Ground carding method and device, electronic equipment, readable storage medium and vehicle

Abstract

The invention provides a ground carding method and device, electronic equipment, a readable storage medium and a vehicle. Acquiring state information of the vehicle; the state information comprises the state of each execution device of the vehicle and the ground type of the current position of the vehicle; if it is determined that available execution devices exist in the execution devices according to the state information and the ground type belongs to a preset type, determining a ground combing strategy for the ground type according to the ground type and the available execution devices; and controlling the available execution device to work according to the ground combing strategy so as to comb the ground of the position where the vehicle is located. According to the application, the ground combing strategy is determined based on the ground type and the available execution device, so that the corresponding ground combing strategy can be determined to change the ground environment when the vehicle is in different ground environments, and the ground environment can be combed through different strategies when the vehicle is in different ground environments.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a ground combing method, device, electronic equipment, readable storage medium and vehicle. Background Art

[0002] When a vehicle is driving on different roads, it may encounter a variety of ground environments. The ability to handle various ground environments is an important indicator of vehicle performance.

[0003] In the related art, the ground environment is changed by controlling the vehicle to execute a preset ground grooming strategy.

[0004] Due to the diversity of the actual vehicle environment, the preset ground combing strategy is difficult to meet the requirements of different ground environments and has limited effect on the changes to the ground environment. Summary of the invention

[0005] Embodiments of the present invention provide a ground combing method, device, electronic device, readable storage medium and vehicle to solve the problem in the prior art that when a vehicle is in different ground environments, it is difficult to actually change the ground environment using conventional ground combing strategies.

[0006] In a first aspect, an embodiment of the present invention provides a ground combing method, the method comprising:

[0007] Acquiring vehicle status information; the status information includes the status of each actuator of the vehicle and the type of ground at the current location of the vehicle;

[0008] If it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to a preset type, determining a ground combing strategy for the ground type according to the ground type and the available execution devices;

[0009] The available execution device is controlled to work according to the ground combing strategy to comb the ground where the vehicle is located.

[0010] Optionally, controlling the available execution device to work according to the ground combing strategy to comb the ground at the location of the vehicle includes:

[0011] During the operation of the available execution device, obtaining a current ground adhesion coefficient;

[0012] According to the current ground adhesion coefficient, it is determined whether the ground state at the current vehicle location meets the preset conditions.

[0013] Optionally, judging whether the ground state at the current location of the vehicle meets a preset condition according to the current ground adhesion coefficient includes:

[0014] If the current ground adhesion coefficient reaches a first preset threshold, it is determined that the ground state at the current location of the vehicle meets the preset condition, and the available execution device is stopped from executing the ground combing strategy.

[0015] Optionally, judging whether the ground state at the current location of the vehicle meets a preset condition according to the current ground adhesion coefficient includes:

[0016] If the ground adhesion coefficient is less than the first preset threshold value within the preset time period, the ground state at the current vehicle location does not meet the preset conditions, the change of the ground adhesion coefficient is checked, and the execution mode of the ground combing strategy is adjusted according to the change.

[0017] Optionally, checking the change of the ground adhesion coefficient and adjusting the execution mode of the ground grooming strategy according to the change includes:

[0018] If within a preset time period, the change in the ground adhesion coefficient is less than a second preset threshold, and based on the current remaining energy consumption of the vehicle, it is determined that the current remaining energy consumption cannot support the continued execution of the ground combing strategy, then the available execution device is stopped from executing the ground combing strategy.

[0019] Optionally, checking the change of the ground adhesion coefficient and adjusting the execution mode of the ground grooming strategy according to the change includes:

[0020] If the change in the ground adhesion coefficient is less than a third preset threshold value within the preset time period, obtaining the ground type at the current location of the vehicle again;

[0021] If the ground type acquired again is a type whose ground shape cannot be combed, the available execution device is stopped from executing the ground combing strategy.

[0022] Optionally, checking the change of the ground adhesion coefficient and adjusting the execution mode of the ground grooming strategy according to the change includes:

[0023] If within a preset time period, the change in the ground adhesion coefficient is less than a second preset threshold, and the current remaining energy consumption of the vehicle is greater than the energy consumption threshold, a new ground grooming strategy is determined;

[0024] determining an estimated energy consumption of the new ground grooming strategy;

[0025] Based on the current remaining energy consumption of the vehicle and the energy consumption estimation, it is determined to continue to execute the new ground combing strategy, or it is determined to stop the available execution device from executing the ground combing strategy.

[0026] Optionally, controlling the available execution device to work according to the ground combing strategy includes:

[0027] Controlling the driving actuator to adjust the tire driving mode so as to control the tire to smooth the ground by rolling forward and backward;

[0028] and / or, controlling the active suspension to adjust the dynamic posture to adjust the vehicle vertical force distribution and the vehicle posture to compact the ground;

[0029] and / or, controlling a front wheel steering actuator or a rear wheel steering actuator to adjust the steering direction of the tire to flatten the ground contacted by the tire;

[0030] And / or, control the air conditioner to dry the floor.

[0031] Optionally, the acquired vehicle status information includes:

[0032] Determine the status of each actuator of the vehicle based on sensor signals collected by the vehicle speed sensor, wheel speed sensor and inertial sensor;

[0033] The ground type of the vehicle's current location is determined based on the vehicle's surrounding environment images collected by the vehicle's body camera and the feedback signal collected by the vehicle's body radar.

[0034] Optionally, the method further comprises:

[0035] When the ground combing strategy is executed, the vehicle is controlled to escape from trouble by using a preset escape control strategy.

[0036] Optionally, the method further comprises:

[0037] If it is determined according to the state information that there is no available execution device among the execution devices, or the vehicle fails to escape from the distress after adopting the escape control strategy, road rescue information is displayed at a designated position of the vehicle.

