obstacle crossing operation decision, the control device 120 controls the drive motor 140 according to the specific content of the decision to achieve the effect of instantaneous braking or instantaneous driving of the wheel.

[0034] The spring device 130 of each wheel may be independent to achieve a distributed drive effect, and one of them may be controlled separately when the control device 120 controls it. The drive motor 140 of each wheel may be independent to achieve a differential braking effect, and one of them may be controlled separately when the control device 120 controls it.

[0035] Among them, the wheel direction control device 150 is used to control the wheel to make slight turns. After the control device 120 makes an obstacle crossing operation decision, the control device 120 controls the wheel direction control device 150 according to the specific content of the decision, so that the wheel makes slight turns according to the new path calculated by the control device 120 that can avoid the obstacle, thereby achieving the effect of the wheel bypassing the obstacle.

[0036] See also Figure 2 , Figure 2 A schematic diagram of a vehicle obstacle surmounting method provided in this embodiment, such as Figure 2 As shown, the vehicle obstacle crossing method includes the following steps:

[0037] S210, determining that at least one wheel of the vehicle will encounter an obstacle when traveling along the current driving path;

[0038] S220, controlling at least one wheel to perform a lifting action in sequence, so that at least one wheel passes over an obstacle.

[0039] Specifically, when at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, the at least one wheel is controlled to perform a lifting action in sequence so that the at least one wheel passes over the obstacle.

[0040] The vehicle may be the vehicle currently being driven by the driver, and the obstacle may be acquired through the vehicle's sensors and other equipment, which is not limited here. The at least one wheel of the vehicle may be one, two, three, four, etc., which is not limited here. The current driving path is the path that the vehicle needs to travel in the driving direction, which may be a predetermined path or a path driven by the driver.

[0041] The current driving path is continuously detected while the vehicle is driving, and if an obstacle is found on the current driving path, at least one wheel is lifted up in sequence.

[0042] The lifting action may be that a control device inside the vehicle controls the wheel to achieve the effect of lifting the wheel.

[0043] Specifically, during the lifting operation of one of the at least one wheels, the vehicle is configured to sequentially pressurize and depressurize the spring device of the one wheel. The spring device may be a device for bouncing the wheel, and the specific device is not limited here.

[0044] Among them, please refer to Figure 3 , Figure 3 is a schematic diagram of a scenario of a vehicle obstacle surmounting method provided in an embodiment of the present application, such as Figure 3 As shown, when the obstacle crossing condition is met, the vehicle can control at least one wheel to perform a lifting action respectively, so that the vehicle can cross the obstacle.

[0045] It can be seen that in this embodiment, when at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, the at least one wheel is controlled to perform a lifting action in sequence, so that the at least one wheel passes over the obstacle in sequence. In this way, the wheel can pass over the obstacle on one side, and the vehicle is kept in the air when the wheel is lifted, which is not only conducive to reducing the risk of tire blowout and falling into a ravine, but also ensures that the driver's operating needs are met while the wheel passes over the obstacle, thereby ensuring vehicle safety and improving the driver's driving experience.

[0046] In a possible embodiment, the lifting action is performed when the vehicle meets a preset obstacle surmounting condition.

[0047] When the vehicle is about to encounter an obstacle while traveling along the current driving path, it is detected whether the vehicle meets the preset obstacle crossing conditions. If the preset obstacle crossing conditions are met, the wheel lifting action is performed to allow the vehicle to pass the obstacle.

[0048] Among them, the preset obstacle crossing condition can be formulated based on the information of the obstacle and the information of the vehicle itself. For example, the obstacle crossing condition can be preset based on the height information of the obstacle and the maximum height information that the wheel can be lifted. The obstacle crossing condition can also be preset based on other information, which is not limited here. For example, the jumping height of the wheel is h1, and the highest jumping height that the wheel can be lifted is used as the obstacle crossing condition. After obtaining the obstacle height h0, the relationship between h0 and the highest jumping height that the wheel can be lifted is compared to determine whether to perform the wheel lifting action. If h0 is less than the highest jumping height that the wheel can be lifted, the preset obstacle crossing condition is met, and the wheel lifting action is controlled to lift the wheel to h1 so that the vehicle can pass the obstacle.

[0049] It can be seen that in this embodiment, the obstacle crossing condition is added to the lifting action of the wheel. When the obstacle crossing condition is met, the obstacle can be crossed instead of blindly crossing the obstacle, which increases the stability and safety of the vehicle when crossing the obstacle to a certain extent.

[0050] In a possible embodiment, the vehicle obstacle surmounting method further includes: when the vehicle does not meet the obstacle surmounting condition, controlling the steering of the vehicle's wheels to enable the vehicle's wheels to bypass the obstacle.

[0051] Among them, controlling the wheel steering of the vehicle may be controlling the wheel of the vehicle to make a small rotation, and the small rotation does not affect the normal driving of the vehicle. After turning, the vehicle can continue to drive along the driving path. When turning, it may not affect the driver's driving, and it may not affect the driver's control of the vehicle. Controlling the wheel steering of the vehicle may be controlling the wheel rotation of the vehicle according to the new path, so that the wheel changes the driving trajectory and bypasses the obstacle according to the new path, so that the wheel of the target vehicle bypasses the obstacle. The new path is a path that can bypass the obstacle after judging that the vehicle does not meet the obstacle crossing condition. The above-mentioned new path can be a path that can bypass the obstacle obtained by the vehicle control device according to calculation. The calculation of the new path takes into account whether the road condition is safe. If the road condition is safe, the operation of bypassing the obstacle is performed. If the road condition is not safe, for example, there are other vehicles on the side, etc., it is risky to change the driving trajectory, and the obstacle crossing operation is not performed.

[0052] Among them, see Figure 4a , Figure 4a A schematic diagram of a scenario of a vehicle obstacle surmounting method provided in an embodiment of the present application, such as Figure 4a As shown, in this case, the decision is made for the second obstacle crossing operation. The vehicle calculates a path that can bypass the obstacle and controls the rotation of the wheels to allow the obstacle to pass under the chassis of the vehicle. The obstacle can also pass from the outside of the vehicle body instead of under the chassis of the vehicle. The actual new path is calculated based on the actual situation and is not limited here. Among them, it can be controlling the rotation of the front wheels to change direction or controlling the rotation of the rear wheels to change direction, which is not limited here.

[0053] Among them, see Figure 4b , Figure 4b A schematic diagram of another scenario of a vehicle obstacle surmounting method provided in an embodiment of the present application, wherein controlling the wheels of a target vehicle to rotate according to a new path so that the wheels of the target vehicle bypass an obstacle includes:

[0054] 41. Obtain the actual trajectory through preview and obtain the calculation parameters, where the calculation parameters include path error, heading angle error, reference yaw rate, front axle cornering stiffness, rear axle cornering stiffness, vehicle moment of inertia, length from center of mass to front axle, length from center of mass to rear axle, longitudinal speed and vehicle mass;

[0055] 42. Obtain the vehicle error state equation based on the trajectory tracking algorithm and calculation parameters;

[0056] 43. Configure a response controller according to the vehicle error state equation, and obtain a new path according to the response controller.

[0057] Among them, the trajectory tracking algorithm can be used for the step of controlling the vehicle to bypass obstacles according to the new path. The specific process may include: when the vehicle is driving along the original trajectory, the tire trajectory is obtained by previewing, and the vehicle center of mass trajectory is translated to the center of mass of the vehicle. In each time step, the state variable is defined as [yyωω], y is the lateral displacement, ω is the yaw angular velocity, and the state space equation is obtained as follows:

[0058]

[0059] Converting the state vector into an error vector yields the vehicle error state equation:

[0060]

[0061] Among them, e1 is the path error, e2 is the heading angle error, ω is the reference yaw angular velocity, C f is the front axle cornering stiffness, C r is the rear axle cornering stiffness, I z is the vehicle's moment of inertia, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, u is the longitudinal speed, m is the mass of the vehicle, and δ is the wheel angle. Then, according to the vehicle error state equation, a response controller can be configured. A linear quadratic regulator (LQR) or other algorithms can be used during configuration, which are not limited here. If LQR is used, a response controller is configured according to the vehicle error state equation. The process of obtaining a new path according to the response controller may include:

[0062] Model a linear time-invariant system, that is,

[0063] in u=δ, K is the state feedback matrix.

[0064] Define a cost function:

[0065]

[0066] Among them, R and Q are positive definite matrices, representing the state and control costs respectively. Then, the cost function J is differentiated to obtain the expression of the state feedback matrix K:

[0067] K=(R+B T PB) -1 B T PA,

[0068] Where P is a positive definite matrix that satisfies the Riccati equation: A T P+PA-PBR -1 BP+Q=0.