[0038] In a second aspect, an embodiment of the present invention provides a ground combing device, comprising:

[0039] An acquisition module, used to acquire status information of the vehicle; the status information includes the status of each execution device of the vehicle and the type of ground at the current location of the vehicle;

[0040] a judgment module, configured to determine a ground combing strategy for the ground type according to the ground type and the available execution devices if it is determined according to the state information that there is an available execution device among the execution devices and the ground type belongs to a preset type;

[0041] A combing module is used to control the available execution device to work according to the ground combing strategy to comb the ground where the vehicle is located.

[0042] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0043] Memory, used to store computer programs;

[0044] The processor is used to implement the steps of the ground combing method described in the first aspect when executing the program stored in the memory.

[0045] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the ground combing method described in the first aspect above.

[0046] In a fifth aspect, an embodiment of the present invention provides a vehicle, wherein the vehicle comprises the ground combing device as described in the second aspect or the electronic device as described in the third aspect.

[0047] With respect to the prior art, the present invention has the following advantages: in the embodiment of the present invention, the state information of the vehicle is obtained; the state information includes the state of each execution device of the vehicle and the ground type of the current location of the vehicle; if it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to the preset type, then the ground combing strategy for the ground type is determined according to the ground type and the available execution device; according to the ground combing strategy, the available execution device is controlled to work to comb the ground at the location of the vehicle. When the method of the present application performs ground combing, the current available execution device of the vehicle is first determined, and the ground type of the current location of the vehicle is determined at the same time, so as to determine the ground combing strategy for the current ground type, and the ground combing strategy is executed by the available execution device to actively comb the ground environment at the location of the vehicle. Since the present application determines the ground combing strategy based on the ground type and the available execution device, the corresponding ground combing strategy can be determined to change the ground environment for the vehicle in different ground environments, so that when the vehicle is in different ground environments, the ground environment can be combed by different strategies.

[0048] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.

[0050] Figure 1 A flow chart of the steps of a ground combing method provided by an embodiment of the present invention;

[0051] Figure 2 A flowchart of the steps of another ground combing method provided by an embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram of a tire left-right steering interference ground state provided by an embodiment of the present invention;

[0053] Figure 4 It is an architectural design diagram of a solution of the present application provided by an embodiment of the present invention;

[0054] Figure 5 is a flow chart of a third ground combing method provided by an embodiment of the present invention;

[0055] Figure 6 is a block diagram of a ground combing device provided by an embodiment of the present invention;

[0056] Figure 7 is a block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are 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.

[0058] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally a class, and the number of objects is not limited. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims is used to describe the association relationship of associated objects, indicating that three kinds of relationships can exist, for example, A and / or B can be represented: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the front and back associated objects are a kind of "or" relationship. In the embodiment of the present application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0059] Figure 1 A ground combing method provided by an embodiment of the present invention includes steps 101 to 104:

[0060] Step 101, obtaining vehicle status information; the status information includes the status of each actuator of the vehicle and the type of ground where the vehicle is currently located.

[0061] In the embodiment of the present invention, the vehicle status information can be determined by signals collected by various sensors, cameras, radars and other devices installed in the vehicle. The vehicle status information can reflect the current state of the vehicle, such as which tire is stuck, the status of each actuator in the current vehicle, and the type of ground the vehicle is currently on. Ground types include sand, snow, slippery roads, etc., which are not limited in the embodiment of the present application.

[0062] The status information of each actuator of the vehicle may include but is not limited to the status information of the actuators that can be used to get the vehicle out of trouble, such as the four-wheel independent drive actuator, the front wheel steering actuator, the rear wheel steering actuator (including distributed rear wheel steering), the active suspension, the in-vehicle air conditioning, etc. Specifically, the sensors installed on the vehicle may include: vehicle speed sensor, wheel speed sensor, inertial sensor, etc., and may also be configured with cameras, radars and other devices to collect trapped information. For example, the vehicle speed sensor installed on the vehicle can directly obtain a reliable vehicle speed. Or a relatively reliable vehicle speed estimated by a wheel speed signal, a gyroscope, etc. The wheel speed sensor installed on the vehicle can obtain a reliable wheel speed. The inertial sensor can be a 6-axis gyroscope of the vehicle, which can obtain the vehicle's yaw angular velocity, roll angular velocity, pitch angular velocity, longitudinal acceleration, vertical acceleration, and lateral acceleration, usually at the center of mass, with high reliability. According to the sensor signals fed back by each sensor, the status information of each actuator can be determined. For example, for a four-wheel independent drive actuator, it can be determined whether the driving actuator can drive the tire according to indicators such as the wheel speed and tire load of the tire. Current vehicles are usually equipped with 360-degree full-vehicle images and cameras on the front, back and sides. These cameras can capture environmental images, and visually recognize the environmental images to determine the type of ground the vehicle is currently on. The ground type can also be determined by combining radar signals from millimeter-wave radars or lidars that provide feedback on terrain conditions a few meters or even tens of meters around the vehicle.

[0063] This application first determines the current status of each execution device of the vehicle and the ground type, so that a targeted ground combing strategy can be matched later to make the ground state of the vehicle meet the expectations.

[0064] Step 102: If it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to a preset type, a ground combing strategy for the ground type is determined according to the ground type and the available execution devices.

[0065] In the embodiment of the present invention, based on the working state signals of the actuators such as the driving actuator, the front wheel steering actuator, and the rear wheel steering actuator (rear wheel distributed steering), it is possible to judge whether the vehicle's driving actuator working state (whether the four-wheel drive is responsive or not), the front wheel steering, the rear wheel steering (rear wheel distributed steering), and each suspension unit of the active suspension are responsive / usable for ground combing control. The available actuators that can be used for ground combing control, as well as information such as the trapped tires, are determined.

[0066] The ground type in this application belongs to the preset type, that is, the ground type is a type that can change the ground state to a certain extent through the work of each available actuator. For example, the preset type can be sand, snow, etc. In this terrain, the environment in which the tire is located can be changed by the steering, rolling of the tire and the cooperation of actuators such as active suspension. For example, in the case of soft ground such as small mud pits, some slippery soil pits, and small swamps, the road surface may have some gravel and loose soil that can be combed. In this working condition, the ground can be compacted, grounded, etc. by the cooperation of tires and active suspension to increase the ground adhesion coefficient of the tire and help the vehicle get out of trouble faster. If the ground type is a flat and non-interfering type such as a highway, it does not belong to the preset type in this application.

[0067] After determining the available actuators and the ground type, the ground combing strategy can be determined for the current ground type and the available actuators. For example, if the current available actuators are the front wheel actuators and the active suspension, and the current ground type is a small mud pit, then the corresponding ground combing strategy can be determined for the current vehicle environment. Among them, the ground combing strategy may include the control method of the available actuators and the adjustment method of the active suspension. For example, the front wheel steering actuator may be used to control the front wheels to move back and forth at a certain angle to smooth the road surface, and the dynamic posture of the active suspension may be adjusted to compact the road surface, so as to change the ground state by actively interfering with the ground where the tire is currently located. For ground types such as snow, sand, and slippery ground, corresponding ground combing strategies can be determined for each of them, and the embodiments of the present application are not limited here.

[0068] Conventional roads may be soft, making it difficult for tires to roll on them, and have a low ground adhesion coefficient. By actively combing the ground, the vehicle can change the ground conditions near the tires in a small range, increase the ground adhesion coefficient, compact the road surface, and increase the ground supportability. After actively combing the ground, the possibility of the vehicle successfully leaving the current environment is greatly increased.

[0069] Step 103: Control the available execution device to work according to the ground combing strategy to comb the ground at the location of the vehicle.

[0070] In the embodiment of the present invention, after the ground combing strategy is determined, each available execution device can be controlled to work based on the determined ground combing strategy to actively comb the ground environment where the current vehicle is located.

[0071] The active intervention / combing of the road surface mentioned in this application can be applied in scenarios including but not limited to escape from trouble and prevent the vehicle from slipping. For example: when parking on an icy slope, the front wheel steering and the rear wheel steering (including distributed steering) are turned left and right to prevent the vehicle from slipping, and a small hole is dug for each wheel on the relatively soft ground, so that the vehicle can be better parked on the soft snow slope and reduce the risk of slipping / slipping. Or the same is true for soft country dirt slopes, that is, in order to change the current trapped situation of the vehicle, the method of this application can be used to improve the environment around the wheels to try to escape from trouble.

[0072] For example, in the process of each execution device executing the ground combing strategy, the state of the vehicle can be judged in real time. The vehicle state can be used to indicate the current battery level of the vehicle, whether the ground environment has changed during the execution of the ground combing strategy, and other states. For example, if the current vehicle state shows that the current ground state of the vehicle has been changed, and the changed ground environment can meet the ground conditions for the vehicle to get out of trouble, then the available execution device can be stopped from executing the ground combing strategy, and the vehicle can be controlled to get out of trouble by the preset escape control strategy. The preset escape control strategy can be a low-speed high-torque sprint, a strategy that attempts to use the power of the untrapped wheels to pull the whole vehicle out of the trapped ground, or it can be other defined vehicle escape strategies for pulling the vehicle out of the escape state. The escape control actuator that executes the escape control strategy includes but is not limited to four-wheel drive, front-wheel steering, rear-wheel steering (including distributed rear-wheel steering), active suspension, etc. That is, the present application first executes the ground combing strategy to change the ground environment where the tire is located, and then uses the escape control strategy to control the vehicle to drive out of the trapped environment, so as to improve the success rate of controlling the vehicle to drive out of the trapped environment by the escape control strategy.

[0073] In summary, when executing ground combing, the method of the present application first determines the vehicle's currently available execution devices, and at the same time determines the ground type of the vehicle's current location, thereby determining a ground combing strategy based on the current ground type, and actively combing the ground environment of the vehicle's location by executing the ground combing strategy through the available execution devices. Since the present application determines the ground combing strategy based on the ground type and the available execution devices, corresponding ground combing strategies can be determined to change the ground environment for vehicles in different ground environments, so that different strategies can be used to comb the ground environment when the vehicle is in different ground environments.

[0074] Figure 2 Another vehicle escape method provided by an embodiment of the present invention includes steps 201 to 205:

[0075] Step 201, determining the status of each actuator of the vehicle according to sensor signals collected by the vehicle speed sensor, the wheel speed sensor and the inertial sensor;

[0076] Step 202, determining the ground type of the current location of the vehicle based on the vehicle surrounding environment image collected by the vehicle body camera and the feedback signal collected by the vehicle body radar.

[0077] Step 201 and step 202 may refer to the description of step 101 and will not be repeated here.

[0078] Step 203: If it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to a preset type, a ground combing strategy for the ground type is determined according to the ground type and the available execution devices.

[0079] This step may refer to step 102 and will not be described in detail here.

[0080] Step 204: Control the available execution device to operate according to the ground combing strategy to comb the ground at the location of the vehicle.

[0081] This step may refer to step 103 and will not be described again here.

[0082] Optionally, step 204 includes:

[0083] Sub-step 2041, during the operation of the available execution device, obtaining a current ground adhesion coefficient;

[0084] Sub-step 2042, judging whether the ground state at the current position of the vehicle meets the preset conditions according to the current ground adhesion coefficient.