[0069] According to the expression of the state feedback matrix K, the optimal control form u=-Kx is obtained.

[0070] Among them, u is the output of the controller, that is, the control quantity, K is the feedback gain matrix, and x is the state variable of the system.

[0071] This expression shows that the controller calculates the optimal control output u according to the state variable x of the system through the feedback gain matrix K. Specifically, the LQR method determines the feedback gain matrix K by minimizing a specific performance indicator to achieve the optimal lateral control and obtain a new path for the vehicle to bypass the obstacle.

[0072] It can be seen that in this embodiment, in addition to avoiding obstacles by jumping over obstacles, obstacle avoidance can also be performed by bypassing obstacles. The diversity of obstacles and vehicle structure limitations are fully considered, so that the vehicle can automatically avoid more obstacles, which is beneficial to reducing the risk of tire blowouts and getting stuck in gullies. It can also ensure that the driver's operating needs are met while the wheels pass over obstacles, which is beneficial to ensuring vehicle safety and improving the driver's driving experience.

[0073] In a possible embodiment, the obstacle crossing condition includes: an obstacle height of the obstacle is less than a bounce height of at least one wheel, and the bounce height is a maximum liftable height of at least one wheel.

[0074] The obstacle height of the obstacle can be obtained by the vehicle's sensors and other equipment, and the device for obtaining the obstacle is not limited here. When the vehicle is driving, the current driving path is continuously detected. If an obstacle is found on the current driving path, the obstacle height is obtained and compared with the jump height of the wheel. The obstacle crossing condition is that the height of the obstacle is less than the jump height of at least one wheel. The at least one wheel can be any one or more wheels in the vehicle that encounter an obstacle, and the number is not limited here.

[0075] It can be seen that in this embodiment, the wheel bounce height is used as a restriction condition, and the obstacle height and the wheel bounce height are judged when encountering an obstacle. The diversity of obstacles and the structural limitations of the vehicle are fully considered, so that the vehicle can automatically avoid more obstacles, which is beneficial to reducing the risk of tire blowouts and falling into gullies. It can also ensure that the driver's operating needs are met while the wheel passes over the obstacle, which is beneficial to ensuring vehicle safety and improving the driver's driving experience.

[0076] In a possible embodiment, if the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, the front wheel and the rear wheel are configured to perform lifting actions in sequence so as to pass over obstacles in sequence.

[0077] The direction in which the front of the vehicle faces is defined as the front of the vehicle, and the direction in which the rear of the vehicle faces is defined as the rear of the vehicle. The front wheels may be wheels at the front of the vehicle, and the rear wheels may be wheels at the rear of the vehicle. If at least one wheel includes a front wheel and a rear wheel, and if an obstacle is detected on the driving path of at least one wheel, the front wheel and the rear wheel are configured to sequentially perform a lifting action so as to sequentially pass over the obstacle. The lifting action may be that the control device controls the spring device to sequentially perform a pressurization operation and a decompression operation to achieve the effect of lifting the wheel.

[0078] Specifically, during the lifting operation of a certain wheel among the at least one wheel, the vehicle is configured to sequentially perform a pressurizing operation and a decompressing operation on the spring device of the certain wheel.

[0079] Among them, the above-mentioned pressurization operation is to store force and compress the spring, and the above-mentioned decompression operation is to release the spring.

[0080] For example, when the obstacle height of the obstacle is less than the bounce height of all the wheels of the vehicle, and the obstacle is located on the driving path of a certain wheel at the front of the vehicle and a certain wheel at the rear of the vehicle on the same side, and if the front of the vehicle faces the driving direction of the vehicle, the front wheel is first lifted, and then the rear wheel is lifted. If the rear of the vehicle faces the driving direction of the vehicle, the rear wheel is first lifted, and then the front wheel is lifted.

[0081] It can be seen that in this embodiment, when encountering an obstacle on the vehicle's driving path, it can be decided whether to perform a single wheel bounce to achieve the effect of crossing the obstacle based on the height of the obstacle and the wheel bounce height. In this way, the wheel can cross the obstacle, and the vehicle can be kept in the air while the wheel is lifted. This not only helps to reduce the risk of wheel blowout and falling into a ditch, but also ensures that the driver's operating needs are met while the wheel crosses the obstacle, which is beneficial to ensuring vehicle safety and improving the driver's driving experience.

[0082] In a possible embodiment, if the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, the obstacle crossing condition further includes: a vehicle speed of the vehicle is within a vehicle speed threshold range.

[0083] Specifically, the vehicle speed threshold range is used to constrain that after a front wheel is lifted to a take-off height and lands, a rear wheel can be lifted to a take-off height before touching an obstacle; wherein the take-off height is greater than the obstacle height and less than or equal to the bounce height.

[0084] Specifically, the vehicle speed threshold range is determined based on the front and rear wheelbases and the take-off height of the vehicle.

[0085] Among them, if there is at least one front wheel and at least one rear wheel on the driving path of the vehicle, the obstacle crossing condition can also consider the relationship between the vehicle speed and the vehicle speed threshold range. The vehicle speed threshold range can be used to constrain that after a certain front wheel performs a lifting action to the take-off height and lands, a certain rear wheel can perform a lifting action to the take-off height before touching the obstacle. If the vehicle speed is not within the vehicle speed threshold range, the example vehicle speed is greater than the vehicle speed threshold range, then it may happen that when a certain front wheel performs a lifting action but does not land, a certain rear wheel has already touched the obstacle, resulting in a certain rear wheel being unable to perform a lifting action, resulting in the rear wheel not avoiding the obstacle. The take-off height is the height at which a certain wheel of the vehicle actually jumps up. The take-off height must be greater than the obstacle height and less than or equal to the bounce height. The bounce height is the highest bounce height of a certain wheel, that is, the upper limit of the take-off height of a certain wheel. The above-mentioned take-off height can be a preset height, such as a bounce height, that is, it bounces to the highest height every time, or it can be a height determined in real time, such as a height calculated according to the obstacle height, such as a height slightly greater than the obstacle height, and the distance greater than the obstacle can be preset.

[0086] The speed threshold range is calculated based on the front and rear wheelbases of the vehicle and the jump-off height. The front and rear wheelbases of the vehicle are fixed structural parameters based on the vehicle model and can be used as preset parameters. This can be more conducive to presetting the speed threshold range for each vehicle model, so that at least one wheel of the vehicle can pass over obstacles. This not only helps to reduce the risk of tire blowouts and falling into ravines, but also helps to ensure vehicle safety and improve the driving experience of the driver.

[0087] Specifically, the vehicle speed threshold range is:

[0088]

[0089] Among them, g is the acceleration of gravity, h1 is the take-off height, L is the wheelbase of the front and rear wheels, and δ is the delay time before a rear wheel responds to the lifting action after a front wheel lands.

[0090] Specifically, before making a decision on the obstacle crossing operation based on the obstacle height, the bounce height, and the vehicle speed, the method includes: obtaining the wheel rise and fall time interval according to the following formula group (1): The formula group (1) is:

[0091]

[0092] Among them, t1 is the moment when the wheel is lifted, t2 is the moment when the wheel lands, v0 is the vehicle speed, g is the acceleration of gravity, and h1 is the take-off height; the vehicle speed threshold range is determined according to the wheel lift-and-fall time interval Δt and the front and rear wheel wheelbase: Among them, L is the wheelbase of the front and rear wheels, and δ is the error time. Among them, the distance between the target wheel and the next target wheel can be regarded as the wheelbase of the front and rear wheels L. After the target wheel passes the obstacle, the next target wheel travels L and also reaches the obstacle. Therefore, when the vehicle speed is within the vehicle speed threshold range, it means that when the vehicle target wheel is lifted and dropped, it is guaranteed that the next target wheel can be lifted in time. When the vehicle speed is not within the vehicle speed threshold range, it means that after the target wheel is lifted and dropped, the next target wheel does not have enough time to lift up, and at this time, the next target wheel cannot avoid the obstacle.

[0093] Among them, if the obstacle height is less than the bounce height and the vehicle speed is within the vehicle speed threshold range, the wheel lifting action can be performed; if the obstacle height is greater than the bounce height and less than the chassis height, it means that the obstacle may not be able to be crossed by lifting the wheel, so the vehicle's wheels are controlled to turn around the obstacle; if the obstacle height is less than the bounce height, but the vehicle speed is not within the vehicle speed threshold range, the vehicle's wheels are controlled to turn around the obstacle.