[0085] In the embodiment of the present invention, for sub-step 2041 and sub-step 2042, the ground adhesion coefficient can be regarded as the static friction coefficient between the tire and the ground. The larger the ground adhesion coefficient, the greater the available adhesion, and the less likely the car is to slip. The ground adhesion coefficient can be estimated by the data collected by various sensors of the vehicle, and has real-time performance. The higher the ground adhesion coefficient, the greater the current adhesion of the vehicle, and the easier it is to get out of trouble on the current ground. The lower the ground adhesion coefficient, the smaller the current adhesion of the vehicle, and the more difficult it is to get out of trouble on the current ground. The ground state at the current location of the vehicle meets the preset condition, which can be the state where the ground state at the current location of the vehicle is a state where the vehicle can get out of trouble. In the process of each execution device executing the ground combing strategy, the ground adhesion coefficient can be obtained in real time to determine whether the ground adhesion coefficient has changed. If the ground adhesion coefficient is getting higher and higher, it means that the ground combing strategy executed by each execution device is effective and can help the vehicle get out of trouble. If the ground adhesion coefficient changes very little or does not change, it means that the ground combing strategy executed by each execution device has limited changes to the ground environment. The user can consider whether to continue to execute the ground combing strategy or directly request road rescue to help the vehicle get out of trouble.

[0086] Optionally, sub-step 2042 includes:

[0087] Sub-step 20421, if the current ground adhesion coefficient reaches the first preset threshold, it is determined that the ground state at the current vehicle location meets the preset conditions, and the available execution device is stopped from executing the ground combing strategy.

[0088] In an embodiment of the present invention, the first preset threshold value may be a preset threshold value that satisfies the vehicle's escape conditions. If the current ground adhesion coefficient reaches the first preset threshold value, it means that the current ground state meets the state in which the vehicle can escape. Currently, an attempt may be made to use an escape control strategy to control the vehicle to escape. At this time, the probability of escape is relatively high. The available execution device may be temporarily stopped from executing the ground combing strategy. If the vehicle fails to escape successfully, the ground combing strategy may be tried again. By repeatedly trying the ground combing strategy, better escape conditions may be created for the vehicle.

[0089] Optionally, sub-step 2042 includes:

[0090] Sub-step 20422, if within the preset time period, the ground adhesion coefficient is less than the first preset threshold value, the ground state at the current vehicle location does not meet the preset conditions, and the change of the ground adhesion coefficient is checked, and the execution mode of the ground combing strategy is adjusted according to the change.

[0091] In an embodiment of the present invention, if within a preset time period, the current ground adhesion coefficient is less than a first preset threshold value, indicating that after executing the ground combing strategy for a preset time period, the ground state still cannot meet the preset conditions. Then, based on the change in the ground adhesion coefficient, it can be determined whether to continue trying to execute the ground combing strategy, or to change the ground combing strategy, or to stop executing the ground combing strategy.

[0092] Optionally, sub-step 20422 includes:

[0093] Sub-step A1, if within a preset time period, the change in the ground adhesion coefficient is less than a second preset threshold, and based on the current remaining energy consumption of the vehicle, it is determined that the current remaining energy consumption cannot support the continued execution of the ground combing strategy, then the available execution device is stopped from executing the ground combing strategy.

[0094] In an embodiment of the present invention, the second preset threshold is a coefficient used to characterize the magnitude of the change in the ground adhesion coefficient. If the change in the ground adhesion coefficient is less than the second preset threshold within the preset time period, it means that the execution of the ground combing strategy has limited changes in the ground environment. At this time, it can be determined whether the ground combing strategy needs to be continued based on the current remaining energy consumption of the vehicle. The remaining energy consumption of the vehicle can be the current remaining power or remaining fuel of the vehicle. If the current remaining power or remaining fuel of the vehicle can no longer support the continued execution of the ground combing strategy, that is, according to the current change in the ground adhesion coefficient, if the vehicle continues to execute, there is a risk that the power or fuel will be exhausted and it may not be able to get out of trouble. At this time, it is determined that the current state of the vehicle is no longer suitable for continuing to actively execute the ground combing strategy. It can be selected to stop the available execution device from executing the ground combing strategy to maintain the normal operation of the vehicle. Power or fuel, waiting for rescue.

[0095] Optionally, sub-step 20422 includes:

[0096] Sub-step A2: if the change in the ground adhesion coefficient is less than a third preset threshold value within a preset time period, the ground type of the vehicle's current position is obtained again.

[0097] Sub-step A3: If the ground type obtained again is a type whose ground shape cannot be combed, then the available execution device is stopped from executing the ground combing strategy.

[0098] In the embodiment of the present invention, for sub-step A2 and sub-step A3, if the change in the ground adhesion coefficient is less than the third preset threshold value within the preset time period, it means that the vehicle's execution of the ground combing strategy has little effect on the ground adhesion coefficient, that is, the various available execution devices of the current vehicle are difficult to change the ground situation. At this time, the ground type of the current location of the vehicle can be obtained again to determine whether it is caused by an incorrect determination of the ground type. If the ground type obtained again determines that the current ground type is indeed a type that cannot be interfered with by the ground morphology, the vehicle is directly stopped from performing the ground combing strategy to save the vehicle's energy consumption, and the vehicle is directly tried to use the escape control strategy to escape. If the escape control strategy cannot get the vehicle out of trouble, the user is reminded to call road rescue for escape.

[0099] Optionally, sub-step 20422 includes:

[0100] Sub-step A4, if the change in the ground adhesion coefficient is less than a second preset threshold value within a preset time period, and the current remaining energy consumption of the vehicle is greater than an energy consumption threshold value, then determining a new ground grooming strategy;

[0101] Sub-step A5, determining an estimated energy consumption of the new ground combing strategy;

[0102] Sub-step A6, determining whether to continue executing the new ground combing strategy based on the current remaining energy consumption of the vehicle and the energy consumption estimation, or determining to stop the available execution device from executing the ground combing strategy.

[0103] In the embodiment of the present invention, for sub-steps A4 to A6, if the change in the ground adhesion coefficient is less than the second preset threshold value within the preset time period, and the current remaining energy consumption of the vehicle is greater than the energy consumption threshold value, it means that the effect of the current ground combing has not met expectations, and the remaining energy consumption of the vehicle can continue to perform ground combing. At this time, a new ground combing strategy can be determined. For example, in the new ground combing strategy, the angle of tire steering can be increased, or the frequency of active suspension jumping up and down can be increased to increase the effect of ground combing. Based on the newly determined ground combing strategy, the energy consumption valuation of the new ground combing strategy can be estimated, and combined with the current remaining energy consumption of the vehicle, it is determined whether the current remaining energy consumption of the vehicle can still support the vehicle to continue to execute the new ground combing strategy. If so, the new ground combing strategy is continued to continue to implement active combing of the ground morphology. If not, the available execution device is stopped from executing the ground combing strategy.

[0104] That is, the solution of the present application, in the process of executing the ground combing strategy, changes the ground combing strategy based on the actual execution effect, and tries to increase the ground adhesion coefficient as much as possible through multiple attempts, so as to effectively realize the ground combing and help the vehicle get out of trouble better.

[0105] Optionally, step 204 includes:

[0106] Sub-step 2043, controlling the driving actuator to adjust the tire driving mode, so as to control the tire to smooth the ground by rolling forward and backward.

[0107] In an embodiment of the present invention, the driving actuator can be an actuator that performs drive control for each tire individually, and can control the front wheels or the rear wheels to roll slightly to sort out the road surface. For example, for uneven ground, the ground can be smoothed by rolling the front and rear wheels slightly, or small cracks with high frequency fluctuations can be corrected by rolling the front and rear wheels slightly, or small stones on the ground can be compacted and embedded in the ground to create a good environment for the vehicle to escape.

[0108] Sub-step 2044, controlling the active suspension to adjust the dynamic posture, so as to adjust the vehicle vertical force distribution and the vehicle posture to compact the ground.

[0109] In an embodiment of the present invention, the active suspension can move up and down rapidly, making an action similar to a vertical jump of the vehicle, to adjust the vertical force distribution of the vehicle, or adjust the posture of the vehicle so that the vehicle is at an angle suitable for getting out of trouble. For example, for soft ground, the action of the active suspension can compact the ground to help the vehicle get out of trouble better.

[0110] Sub-step 2045, controlling the front wheel steering actuator or the rear wheel steering actuator to adjust the steering of the tire to flatten the ground contacted by the tire.

[0111] In the embodiment of the present invention, reference Figure 3 , Figure 3 A schematic diagram of the left and right steering of tires interfering with the ground morphology is shown. For example, the front wheel steering actuator can control the front wheel to swing left and right, rubbing and flattening the tire contact with the ground, increasing the ground adhesion coefficient between the tire and the ground, and helping the vehicle to get out of trouble better. The control method of the rear wheel steering actuator is similar. When in use, a ground combing strategy can be generated according to the available actuators to make the most of the vehicle's own actuators to comb the ground and help get out of trouble.

[0112] Sub-step 2046, controlling the air conditioner to dry the floor.

[0113] In an embodiment of the present invention, the air conditioner can be an air conditioning system built into the vehicle. Through hardware design, the air outlet of the air conditioner can be set outside the vehicle. When encountering scenes such as slippery ground or wet mud, the ground can be dried through the air outlet outside the vehicle to increase the ground adhesion coefficient and help the vehicle get out of trouble better.

[0114] It is understandable that in the face of different environments where the vehicle is located, a ground grooming strategy can be comprehensively implemented based on the available execution devices to change the road conditions and help the vehicle get out of trouble better.

[0115] Optionally, the method further comprises:

[0116] Step 205, when the ground combing strategy is executed, the vehicle is controlled to escape from the distress through the preset escape control strategy.

[0117] In an embodiment of the present invention, when the ground combing strategy is executed, the vehicle can be controlled to get out of trouble by means of a preset escape control strategy. The preset escape control strategy can be a low-speed high-torque sprint, which attempts to use the power of the untrapped wheels to pull the entire vehicle out of the trapped area, or it can be other defined vehicle escape strategies for pulling the vehicle out of the trapped state. After the ground combing strategy is completed, the preset escape control strategy can be used to improve the success rate of escape using the preset escape control strategy.

[0118] Optionally, the method further comprises:

[0119] Step 206: If it is determined according to the state information that there is no available execution device among the execution devices, or the vehicle fails to escape after adopting the escape control strategy, road rescue information is displayed at a designated location of the vehicle.

[0120] In an embodiment of the present invention, if it is determined according to the state information that there is no available execution device among the execution devices, or the vehicle fails to escape after adopting the escape control strategy, road rescue information is displayed at a designated location of the vehicle. The designated location may be a central control screen of the vehicle, and the displayed road rescue information may include rescue telephone numbers, nearby road rescue work points, etc., which are not limited in the embodiment of the present application.