[0094] For example, see Figure 5 , Figure 5 For a schematic diagram of another vehicle obstacle surmounting method provided in an embodiment of the present application, please refer to Figure 5 If the target vehicle detects an obstacle in the driving route in front of it during driving, and the obstacle is on the driving track of a certain tire, then the wheel corresponding to the current obstacle is the target wheel, and the obstacle height is detected to obtain the obstacle height h0. The take-off height of the target vehicle is h1, and the chassis height is h2. If h0 is less than h1, then check whether the vehicle speed is within the vehicle speed threshold range. If the vehicle speed is Then at least one wheel is controlled to perform a lifting action in sequence, so that at least one wheel passes over the obstacle.

[0095] It can be seen that in this embodiment, after detecting an obstacle on the driving path, the vehicle speed and the obstacle height are detected, and the vehicle speed and the obstacle height are judged to determine whether to perform a wheel lifting action, and the at least one wheel is controlled to perform the lifting action in sequence, so that the at least one wheel passes over the obstacle in sequence. In this way, when the wheel is lifted, the vehicle is kept not suspended in the air, making it safer when the vehicle performs the wheel lifting action, which is not only conducive to reducing the risk of tire blowout and falling into the gully, but also ensures that the driver's operating needs are met while the wheel passes over the obstacle, which is conducive to ensuring vehicle safety and improving the driver's driving experience.

[0096] In a possible embodiment, during the lifting operation of a certain wheel among the at least one wheel, the vehicle is configured to sequentially perform a pressurization operation and a decompression operation on a spring device of the certain wheel.

[0097] The execution of the lifting action requires that the spring device of a certain wheel is first pressurized and then decompressed, that is, the spring device is first compressed and then released, so that the wheel is bounced up by the spring device.

[0098] Among them, the wheels of the vehicle may include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, and may also include more or fewer wheels, which are not limited here. For each wheel spring device, the first front wheel and the second front wheel may be wheels at the front of the vehicle, the first rear wheel and the second rear wheel may be wheels at the rear of the vehicle, at least one wheel may be any one or more of the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel, and a certain wheel may also be any one of the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel. The first front wheel has a first spring device, the second front wheel has a second spring device, the first rear wheel has a third spring device, and the second rear wheel has a fourth spring device. When a certain wheel is the first front wheel mentioned above, and the first front wheel encounters an obstacle in the driving direction, and meets the conditions of the first obstacle crossing operation, the first front wheel is controlled so that the first spring device of the first front wheel is pressurized, and the pressurization operation is to compress the spring to store force so that the wheel can bounce upwards, and the second front wheel, the first rear wheel, and the second rear wheel are the same, which will not be repeated here.

[0099] For example, the first front wheel and the first rear wheel can be wheels on the same side of the vehicle, and the second front wheel and the second rear wheel can be wheels on the other side of the vehicle. When encountering an obstacle in the driving direction of the first front wheel and the first rear wheel, the first front wheel and the first rear wheel are controlled to control the first spring device and the third spring device in turn to perform a lifting operation.

[0100] It can be seen that in this embodiment, when encountering an obstacle on the vehicle's driving path, each wheel can be lifted individually, so that the wheel can pass over the obstacle, and the vehicle can be kept in the air when the wheel is lifted. This not only helps to reduce the risk of tire blowout and falling into a ditch, but also ensures that the driver's operating needs are met while the wheel passes over the obstacle, which is beneficial to ensuring vehicle safety and improving the driver's driving experience.

[0101] In a possible embodiment, the axles of the vehicle include a front axle and a rear axle, and while a pressurizing operation is performed on a spring device of a certain wheel, the vehicle is also configured to brake the certain wheel, and / or, increase the driving force for a first wheel on a different axle from the certain wheel; and / or, while a decompressing operation is performed on a spring device of a certain wheel, the vehicle is also configured to increase the driving force for a first wheel on a different axle from the certain wheel.

[0102] Among them, the first wheel is a wheel for increasing driving force on a different axle from a certain wheel. If a certain wheel is a wheel on the front axle, the first wheel is one or more wheels on the rear axle, and the number is not limited here; if a certain wheel is a wheel on the rear axle, the first wheel is the wheel on the rear axle, and the certain wheel is one or more wheels on the front axle, and the number is not limited here.

[0103] The front axle of the vehicle is the axle at the front of the vehicle, and the rear axle of the vehicle is the axle at the rear of the vehicle; the wheels of the vehicle may include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, and may also include more or fewer wheels, which are not limited here. For each wheel spring device, the first front wheel and the second front wheel may be wheels of the front axle, the first rear wheel and the second rear wheel may be wheels of the rear axle, at least one wheel may be any one or more of the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel, and a certain wheel may also be any one of the first front wheel, the second front wheel, the first rear wheel, and the second rear wheel, the first front wheel has a first spring device, the second front wheel has a second spring device, the first rear wheel has a third spring device, and the second rear wheel has a fourth spring device. When a wheel is the first front wheel, and the first front wheel encounters an obstacle in the driving direction, and meets the conditions of the first obstacle crossing operation, the first front wheel is controlled so that the first spring device of the first front wheel is pressurized, and the pressurization operation is to compress the spring so that the wheel can bounce up. The second front wheel, the first rear wheel, and the second rear wheel are the same, which will not be repeated here. Among them, the vehicle also has a driving device, and each wheel can have a driving motor. The first front wheel has a first driving motor, the second front wheel has a second driving motor, the first rear wheel has a third driving motor, and the second rear wheel has a fourth driving motor. Specifically, while the spring device of a certain wheel is pressurized, the vehicle also brakes the first wheel, and can also brake a certain wheel and a wheel on the same axle as the certain wheel. At the same time, the wheel on a different axle from the first wheel can be driven, and the first wheel on a different axle from the certain wheel can be a wheel on the same side as the certain wheel or a wheel on a different side. The above-mentioned braking is performed by a driving motor, and the driving motor can brake and drive the wheel. While the spring device of a certain wheel is decompressing, the vehicle also increases driving force on a first wheel on a different axle from the certain wheel. The operations related to the pressurization operation of the spring device of a certain wheel and the operations related to the decompression operation of the spring device of a certain wheel may both be performed, or only the operations related to the pressurization operation or only the operations related to the decompression operation may be performed, which is not limited here.

[0104] For example, if a certain wheel is the first front wheel, that is, the wheel of the front axle, then the first wheel can be one or more of the first rear wheel, the second rear wheel, and the second front wheel of the rear axle. When the first front wheel encounters an obstacle in the driving direction and meets the conditions of the first obstacle crossing operation, the first front wheel is controlled to pressurize the first spring device of the first front wheel so that the wheel can bounce upward. When the first spring device is compressed, the first drive motor and the second drive motor are controlled to perform instantaneous braking on the first front wheel and the second front wheel respectively, so that the overall load of the vehicle moves forward, the tire force of the first front wheel and the second front wheel increases, and the stored elastic potential energy increases. In addition, when the first front wheel and the second front wheel are instantaneously braked, the instantaneous braking time needs to be precisely matched with the spring compression time, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the accumulation of force is completed, the first spring device is decompressed. The decompression operation is to release the pressure on the spring so that the first front wheel bounces off the ground. At the moment the first spring device releases energy, the front axle load needs to be reduced to reduce other external forces except overcoming the acceleration of gravity. At this time, the third drive motor and the fourth drive motor can be controlled to give instantaneous driving force to the first rear wheel and the second rear wheel of the rear axle, so that the load moves backward and the first front wheel of the front axle bounces better.

[0105] For example, after the first front wheel passes the obstacle, if a certain wheel is the first rear wheel, that is, the wheel of the rear axle, then the first wheel can be one or more of the first front wheel, the second front wheel, and the second rear wheel of the front axle, which is similar to the control method when the first front wheel is the target wheel. First, the first rear wheel is controlled so that the third spring device of the first rear wheel is pressurized, and the pressurization operation is to compress the spring and then release it, so that the wheel can bounce up. When the third spring device is compressed, the third drive motor and the fourth drive motor are controlled to perform instantaneous braking on the first rear wheel and the second rear wheel respectively, so that the overall load of the vehicle moves backward, the tire force of the first rear wheel and the second rear wheel increases, and the stored elastic potential energy increases. In addition, when the first rear wheel and the second rear wheel are instantaneously braked, the instantaneous braking time needs to be precisely matched with the spring compression time, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the accumulation of force is completed, the third spring device is subjected to a decompression operation. The decompression operation is to release the pressure on the spring so that the first rear wheel bounces off the ground. At the moment when the third spring device releases energy, the rear axle load needs to be reduced to reduce other external forces except for overcoming the acceleration of gravity. At this time, the first drive motor and the second drive motor can be controlled to provide instantaneous driving force to the first front wheel and the second front wheel of the front axle, so that the load moves forward and the first rear wheel of the rear axle bounces better.