[0121] refer to Figure 4 , Figure 4The schematic diagram of the architecture of the present application is shown, which includes: a vehicle trapped identification module, a ground type identification module, a ground adhesion coefficient estimation module, an active ground interference module and an escape control module. The vehicle trapped identification module determines the currently available actuators and the trapped tires of the vehicle through the data collected by the vehicle speed sensor, the wheel speed sensor and the inertial sensor. Specifically, it can determine the working state of the vehicle's driving actuator (whether the four-wheel drive is responsive or not), the front wheel steering, the rear wheel steering (rear wheel distributed steering), and whether each suspension unit of the active suspension can respond / be used to comb the ground to achieve escape control through the working state signals of the actuators such as the driving, front wheel steering, and rear wheel steering (rear wheel distributed steering). The ground type identification module set inside the vehicle trapped identification module judges the ground type and the ground state around the wheel through the data collected by the camera and the radar. The identification method can be based on the visual recognition of the image collected by the camera combined with the signal collected by the radar for comprehensive judgment and determination. Based on the vehicle status information collected by the vehicle entrapment identification module, the ground active combing module affects the road conditions around the tires through repeated actuation of each actuator, and monitors the ground adhesion coefficient, the working status of each actuator (determined by the status signals of the drive, steering, suspension and other actuators) / the efficiency of combing the ground in real time. According to the energy consumption, the change in the ground adhesion coefficient, and the degree of entrapment of the actuator, it attempts to improve the tire environment and compact the road surface, thereby increasing the possibility of escape. During the process of each actuator performing ground state combing, the ground adhesion coefficient estimation module determines whether the current ground adhesion coefficient has changed in real time through the data collected by the vehicle dynamic sensor, and feeds back the results to the ground active combing module, so that the ground active combing module can determine whether to continue to perform the ground combing action or stop the ground combing action based on the change in the ground adhesion coefficient. The escape control module can start to control the vehicle's escape through a preset escape control strategy based on the signal of the completion or stop of the grooming given by the ground active grooming module. The escape control strategy can include adjusting the front wheel steering, the independent rear wheel steering, finding the largest road adhesion point, adjusting the active suspension, and adjusting the vehicle's vertical force distribution so that the main wheels provide more escape power, while changing the vehicle's posture so that the vehicle is at an angle suitable for escape, and finally using low speed and high torque to quickly escape. Among them, the driving, steering and other actuators refer to the driving, front wheel steering, rear wheel steering, active suspension and other actuators that may be used for escape / road grooming.

[0122] refer to Figure 5 , Figure 5 A flowchart of a third vehicle escape method provided by an embodiment of the present application is shown. Specifically, the steps include:

[0123] S1: The vehicle is stuck and cannot get off the current road surface. The currently available driving force is insufficient to get off the road surface, or some actuators are damaged, or the vehicle is partially suspended / the tires are slipping / stuck.

[0124] S2: Determine the response status of actuators that can be used for escape, such as four-wheel drive, front-wheel steering, rear-wheel steering (distributed steering), and active suspension, and record which wheels are trapped.

[0125] S3: When all actuators are currently unavailable, the vehicle is in a difficult condition to escape, or there are better external assistance resources nearby, call for roadside assistance.

[0126] S4: Ground type recognition mode. When the vehicle is trapped, if there are available execution devices, the current situation around the vehicle and the situation around the currently trapped wheels are estimated through visual algorithms using sensors such as cameras, millimeter-wave radars / lidars, and the surrounding ground information is transmitted to the escape logic judgment module.

[0127] S5: Based on the signals from the camera and radar sensor, determine whether the ground surface is combable, that is, whether the ground shape can be changed by actuating the vehicle's own actuators.

[0128] S6: When the ground cannot be combed or interfered, try to directly enable escape control, use the preset escape control strategy, and make an escape attempt by changing the vehicle's driving mode (possibly low speed and high torque), the suspension dynamic posture (possibly repeated jumping / correcting the vehicle's vertical force distribution), and steering and moving the wheels to find the maximum adhesion point.

[0129] S7: If you still cannot escape after trying to escape, confirm with the driver to call for roadside assistance.

[0130] S8: When the road surface can be combed or interfered, the active road surface combing mode is enabled, and after analyzing the ground conditions, an execution request for the ground combing strategy for the corresponding ground is sent to the available execution device.

[0131] S9: Call the vehicle's available / responsive actuators to level the road surface around the tires, use the suspension bounce and the vehicle's own weight to compact the road surface, use artificial air conditioning to dry some wet soil, etc., to try to increase the ground adhesion coefficient, and monitor the ground adhesion coefficient in real time.

[0132] S10: Estimate the real-time ground adhesion coefficient through the vehicle-related execution device.

[0133] S11: Check the change of the ground adhesion coefficient after the ground active combing mode is enabled, and take different strategies according to the change of the ground adhesion coefficient.

[0134] S12: When the road adhesion coefficient changes very little, that is, the current vehicle actuator is difficult to change the ground condition, the ground type recognition module's understanding of the ground is modified, and an attempt is made to use escape control.

[0135] S13: When the ground cannot be combed, the escape control is activated, which is the same as S6.

[0136] S14: If the escape control cannot rescue the vehicle from the trapped environment, call for roadside assistance, which is the same as S7.

[0137] S15: When the active ground combing mode is enabled, the ground adhesion coefficient changes slightly. At this time, the vehicle actuator can comb the road surface, but the energy efficiency of combing the road surface is low. At this time, it can be decided whether to enable ground combing again or try to give up active ground interference and enable S13 escape control to try to escape according to the current remaining energy consumption of the vehicle and the driver's request.

[0138] S16: When the ground combing is completed (the completion mark means that the calculated ground adhesion coefficient required for escape has been exceeded), the escape control is enabled.

[0139] S17: When the first escape control fails, decide whether to try ground combing again according to the driver's wishes to further improve the ground adhesion coefficient to find other escape points to escape. If so, go to step S8.

[0140] S18: If not, call for roadside assistance, same as S7.

[0141] S19, activating the escape control to successfully free the vehicle.

[0142] The present application focuses on actively combing the ground environment around the trapped wheel through the actuation of the actuator, improving the ground adhesion coefficient near the tire, changing the hardness of the ground, and combining with the available wheels to achieve escape, so as to increase the success rate of the vehicle's escape in some road conditions where the ground can be combed, saving users time and resources to achieve escape.