[0106] For example, please refer to Figure 6 , Figure 6 A schematic diagram of another vehicle obstacle surmounting method provided in an embodiment of the present application, such as Figure 6 As shown, it includes a first front wheel 51, a second front wheel 52, a first rear wheel 53, a second rear wheel 54, a front axle 55, a rear axle 56, a first spring device 57 and / or a first drive motor 59, a second spring device 58 and / or a second drive motor 60, a third spring device 61 and / or a third drive motor 63, a fourth spring device 62 and / or a fourth drive motor 64, wherein the drive motor and the spring device may be located at the tire side at the same time or at different positions respectively. In some possible cases, the drive motor may also be integrated into one device, which is not limited here. In the driving direction, an obstacle is encountered in front of the first front wheel 51. It is assumed that the first obstacle crossing operation is determined by the obstacle height and the vehicle speed. First, the first spring device 57 is controlled to perform a pressurization operation. While pressurizing, the first drive motor 59 and the second drive motor 60 are controlled to perform instantaneous braking on the first front wheel 51 and the second front wheel 52 respectively, so that the overall load of the vehicle moves forward, the tire force of the first front wheel 51 and the second front wheel 52 increases, and the stored elastic potential energy increases. After the accumulation of power is completed, the first spring device 57 is decompressed. The decompression operation is to release the pressure of the spring so that the first front wheel bounces off the ground. At the moment when the first spring device 57 releases energy, the load on the front axle 55 needs to be reduced to reduce other external forces except for overcoming the acceleration of gravity. At this time, the third drive motor 63 and the fourth drive motor 64 can be controlled to give instantaneous driving force to the first rear wheel 53 and the second rear wheel 54 of the rear axle, so that the load moves backward and the first front wheel of the front axle 55 bounces better. Similarly, the control method of the first rear wheel 53 is similar to the control method of the first front wheel 51, and will not be repeated here.

[0107] It can be seen that in this embodiment, when the wheel avoids obstacles, a certain wheel can be individually lifted and controlled to brake and drive, so that the vehicle is more stable when a certain wheel is lifted. This not only helps to reduce the risk of tire blowout and falling into ravines, but also ensures that the driver's operating needs are met while the wheel passes over obstacles, which is beneficial to ensuring vehicle safety and improving the driver's driving experience.

[0108] In one possible embodiment, when a spring device of a certain wheel is pressurized, the vehicle's active stabilizer bar is configured to apply an upward pulling force to the certain wheel; and / or, after a spring device of a certain vehicle is decompressed, the vehicle's active stabilizer bar is also configured to apply a downward pressure to the certain wheel.

[0109] The vehicle also includes an active stabilizer bar, which is a device used to improve the vehicle's handling stability and driving safety. It is usually part of the vehicle's suspension system and works in the following ways: variable rigidity, which can automatically adjust its rigidity according to the vehicle's driving state and road conditions. Electronic control, which is controlled by the vehicle's electronic system to achieve precise adjustment. Working principle: Use hydraulic, electric or other drive methods to change the force state of the stabilizer bar.

[0110] When the spring device is pressurized, the active stabilizer bar is controlled to apply an upward pulling force to a wheel. When the spring device is decompressed, the wheel has received an upward pulling force, and the upward elastic force generated by the decompression operation makes it easier for the wheel to be lifted upward. After the decompression operation, a wheel may need to be lowered faster, that is, after the decompression operation, the active stabilizer bar of the vehicle can be controlled to apply downward pressure to a wheel. The active stabilizer bar may not be operated after the decompression operation, which is not limited here.

[0111] For example, if one of the wheels is the first front wheel, and the obstacle is located in the path of the first front wheel and the first rear wheel, when the first front wheel bounces up, the active stabilizer bar can be used to give the first front wheel an upward pulling force, making it easier to lift the first front wheel, and assisting in increasing the lifting height within the limited spring compression range. When the wheel falls, a downward pressure is given to the first front wheel, so that the first front wheel falls to the ground faster, reducing the time the vehicle is in the air. The same is true for the first rear wheel, which will not be described in detail here.

[0112] It can be seen that in this embodiment, adding an active stabilizer bar can lift the wheels higher without increasing the spring compression range, and can make the wheels fall faster, so that the time when only three wheels of the vehicle are on the ground is shorter, which is beneficial to improving the stability of the vehicle, reducing the probability of danger, and improving the driving experience.

[0113] In a possible embodiment, after the spring device of a certain wheel is decompressed, the vehicle is also configured to brake another wheel on the same axle as the certain vehicle, and / or increase the driving force of a second wheel on a different axle from the certain wheel.

[0114] Among them, during the bounce of a certain wheel, the other three wheels of the vehicle touch the ground. At this time, the rotational torque provided by the other three wheels may not be enough for the vehicle to maintain straight driving. For example, if a certain wheel is on the left, it will have a tendency to yaw to the left. In this case, differential braking and differential drive are needed to maintain the normal driving state of the vehicle. When a certain wheel bounces, it is necessary to increase the braking of another wheel on the same axle as a certain vehicle. At the same time, the driving force can be increased for the second wheel on a different axle from a certain wheel to suppress the tendency to yaw to the left. The driving force may not be increased for the second wheel on a different axle from a certain wheel, which is not limited here. For specific implementation, reference can be made to the linear two-degree-of-freedom vehicle kinematic model, and the required additional yaw torque can be calculated according to the state transfer matrix; the vehicle required yaw torque during the jump process can also be calibrated by a real vehicle, and the braking and driving force values ​​of the two diagonal wheels are given by table lookup and feedback correction, and the specific values ​​and methods are not limited here.

[0115] For example, if a certain wheel is the first front wheel, during the process of the first front wheel bouncing, the other three wheels of the vehicle are on the ground. At this time, since the rotational torque provided by the other three wheels is not enough for the vehicle to maintain straight driving, if the first front wheel is on the left, it will have a tendency to yaw to the left. In this case, differential braking and differential driving are required to maintain the normal driving state of the vehicle. When the first front wheel bounces, the second wheel can be one or more of the first rear wheel and the second rear wheel of the rear axle, or it can be another wheel of the front axle, that is, the second front wheel. It is necessary to increase the braking of the second front wheel and increase the driving force of the first rear wheel to suppress the tendency to yaw to the left. When the first rear wheel passes, the first rear wheel bounces, and it is necessary to increase the driving force of the first front wheel and brake the second rear wheel. For specific implementation, refer to the linear two-degree-of-freedom vehicle kinematic model, and calculate the required additional yaw torque according to the state transfer matrix; it is also possible to calibrate the vehicle's required yaw torque during the jump process through a real vehicle, and give the braking and driving force values ​​of the two diagonal wheels respectively through a table lookup method and feedback correction. The specific values ​​and methods are not limited here.

[0116] It can be seen that in this embodiment, after one of the wheels jumps off, the braking and driving of other wheels are controlled to ensure that the vehicle body keeps moving in a straight line, which is beneficial to improving the stability of the vehicle body when crossing obstacles, reducing the probability of danger, and improving the driving experience.

[0117] In a possible embodiment, the vehicle includes a left side and a right side. If two wheels on different axles from a certain wheel correspond to different drive motors respectively, then the first wheel includes wheels located on different sides of the vehicle from the certain wheel, and / or the second wheel includes wheels located on the same side of the vehicle as the certain wheel.

[0118] Wherein, the two wheels of different axles of a wheel correspond to different drive motors respectively, which may be a four-wheel drive situation. When a wheel is a wheel of the front axle, when the spring device of a wheel is pressurized, the driving force is increased for the first wheel of the axle different from the wheel, and the first wheel may be a wheel located on a different side of the vehicle from the wheel; and, when the spring device of a wheel is decompressed, the driving force is increased for the second wheel of the axle different from the wheel, and the second wheel may be a wheel located on a different side of the vehicle from the wheel. In some possible cases, when the spring device of a wheel is pressurized, the driving force is increased for the first wheel of the axle different from the wheel, and the first wheel may be a wheel located on a different side of the vehicle from the wheel; when the decompression operation is performed, the driving force is increased for the first wheel of the axle different from the wheel, and the first wheel may include the same side wheel. In some possible cases, when the spring device of a wheel is pressurized, the driving force is increased for the first wheel of the axle different from the wheel, and the first wheel may include the same side wheel; when the decompression operation is performed, the driving force is increased for the first wheel of the axle different from the wheel, and the first wheel may be a wheel located on a different side of the vehicle from the wheel.

[0119] Among them, when the vehicle is a four-wheel drive, when a certain wheel is subjected to a decompression operation, the driving force can be increased for the wheel on a different side axle from the axle of the certain wheel, so as to better realize the load transfer in the four-wheel drive condition.

[0120] Wherein, while the vehicle is performing a pressurizing operation on the spring device of a certain wheel, the vehicle brakes a certain wheel, and / or increases driving force on a first wheel on a different axle from the certain wheel; and / or, while performing a decompression operation on the spring device of a certain wheel, the vehicle is also configured to increase driving force on a second wheel on a different axle from the certain wheel. At this time, the wheel on a different axle from the certain wheel may be a wheel on the same side as the certain wheel, or a wheel on a different side, or all wheels on different axles, which is not limited here.

[0121] Wherein, after the spring device of a wheel performs the decompression operation, the vehicle is also configured to brake another wheel on the same axle as the vehicle, and / or increase the driving force for a wheel on a different axle from the wheel. At this time, the wheel on a different axle from the wheel may be a wheel on the same side as the wheel, or a wheel on a different side, or all wheels on different axles, which is not limited here.

[0122] It can be seen that in this embodiment, after one of the wheels jumps off, the braking and driving of other wheels are controlled to ensure that the vehicle body keeps moving in a straight line, and the four-wheel drive situation is also taken into consideration, which is beneficial to improving the stability of the vehicle body when crossing obstacles, reducing the probability of danger, and improving the driving experience.

[0123] In a possible embodiment, while obtaining the obstacle height, road condition information is also obtained, the road condition information including whether there are obstacles on the side and / or in front of the road, where the obstacles include other vehicles, and the road condition information is used to determine whether the vehicle can perform the second obstacle crossing operation.

[0124] Among them, the road condition information can be characterized by "excellent" or "good", or by other distinguishing features, such as "1" or "0". When the road condition information determines that the second obstacle overcoming operation can be performed, after determining the obstacle height h0 and the vehicle speed v0, a decision is made based on the road condition information to take the second obstacle overcoming operation or not to take the armband measure.

[0125] Among them, obstacles also include road conditions such as potholes, which are not limited here.

[0126] It can be seen that in this embodiment, the judgment of road condition information is added. Judging whether the road condition allows the vehicle to change the driving road can prevent collisions with other objects or vehicles, improve driving safety factor, and reduce driving risks.

[0127] In one possible embodiment, see Figure 7 ,like Figure 7 As shown, Figure 7 A method flow chart of a vehicle obstacle surmounting method provided in this embodiment, such as Figure 7 As shown, the method may also include the following steps:

[0128] S710, obtaining a vehicle speed of the vehicle and a height of an obstacle in a driving direction of at least one wheel, wherein the at least one wheel is a wheel that will encounter an obstacle when the vehicle travels along a current driving path.

[0129] The vehicle may be the vehicle currently being driven by the driver, and the obstacle height may be acquired through sensors and other equipment of the vehicle, which is not limited here.

[0130] Before step S710, the current driving path is continuously detected. If an obstacle is found on the current driving path, step S710 is executed to obtain the vehicle speed and the height of the obstacle.

[0131] S720, making a decision on an obstacle overcoming operation based on the height of the obstacle, the jumping height of the vehicle, the chassis height of the vehicle, and the vehicle speed, the obstacle overcoming operation including a first obstacle overcoming operation or a second obstacle overcoming operation, wherein the jumping height is a height that at least one wheel can be lifted; the first obstacle overcoming operation includes controlling at least one wheel to bounce to the jumping height, and the second obstacle overcoming operation includes controlling the rotation of the vehicle's wheels according to a new path so that the wheels of the target vehicle bypass the obstacle, and the new path is a path that can bypass the obstacle obtained after making a decision on the second obstacle overcoming operation.

[0132] The vehicle's jumping height is the highest height that at least one wheel of the vehicle can lift, and the vehicle's chassis height is the highest height of an object that can pass under the vehicle's chassis. The obstacle-crossing operation may include multiple operations, including a first obstacle-crossing operation and a second obstacle-crossing operation, and may also include other obstacle-crossing operations, which are not limited here.

[0133] The first obstacle-crossing operation may be to control the wheels to bounce so that at least one wheel crosses the obstacle, and the second obstacle-crossing operation may be to control the wheels of the vehicle to rotate so that the wheels change the driving trajectory and bypass the obstacle according to the new path. The new path may be a path that can bypass the obstacle obtained by the vehicle control device according to calculation. The calculation of the new path takes into account whether the road condition is safe. If the road condition is safe, the obstacle bypassing operation is performed. If the road condition is unsafe, for example, there are other vehicles on the side, it is risky to change the driving trajectory, and the obstacle-crossing operation is not performed.

[0134] Specifically, the decision of obstacle crossing operation based on obstacle height, bounce height and vehicle speed includes:

[0135] 71. If the obstacle height is less than the bounce height and the vehicle speed is within the vehicle speed threshold range, the decision is made to perform the first obstacle crossing operation;

[0136] 72. If the obstacle height is greater than the bounce height and less than the chassis height, the decision is to perform the second obstacle crossing operation;

[0137] 73. If the obstacle height is less than the bounce height and the vehicle speed is not within the vehicle speed threshold range, the decision is made to perform the second obstacle crossing operation, wherein the bounce height is less than the chassis height.

[0138] Among them, when making a decision, it can be first determined whether the height of the obstacle is less than the vehicle's bouncing height. If the height of the obstacle is less than the vehicle's bouncing height, it means that there is a possibility of jumping over the obstacle by at least one wheel, and then it is further determined whether the vehicle speed is within the vehicle speed threshold range. If the vehicle speed is within the vehicle speed threshold range, it can be determined as the first obstacle crossing operation. If the vehicle speed is not within the vehicle speed threshold range, it can be determined as the second obstacle crossing operation. If the obstacle is greater than the vehicle's bouncing height, it means that it may not be possible to jump over the obstacle by bouncing the wheels, and then it is determined whether the obstacle is less than the chassis height. If the obstacle is less than the chassis height, it can be determined as the second obstacle crossing operation.

[0139] It can be seen that in this embodiment, the vehicle speed and the height of the obstacle in the driving direction of at least one wheel are first obtained, and the obstacle overcoming operation is decided according to the height of the obstacle, the bounce height of the vehicle, the chassis height of the vehicle, and the vehicle speed. The obstacle overcoming operation includes the first obstacle overcoming operation or the second obstacle overcoming operation, wherein the bounce height is the height at which the wheel can be lifted; the first obstacle overcoming operation includes controlling the wheel to bounce to the bounce height, and the second obstacle overcoming operation includes controlling the wheel rotation of the vehicle according to the new path so that the wheel of the vehicle bypasses the obstacle, and the new path is the path that can bypass the obstacle after making the decision of the second obstacle overcoming operation. In this way, the wheel can jump on one side or avoid turning, and when the wheel is lifted, the vehicle is kept not suspended, which is conducive to reducing the risk of tire blowout, ensuring vehicle safety, and improving the driving experience of the driver.

[0140] In a possible embodiment, the wheels include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, each wheel has a drive motor and a spring device, the vehicle has a front axle and a rear axle, the first front wheel and the second front wheel correspond to the front axle, and the first rear wheel and the second rear wheel correspond to the rear axle. When the first front wheel is one of at least one wheel, controlling the first front wheel to bounce to a bouncing height includes: controlling the first spring device of the first front wheel to perform a pressurizing operation, and controlling the first spring device to perform a decompressing operation after pressurizing; while controlling the first spring device to perform a pressurizing operation, controlling the first front wheel and the second wheel to perform instantaneous braking, and controlling the third drive motor of the first rear wheel to perform instantaneous driving; while controlling the first spring device to perform a decompressing operation, controlling the third drive motor of the first rear wheel and the fourth drive motor of the second rear wheel to perform instantaneous driving.

[0141] Among them, the first front wheel has a first spring device and a first drive motor, the second front wheel has a second spring device and a second drive motor, the first rear wheel has a third spring device and a third drive motor, and the second rear wheel has a fourth spring device and a fourth drive motor. The spring device can bounce the wheel up or down by compression and release, and the drive motor can brake or drive the wheel.