[0143] In summary, when executing ground combing, the method of the present application first determines the vehicle's currently available execution devices, and at the same time determines the ground type of the vehicle's current location, thereby determining a ground combing strategy based on the current ground type, and actively combing the ground environment of the vehicle's location by executing the ground combing strategy through the available execution devices. Since the present application determines the ground combing strategy based on the ground type and the available execution devices, corresponding ground combing strategies can be determined to change the ground environment for vehicles in different ground environments, so that different strategies can be used to comb the ground environment when the vehicle is in different ground environments.

[0144] Figure 6is a schematic diagram of a ground combing device provided by an embodiment of the present invention, the device comprising:

[0145] The acquisition module 301 is used to acquire the status information of the vehicle; the status information includes the status of each execution device of the vehicle and the type of ground where the vehicle is currently located;

[0146] A judgment module 302 is used to determine a ground combing strategy for the ground type according to the ground type and the available execution devices if it is determined according to the state information that there is an available execution device among the execution devices and the ground type belongs to a preset type;

[0147] The combing module 303 is used to control the available execution device to work according to the ground combing strategy, so as to comb the ground where the vehicle is located.

[0148] Optionally, the combing module includes:

[0149] A coefficient monitoring submodule, used for obtaining a current ground adhesion coefficient during the operation of the available execution device;

[0150] The first judgment submodule is used to judge whether the ground state at the current position of the vehicle meets the preset conditions according to the current ground adhesion coefficient.

[0151] Optionally, the first judgment submodule includes:

[0152] The first judgment unit is used to determine that the ground state at the current vehicle location meets the preset conditions if the current ground adhesion coefficient reaches a first preset threshold, and stop the available execution device from executing the ground combing strategy.

[0153] Optionally, the first judgment submodule includes:

[0154] The second judgment unit is used to check the change of the ground adhesion coefficient if the ground adhesion coefficient is less than the first preset threshold value within the preset time period, then the ground state at the current vehicle location does not meet the preset conditions, and adjust the execution mode of the ground combing strategy according to the change.

[0155] Optionally, the second judging unit includes:

[0156] The first judgment subunit is used to stop the available execution device from executing the ground combing strategy if the change in the ground adhesion coefficient is less than a second preset threshold within a preset time period, and based on the current remaining energy consumption of the vehicle, it is determined that the current remaining energy consumption cannot support the continued execution of the ground combing strategy.

[0157] Optionally, the second judging unit includes:

[0158] A second judgment subunit is used to obtain the ground type of the current position of the vehicle again if the change in the ground adhesion coefficient is less than a third preset threshold value within a preset time period;

[0159] The third judgment subunit stops the available execution device from executing the ground combing strategy if the ground type acquired again is a type whose ground shape cannot be combed.

[0160] Optionally, the second judging unit includes:

[0161] The fourth judgment subunit determines a new ground grooming strategy if the change in the ground adhesion coefficient is less than a second preset threshold value within a preset time period and the current remaining energy consumption of the vehicle is greater than an energy consumption threshold value;

[0162] A first determination subunit, configured to determine an estimated energy consumption of the new ground combing strategy;

[0163] The second determining subunit is used to determine whether to continue to execute the new ground combing strategy or to stop the available execution device from executing the ground combing strategy based on the current remaining energy consumption of the vehicle and the energy consumption estimation.

[0164] Optionally, the combing module includes:

[0165] A first control submodule is used to control the driving actuator to adjust the tire driving mode, so as to control the tire to smooth the ground by rolling forward and backward;

[0166] and / or, a second control submodule, for controlling the active suspension to adjust the dynamic posture, so as to adjust the vertical force distribution and the posture of the vehicle to compact the ground;

[0167] and / or, a third control submodule, for controlling a front wheel steering actuator or a rear wheel steering actuator to adjust the steering direction of the tires so as to flatten the ground contacted by the tires;

[0168] And / or, a fourth control submodule, used for controlling the air conditioner to dry the floor.

[0169] Optionally, the acquired modules include:

[0170] A first state acquisition submodule, used to determine the state of each actuator of the vehicle according to sensor signals collected by the vehicle speed sensor, the wheel speed sensor and the inertial sensor;

[0171] The second state acquisition submodule is used to determine the ground type of the vehicle's current location based on the vehicle's surrounding environment image collected by the vehicle body camera and the feedback signal collected by the vehicle body radar.

[0172] Optionally, the device further comprises:

[0173] The escape module is used to control the vehicle to escape through a preset escape control strategy when the ground combing strategy is executed.

[0174] Optionally, the device further comprises:

[0175] A display module is used to display road rescue information at a designated position of the vehicle if it is determined according to the state information that no available execution device exists among the execution devices, or the vehicle fails to escape after adopting the escape control strategy.

[0176] In summary, when executing ground combing, the method of the present application first determines the vehicle's currently available execution devices, and at the same time determines the ground type of the vehicle's current location, thereby determining a ground combing strategy based on the current ground type, and actively combing the ground environment of the vehicle's location by executing the ground combing strategy through the available execution devices. Since the present application determines the ground combing strategy based on the ground type and the available execution devices, corresponding ground combing strategies can be determined to change the ground environment for vehicles in different ground environments, so that different strategies can be used to comb the ground environment when the vehicle is in different ground environments.

[0177] As for the above-mentioned device embodiment, since it is basically similar to the ground combing method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0178] The embodiment of the present invention further provides an electronic device, such as Figure 7 As shown, it includes a processor 801 , a communication interface 802 , a memory 803 and a communication bus 804 , wherein the processor 801 , the communication interface 802 , and the memory 803 communicate with each other via the communication bus 804 .

[0179] The memory 803 is used to store computer programs.