[0142] When the first front wheel encounters an obstacle in the direction of travel and meets the conditions of the first obstacle-crossing operation, the first front wheel is controlled to pressurize the first spring device of the first front wheel. The pressurization operation is to compress the spring so that the wheel can bounce upward. When the first spring device is compressed, the first drive motor and the second drive motor are controlled to perform instantaneous braking on the first front wheel and the second front wheel respectively, so that the overall load of the vehicle moves forward, the tire force of the first front wheel and the second front wheel increases, and the stored elastic potential energy increases. In addition, when the first front wheel and the second front wheel are instantaneously braked, the instantaneous braking time needs to be precisely matched with the spring compression time, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the accumulation of force is completed, the first spring device is decompressed. The decompression operation is to release the pressure on the spring so that the first front wheel bounces off the ground. At the moment the first spring device releases energy, the front axle load needs to be reduced to reduce other external forces except overcoming the acceleration of gravity. At this time, the third drive motor and the fourth drive motor can be controlled to give instantaneous driving force to the first rear wheel and the second rear wheel of the rear axle, so that the load moves backward and the first front wheel of the front axle bounces better.

[0143] Specifically, in the case where the first rear wheel is one of at least one wheel, it also includes: controlling the third spring device to perform a pressurization operation, and controlling the third spring device to perform a decompression operation after pressurization; while controlling the third spring device to perform a pressurization operation, controlling the first rear wheel and the second rear wheel to perform instantaneous braking, and controlling the first drive motor of the first front wheel to perform instantaneous driving; while controlling the third spring device to perform a decompression operation, controlling the first drive motor of the first front wheel and the second drive motor of the second front wheel to perform instantaneous driving.

[0144] Among them, when the first rear wheel is one of at least one wheel, the control method is similar to that when the first front wheel is one of at least one wheel. First, the first rear wheel is controlled so that the third spring device of the first rear wheel is pressurized. The pressurization operation is to compress the spring and then release it, so that the wheel can bounce upward. When the third spring device is compressed, the third drive motor and the fourth drive motor are controlled to perform instantaneous braking on the first rear wheel and the second rear wheel respectively, so that the overall load of the vehicle moves backward, the tire force of the first rear wheel and the second rear wheel increases, and the stored elastic potential energy increases. In addition, when the first rear wheel and the second rear wheel are instantaneously braked, the instantaneous braking time needs to be precisely matched with the spring compression time, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the accumulation of force is completed, the third spring device is subjected to a decompression operation. The decompression operation is to release the pressure on the spring so that the first rear wheel bounces off the ground. At the moment when the third spring device releases energy, the rear axle load needs to be reduced to reduce other external forces except for overcoming the acceleration of gravity. At this time, the first drive motor and the second drive motor can be controlled to provide instantaneous driving force to the first front wheel and the second front wheel of the front axle, so that the load moves forward and the first rear wheel of the rear axle bounces better.

[0145] It can be seen that in this embodiment, the effect of instantaneous bouncing and falling of the wheels without affecting the vehicle speed is achieved by controlling the spring device and the drive motor, and differential braking and distributed drive are used during control to control each wheel, thereby improving the control of the vehicle, ensuring the stability of the vehicle when crossing obstacles, and enhancing the driving experience.

[0146] In a possible embodiment, the vehicle further includes an active stabilizer bar, and the method further includes: when the first spring device performs a pressurizing operation, controlling the active stabilizer bar to apply an upward pulling force to the first front wheel; or, after the first spring device performs a decompressing operation, controlling the active stabilizer bar to apply a downward pressure to the first front wheel; or, when the third spring device performs a pressurizing operation, controlling the active stabilizer bar to apply an upward pulling force to the first rear wheel; or, after the third spring device performs a decompressing operation, controlling the active stabilizer bar to apply a downward pressure to the first rear wheel.

[0147] Among them, the vehicle's active stabilizer bar is a device used to improve the vehicle's handling stability and driving safety. It is usually part of the vehicle's suspension system and works in the following ways: variable rigidity, which can automatically adjust its own rigidity according to the vehicle's driving state and road conditions. Electronic control, which is controlled by the vehicle's electronic system to achieve precise adjustment. Working principle: Use hydraulic, electric or other drive methods to change the force state of the stabilizer bar.

[0148] Among them, when the first front wheel bounces up, the active stabilizer bar can be used to give the first front wheel an upward pulling force, making it easier to lift the first front wheel, and assisting in increasing the lifting height within a limited spring compression range. When the wheel falls, a downward pressure is given to the first front wheel, so that the first front wheel falls to the ground faster, reducing the time the vehicle is in the air. The same is true for the first rear wheel, which will not be described in detail here.

[0149] It can be seen that in this embodiment, adding an active stabilizer bar can lift the wheels higher without increasing the spring compression range, and can make the wheels fall faster, so that the time when only three wheels of the vehicle are on the ground is shorter, which is beneficial to improving the stability of the vehicle, reducing the probability of danger, and improving the driving experience.

[0150] In a possible embodiment, when one of the at least one wheel is the first front wheel, after the first front wheel is decompressed, the second front wheel is controlled to perform instantaneous braking; when one of the at least one wheel is the first rear wheel, after the first rear wheel is decompressed, the second rear wheel is controlled to perform instantaneous braking.

[0151] Among them, during the bounce of the first front wheel, the other three wheels of the vehicle touch the ground. At this time, since the rotational torque provided by the other three wheels is not enough for the vehicle to maintain straight driving, if the first front wheel is on the left, it will have a tendency to yaw to the left. In this case, differential braking and differential drive are required to maintain the normal driving state of the vehicle. When the first front wheel bounces, it is necessary to increase the braking of the second wheel and increase the driving force of the first rear wheel to suppress the tendency to yaw to the left. When the first rear wheel passes, the first rear wheel bounces, and it is necessary to increase the driving force of the first front wheel and brake the second rear wheel. For specific implementation, refer to the linear two-degree-of-freedom vehicle kinematic model, and calculate the required additional yaw torque according to the state transfer matrix; it is also possible to calibrate the vehicle's required yaw torque during the jump process through a real vehicle, and give the braking and driving force values ​​of the two diagonal wheels respectively through table lookup and feedback correction. The specific values ​​and methods are not limited here.

[0152] It can be seen that in this embodiment, after one of the wheels jumps off, the braking and driving of other wheels are controlled to ensure that the vehicle body keeps moving in a straight line, which is beneficial to improving the stability of the vehicle body when crossing obstacles, reducing the probability of danger, and improving the driving experience.

[0153] In a possible embodiment, when the vehicle encounters an obstacle during a turn, specific parameters such as controlling wheel braking or driving and jump height can be adjusted to achieve the effect of smoothly crossing the obstacle during the turn.

[0154] It can be seen that in this embodiment, not only the situation of encountering obstacles when driving in a straight line is included, but also the situation during turning is added, so that the application scenarios are expanded, and obstacle crossing can be performed in a variety of scenarios, thereby improving the driving experience.

[0155] In one possible embodiment, see Figure 8 , Figure 8 A flow chart of another vehicle obstacle surmounting method provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the method also includes:

[0156] S810: An obstacle is identified.

[0157] When the vehicle encounters an obstacle in the driving direction of at least one wheel during driving, step S820 is performed.

[0158] S820, obtaining obstacle height h0, vehicle speed v0, and road condition information.

[0159] The obstacle height h0 can be obtained by the vehicle's sensors and other equipment, which is not limited here. The vehicle speed v0 is the vehicle's driving speed. The road condition information includes whether there are obstacles on the side and / or in front of the road, where obstacles include other vehicles. The road condition information is used to determine whether the vehicle can perform the second obstacle crossing operation. The road condition information can be characterized by "excellent" or "good", or can be represented by other distinguishing features, such as "1" or "0". When the road condition information determines that the second obstacle crossing operation can be performed, after judging the obstacle height h0 and the vehicle speed v0, the decision to take the second obstacle crossing operation or not to take the armband measure is made according to the road condition information. Obstacles also include road conditions such as potholes, which are not limited here.

[0160] S830, determine whether h0

[0161] Among them, h1 is the jumping height. When h0 is less than h1, it means that the obstacle can be jumped over by bouncing on the wheels.

[0162] The jump height h1 may be equal to the bounce height, or may be less than the bounce height, and is not limited here. The jump height is the height that the wheel can be lifted.

[0163] When h0 is less than h1, step S840 is executed, and when h0 is greater than h1, step S860 is executed.

[0164] S840, determining whether v0 is within a vehicle speed threshold range.

[0165] Among them, according to formula group (1), the wheel rise and fall time interval is obtained: The vehicle speed threshold range is determined based on the wheel rise and fall time interval Δt and the front and rear wheelbase:​ Among them, L is the wheelbase of the front and rear wheels, and δ is the error time.

[0166] Among them, the distance between at least one wheel can be regarded as the front and rear wheel wheelbase L. After the first wheel of at least one wheel passes over the obstacle, the next wheel travels L and also reaches the obstacle. Therefore, when the vehicle speed is within the vehicle speed threshold range, it means that when at least one wheel of the vehicle is lifted and lowered, the next wheel can be lifted in time. When the vehicle speed is not within the vehicle speed threshold range, it means that after at least one wheel of the vehicle is lifted and lowered, the next wheel does not have sufficient time to perform the lifting operation, and at this time the next wheel cannot avoid the obstacle.

[0167] If v0 is within the vehicle speed threshold range, step S850 is executed; if v0 is not within the vehicle speed threshold range, step S870 is executed.

[0168] S850, controlling the vehicle to control at least one wheel to perform a lifting action in sequence.

[0169] Among them, at least one wheel includes a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel, each wheel has a driving motor and a spring device, the vehicle has a front axle and a rear axle, the first front wheel and the second front wheel correspond to the front axle, and the first rear wheel and the second rear wheel correspond to the rear axle. When the first front wheel is one of the at least one wheel, the first front wheel is controlled to bounce to a take-off height, including: controlling the first spring device of the first front wheel to perform a pressurizing operation, and controlling the first spring device to perform a decompressing operation after pressurization; while controlling the first spring device to perform a pressurizing operation, controlling the first front wheel and the second front wheel to perform instantaneous braking, and controlling the third driving motor of the first rear wheel to perform instantaneous driving; while controlling the first spring device to perform a decompressing operation, controlling the third driving motor of the first rear wheel and the fourth driving motor of the second rear wheel to perform instantaneous driving.

[0170] Among them, the first front wheel has a first spring device and a first drive motor, the second front wheel has a second spring device and a second drive motor, the first rear wheel has a third spring device and a third drive motor, and the second rear wheel has a fourth spring device and a fourth drive motor. The spring device can bounce the wheel up or down by compression and release, and the drive motor can brake or drive the wheel.

[0171] When the first front wheel encounters an obstacle in the direction of travel and meets the conditions of the first obstacle-crossing operation, the first front wheel is controlled to pressurize the first spring device of the first front wheel. The pressurization operation is to compress the spring and then release it, so that the wheel can bounce up. When the first spring device is compressed, the first drive motor and the second drive motor are controlled to perform instantaneous braking on the first front wheel and the second front wheel respectively, so that the overall load of the vehicle moves forward, the tire force of the first front wheel and the second front wheel increases, and the stored elastic potential energy increases. In addition, when the first front wheel and the second front wheel are instantaneously braked, the instantaneous braking time needs to be precisely matched with the spring compression time, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the accumulation of force is completed, the first spring device is decompressed. The decompression operation is to release the pressure on the spring so that the first front wheel bounces off the ground. At the moment the first spring device releases energy, the front axle load needs to be reduced to reduce other external forces except overcoming the acceleration of gravity. At this time, the third drive motor and the fourth drive motor can be controlled to give instantaneous driving force to the first rear wheel and the second rear wheel of the rear axle, so that the load moves backward and the first front wheel of the front axle bounces better.

[0172] Specifically, in the case where the first rear wheel is one of at least one wheel, it also includes: controlling the third spring device to perform a pressurization operation, and controlling the third spring device to perform a decompression operation after pressurization; while controlling the third spring device to perform a pressurization operation, controlling the first rear wheel and the second rear wheel to perform instantaneous braking, and controlling the first drive motor of the first front wheel to perform instantaneous driving; while controlling the third spring device to perform a decompression operation, controlling the first drive motor of the first front wheel and the second drive motor of the second front wheel to perform instantaneous driving.

[0173] Among them, when the first rear wheel is one of at least one wheel, the control method is similar to that when the first front wheel is one of at least one wheel. First, control the first rear wheel to perform a pressurizing operation on the third spring device of the first rear wheel. The pressurizing operation is to蓄力 compress the spring and then release it, so that the wheel can bounce upward. When蓄力 compressing the third spring device, control the third drive motor and the fourth drive motor to perform instantaneous braking on the first rear wheel and the second rear wheel respectively, so that the overall load of the vehicle moves backward, the tire forces of the first rear wheel and the second rear wheel increase, and the stored elastic potential energy increases. And, when performing instantaneous braking on the first rear wheel and the second rear wheel, the instantaneous braking time needs to be precisely fitted with the time of spring蓄力 compression, and the instantaneous braking time should also be as short as possible to achieve the effect of not affecting the vehicle speed. After the蓄力 ends, perform a decompression operation on the third spring device. The decompression operation is to release the pressure of the spring, so that the first rear wheel bounces off the ground. At the moment when the third spring device releases energy, it is necessary to reduce the rear axle load to reduce other external forces except for overcoming the gravitational acceleration. At this time, the first drive motor and the second drive motor can be controlled to give instantaneous driving forces to the first front wheel and the second front wheel of the front axle, so that the load moves forward and the first rear wheel of the rear axle can bounce better.

[0174] S860, determine whether h1 < h0 < h2.

[0175] Among them, h2 is the height of the chassis of the vehicle. When the obstacle height h0 is less than the chassis height h2, the obstacle can pass under the chassis without damaging the vehicle chassis.

[0176] Among them, if h1 < h0 < h2, then execute step S770; if h0 is greater than h1 and not less than h2, then execute step S890.

[0177] S870, determine whether the road condition is safe.

[0178] Among them, while obtaining the obstacle height, road condition information is also obtained. The road condition information includes whether there are obstacle objects on the side and / or in front of the road. The obstacle objects include other vehicles. The road condition information is used to determine whether the vehicle can perform the second obstacle crossing operation.

[0179] Among them, the road condition information can be characterized by "excellent" or "good", or can be represented by other distinguishing features, such as "1" or "0". When the road condition information is determined to allow the second obstacle crossing operation, after determining the obstacle height h0 and the vehicle speed v0, then make a decision on whether to perform the second obstacle crossing operation or not to take armband measures based on the road condition information.

[0180] Among them, the obstacle objects also include road surface conditions such as potholes, which are not limited here.

[0181] If the road condition is determined to be safe, step S880 is executed; if the road condition is determined to be unsafe, step S890 is executed.

[0182] S880: Control the steering of the vehicle's wheels so that the vehicle's wheels go around the obstacle.

[0183] The vehicle calculates a path that can bypass the obstacle and controls the rotation of the wheels to allow the obstacle to pass under the vehicle chassis. The obstacle can also pass from the outside of the vehicle body instead of under the vehicle chassis. The actual new path is calculated based on actual conditions and is not limited here.

[0184] S890, no obstacle crossing operation is performed.

[0185] It can be seen that in this embodiment, the vehicle speed and the height of the obstacle in the direction of wheel travel, as well as the road condition information are first obtained, and then the obstacle crossing operation is decided by judging the obstacle height, the vehicle's bounce height, the vehicle's chassis height, the vehicle speed and the road condition information. In this way, the wheel can cross the obstacle on one side, and the vehicle can be kept in the air while the wheel is lifted. This is not only conducive to reducing the risk of tire blowout and falling into a ravine, but also ensures that the driver's operating needs are met while the wheel crosses the obstacle, which is conducive to ensuring vehicle safety and improving the driver's driving experience.

[0186] See also Fig. 9 , Fig. 9 9 is a schematic diagram of the structure of a vehicle obstacle surmounting device provided in an embodiment of the present application. The vehicle obstacle surmounting device 900 includes: a confirmation module 910 and a control module 920, wherein:

[0187] A confirmation module 910 is used to determine that at least one wheel of the vehicle will encounter an obstacle when traveling along the current driving path;

[0188] The control module 920 controls at least one wheel to perform a lifting action in sequence so that at least one wheel passes over an obstacle. The lifting action is performed when the vehicle meets a preset obstacle-passing condition.

[0189] In a possible embodiment, the control module 920 is further configured to: when the vehicle does not meet the obstacle surmounting condition, control the steering of the vehicle's wheels to enable the vehicle's wheels to bypass the obstacle.

[0190] Among them, the obstacle crossing conditions include: the obstacle height of the obstacle is less than the bounce height of the at least one wheel, and the bounce height is the maximum liftable height of the at least one wheel; if the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, then the front wheel and the rear wheel are configured to perform the lifting action in sequence so as to cross the obstacle in sequence.