[0180] When the processor 801 is used to execute the program stored in the memory 803, the following steps are implemented:

[0181] Acquiring vehicle status information; the status information includes the status of each actuator of the vehicle and the type of ground at the current location of the vehicle;

[0182] If it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to a preset type, determining a ground combing strategy for the ground type according to the ground type and the available execution devices;

[0183] The available execution device is controlled to work according to the ground combing strategy to comb the ground where the vehicle is located.

[0184] Among them, the processor 801 can also implement other steps in the above-mentioned ground combing method, which will not be repeated here.

[0185] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0186] The communication interface is used for communication between the above electronic device and other devices.

[0187] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0188] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0189] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the ground combing method described in the above embodiment.

[0190] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the ground combing method described in the above embodiment.

[0191] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0192] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0193] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0194] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A ground combing method, characterized in that: The method comprises: Acquiring vehicle status information; the status information includes the status of each actuator of the vehicle and the type of ground at the current location of the vehicle; If it is determined according to the state information that there is an available execution device among the execution devices, and the ground type belongs to a preset type, determining a ground combing strategy for the ground type according to the ground type and the available execution devices; The available execution device is controlled to work according to the ground combing strategy to comb the ground where the vehicle is located.

2. The method according to claim 1, characterized in that The controlling the available execution device to work according to the ground combing strategy to comb the ground where the vehicle is located includes: During the operation of the available execution device, obtaining a current ground adhesion coefficient; According to the current ground adhesion coefficient, it is determined whether the ground state at the current vehicle location meets the preset conditions.

3. The method according to claim 2, characterized in that The step of judging whether the ground state at the current position of the vehicle meets the preset conditions according to the current ground adhesion coefficient includes: If the current ground adhesion coefficient reaches a first preset threshold, it is determined that the ground state at the current location of the vehicle meets the preset conditions, and the available execution device is stopped from executing the ground combing strategy.

4. The method according to claim 2, characterized in that: The step of judging whether the ground state at the current position of the vehicle meets the preset conditions according to the current ground adhesion coefficient includes: If the ground adhesion coefficient is less than the first preset threshold value within the preset time period, the ground state at the current vehicle location does not meet the preset conditions, the change of the ground adhesion coefficient is checked, and the execution mode of the ground combing strategy is adjusted according to the change.

5. The method according to claim 4, characterized in that The checking of the change of the ground adhesion coefficient and adjusting the execution mode of the ground combing strategy according to the change includes: If within a preset time period, the change in the ground adhesion coefficient is less than a second preset threshold, and based on the current remaining energy consumption of the vehicle, it is determined that the current remaining energy consumption cannot support the continued execution of the ground combing strategy, then the available execution device is stopped from executing the ground combing strategy.

6. The method according to claim 4, characterized in that The checking of the change of the ground adhesion coefficient and adjusting the execution mode of the ground combing strategy according to the change includes: If the change in the ground adhesion coefficient is less than a third preset threshold value within the preset time period, obtaining the ground type of the current position of the vehicle again; If the ground type acquired again is a type whose ground shape cannot be combed, the available execution device is stopped from executing the ground combing strategy.

7. The method according to claim 4, characterized in that The checking of the change of the ground adhesion coefficient and adjusting the execution mode of the ground combing strategy according to the change includes: If within a preset time period, the change in the ground adhesion coefficient is less than a second preset threshold, and the current remaining energy consumption of the vehicle is greater than the energy consumption threshold, a new ground grooming strategy is determined; determining an estimated energy consumption of the new ground grooming strategy; Based on the current remaining energy consumption of the vehicle and the energy consumption estimation, it is determined to continue to execute the new ground combing strategy, or it is determined to stop the available execution device from executing the ground combing strategy.

8. The method according to claim 1, characterized in that The step of controlling the available execution device to work according to the ground combing strategy includes: Controlling the driving actuator to adjust the tire driving mode so as to control the tire to smooth the ground by rolling forward and backward; and / or, controlling the active suspension to adjust the dynamic posture to adjust the vehicle vertical force distribution and the vehicle posture to compact the ground; and / or, controlling a front wheel steering actuator or a rear wheel steering actuator to adjust the steering direction of the tire to flatten the ground contacted by the tire; And / or, control the air conditioner to dry the floor.

9. The method according to claim 1, characterized in that: The vehicle status information obtained includes: Determine the status of each actuator of the vehicle based on sensor signals collected by the vehicle speed sensor, wheel speed sensor and inertial sensor; The ground type of the vehicle's current location is determined based on the vehicle's surrounding environment images collected by the vehicle's body camera and the feedback signal collected by the vehicle's body radar.

10. The method according to claim 1, characterized in that The method further comprises: When the ground combing strategy is executed, the vehicle is controlled to escape from trouble by using a preset escape control strategy.

11. The method according to claim 10, characterized in that The method further comprises: If it is determined according to the state information that there is no available execution device among the execution devices, or the vehicle fails to escape from the distress after adopting the escape control strategy, road rescue information is displayed at a designated position of the vehicle.

12. A ground combing device, characterized in that: The device comprises: An acquisition module, used to acquire status information of the vehicle; the status information includes the status of each execution device of the vehicle and the type of ground at the current location of the vehicle; a judgment module, configured to determine a ground combing strategy for the ground type according to the ground type and the available execution devices if it is determined according to the state information that there is an available execution device among the execution devices and the ground type belongs to a preset type; A combing module is used to control the available execution device to work according to the ground combing strategy to comb the ground where the vehicle is located.

13. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the ground combing method as described in any one of claims 1 to 11 when executing the program stored in the memory.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the ground combing method according to any one of claims 1 to 11 are implemented.

15. A vehicle, characterized in that: The vehicle comprises the floor combing device of claim 12 or the electronic device of claim 13.

Images