[0191] Among them, if the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, the obstacle crossing condition also includes: the vehicle speed of the vehicle is within a vehicle speed threshold range; the vehicle speed threshold range is used to constrain that after the front wheel performs the lifting action to the take-off height and lands, the rear wheel can perform the lifting action to the take-off height before touching the obstacle; wherein the take-off height is greater than the obstacle height and less than or equal to the bounce height; the vehicle speed threshold range is determined based on the front and rear wheel wheelbase of the vehicle and the take-off height.

[0192] Wherein, the vehicle speed threshold range is: Wherein, g is the acceleration of gravity, h1 is the take-off height, L is the wheelbase of the front and rear wheels, and δ is the delay time before a certain rear wheel responds to the lifting action after a certain front wheel lands.

[0193] Wherein, during the lifting operation of one of the at least one wheel, the vehicle is configured to sequentially perform a pressurizing operation and a decompressing operation on the spring device of the one wheel.

[0194] Wherein, the axles of the vehicle include a front axle and a rear axle; while the spring device of the certain wheel is pressurized, the vehicle is also configured to brake the certain wheel, and / or to increase the driving force for a wheel on a different axle from the certain wheel; and / or, while the spring device of the certain wheel is decompressed, the vehicle is also configured to increase the driving force for a wheel on a different axle from the certain wheel.

[0195] Wherein, when the spring device of the certain wheel is pressurized, the active stabilizer bar of the vehicle is configured to apply an upward pulling force to the certain wheel; and / or, after the spring device of the certain vehicle is decompressed, the active stabilizer bar of the vehicle is also configured to apply a downward pressure to the certain wheel.

[0196] Wherein, after the spring device of the certain wheel is decompressed, the vehicle is also configured to brake another wheel on the same axle as the certain vehicle, and / or increase driving force for a wheel on a different axle from the certain wheel.

[0197] Wherein, the vehicle includes a left side and a right side. If the two wheels on different axles from the certain wheel correspond to different drive motors respectively, then the wheels on different axles from the certain wheel include wheels located on different sides of the vehicle as the certain wheel, and / or wheels located on the same side of the vehicle as the certain wheel.

[0198] It is worth pointing out that, for the specific functional implementation of the vehicle obstacle surmounting device 900, please refer to the description of the above-mentioned vehicle obstacle surmounting method, for example, the control module 920 is used to implement the relevant content of executing S220. Each unit or module in the vehicle obstacle surmounting device 900 can be separately or completely combined into one or several other units or modules to constitute, or one (some) of the units or modules can be further divided into multiple functionally smaller units or modules to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present invention. The above-mentioned units or modules are divided based on logical functions. In practical applications, the functions of one unit (or module) are implemented by multiple units (or modules), or the functions of multiple units (or modules) are implemented by one unit (or module).

[0199] It can be seen that the vehicle obstacle crossing device described in the embodiment of the present application, when at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, controls the at least one wheel to perform a lifting action in sequence, so that the at least one wheel passes over the obstacle in sequence. In this way, the wheel can pass over the obstacle on one side, and the vehicle is kept in the air when the wheel is lifted, which is not only conducive to reducing the risk of tire blowout and falling into the ravine, but also ensures that the driver's operating needs are met while the wheel passes over the obstacle, which is conducive to ensuring vehicle safety and improving the driver's driving experience.

[0200] See also Fig.10 , Fig.10 is a schematic diagram of the structure of an electronic device proposed in an embodiment of the present application, such as Fig.10 As shown, the electronic device 1000 includes a processor 1010 , a memory 1020 , a communication interface 1030 , and one or more programs 1021 . The one or more programs 1021 are stored in the memory 1020 and are configured to be executed by the processor 1010 .

[0201] The processor 1010, the memory 1020, and the communication interface 1030 are connected to each other and perform communication work with each other;

[0202] The memory 1020 may be a volatile memory such as a dynamic random access memory DRAM, or a non-volatile memory such as a mechanical hard disk. The memory 1020 is used to store a set of executable program codes, and the processor 1010 is used to call one or more programs 1021 stored in the memory 1020, and may execute part or all of the steps of any vehicle obstacle surmounting method recorded in the above vehicle obstacle surmounting method embodiment.

[0203] Among them, the electronic device 1000 may include smart phones (such as Android phones, iOS phones, Windows Phone phones, etc.), tablet computers, PDAs, driving recorders, vehicle-mounted electronic devices, servers, laptops, mobile Internet electronic devices (MID, Mobile Internet Devices) or wearable electronic devices (such as smart watches, Bluetooth headsets), etc. The above are only examples and not exhaustive, including but not limited to the above electronic devices.

[0204] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0205] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0206] An embodiment of the present application also provides a vehicle, which includes the electronic device described in the above embodiment.

[0207] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0208] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0209] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0210] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0211] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0212] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer electronic device (which can be a personal computer, electronic device or network electronic device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0213] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0214] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle obstacle surmounting method, characterized in that: The method comprises: When at least one wheel of the vehicle is about to encounter an obstacle while traveling along the current driving path, the at least one wheel is controlled to perform a lifting action in sequence so that the at least one wheel passes over the obstacle.

2. The method according to claim 1, characterized in that The lifting action is performed when the vehicle meets a preset obstacle crossing condition.

3. The method according to claim 2, characterized in that The method further comprises: When the vehicle does not meet the obstacle surmounting condition, the wheels of the vehicle are controlled to steer so that the wheels of the vehicle bypass the obstacle.

4. The method according to claim 3, characterized in that The obstacle crossing condition includes: an obstacle height of the obstacle is less than a bounce height of the at least one wheel, and the bounce height is a maximum liftable height of the at least one wheel.

5. The method according to claim 4, characterized in that If the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, the front wheel and the rear wheel are configured to perform the lifting action in sequence so as to pass over the obstacle in sequence.

6. The method according to claim 4, characterized in that If the at least one wheel includes a front wheel of the vehicle and a rear wheel of the vehicle, the obstacle crossing condition further includes: a vehicle speed of the vehicle is within a vehicle speed threshold range.

7. The method according to claim 6, characterized in that The vehicle speed threshold range is used to constrain that after the one front wheel performs the lifting action to the take-off height and lands, the one rear wheel can perform the lifting action to the take-off height before touching the obstacle; wherein the take-off height is greater than the obstacle height and less than or equal to the bounce height.

8. The method according to claim 7, characterized in that The vehicle speed threshold range is determined based on the front and rear wheelbases of the vehicle and the jump height.

9. The method according to claim 4, characterized in that The vehicle speed threshold range is: Wherein, g is the acceleration of gravity, h1 is the take-off height, L is the wheelbase of the front and rear wheels, and δ is the delay time before a certain rear wheel responds to the lifting action after a certain front wheel lands.

10. The method according to claim 1, characterized in that During the lifting operation of a certain wheel among the at least one wheel, the vehicle is configured to sequentially perform a pressurizing operation and a decompressing operation on the spring device of the certain wheel.

11. The method according to claim 10, characterized in that The axles of the vehicle include a front axle and a rear axle; While the spring device of the certain wheel is being pressurized, the vehicle is also configured to brake the certain wheel and / or increase driving force on a first wheel on a different axle from the certain wheel; and / or, While the spring device of the certain wheel is being decompressed, the vehicle is also configured to increase driving force on a first wheel on a different axle from the certain wheel.

12. The method according to claim 10, characterized in that When the spring device of the certain wheel is pressurized, the active stabilizer bar of the vehicle is configured to apply an upward pulling force to the certain wheel; and / or, After the decompression operation is performed on the spring device of the certain vehicle, the active stabilizer bar of the vehicle is also configured to apply downward pressure to the certain wheel.

13. The method according to claim 10, characterized in that After the spring device of the certain wheel is decompressed, the vehicle is also configured to brake another wheel on the same axle as the certain vehicle, and / or increase driving force for a second wheel on a different axle from the certain wheel.

14. The method according to claim 11 or 13, characterized in that The vehicle includes a left side and a right side. If two wheels on different axles from the certain wheel correspond to different drive motors respectively, the first wheel includes wheels located on different sides of the vehicle from the certain wheel, and / or the second wheel includes wheels located on the same side of the vehicle as the certain wheel.

15. A computer-readable storage medium, characterized in that: The method comprises an execution instruction. When a processor of an electronic device executes the execution instruction, the processor executes the method according to any one of claims 1 to 14.

16. An electronic device, characterized in that: The method comprises a processor, wherein the processor is connected to a memory, and the memory stores execution instructions; when the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of claims 1 to 14.

17. A vehicle, characterized in that: The vehicle includes the electronic device as claimed in claim 16.

Images