Vehicle control method and device, controller, medium, program product and vehicle

Abstract

The invention relates to a vehicle control method and device, a controller, a medium, a program product and a vehicle, and the method comprises the steps: obtaining the information of a road surface in front of a vehicle through a road surface preview system and a vehicle networking system; and vehicle control is carried out based on the road surface information. The invention aims to improve the safety of vehicle driving.

Description

Technical Field

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

[0002] Currently, vehicles can determine the smoothness of the road they are currently traveling on, and thus output the perception of the unevenness of the current road surface to the vehicle's control system. This provides data support for the control system's driving instructions, which helps ensure safe and comfortable driving of the vehicle. However, the range of road information that can be detected at present is too small, resulting in the need to improve vehicle safety. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, device, controller, medium, program product and vehicle, which improve the safety of vehicle driving and at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, the vehicle control method comprising:

[0005] Obtain road surface information in front of the vehicle through the road preview system and the vehicle networking system;

[0006] The vehicle is controlled based on the road surface information.

[0007] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0008] An acquisition module is used to acquire road surface information in front of the vehicle through a road surface preview system and a vehicle networking system;

[0009] A control module performs vehicle control based on the road surface information.

[0010] According to a third aspect of the present application, a controller is also provided, including a processor, the processor is connected to a memory, the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any of the above-mentioned vehicle control methods.

[0011] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is any of the above-mentioned vehicle control methods.

[0012] According to a fifth aspect of the present application, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement any of the above-mentioned vehicle control methods.

[0013] According to a sixth aspect of the present application, a vehicle is provided, which executes the vehicle control method as described above, or includes the vehicle control device or controller as described above.

[0014] To summarize, in the embodiments of the present application, road surface information in front of the vehicle is obtained through a road surface preview system and a vehicle networking system, and the vehicle is controlled based on the road surface information. In this way, the road surface information obtained by combining the road surface preview system and the vehicle networking system has a wider range and is more accurate. Controlling the vehicle based on the road surface information can improve the stability and comfort of the vehicle.

[0015] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0017] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0018] Figure 1 is a flow chart of an embodiment of a vehicle control method provided in an embodiment of the present invention;

[0019] Figure 2 is a flow chart of another embodiment of a vehicle control method provided in an embodiment of the present invention;

[0020] Figure 3 is a structural schematic diagram of a vehicle provided in an embodiment of the present invention;

[0021] Figure 4 The embodiment of the present invention provides Figure 3 A schematic diagram of a process flow executed by the vehicle shown;

[0022] Figure 5 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely 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, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] Based on the problems mentioned in the aforementioned background technology, in the related technology, the vehicle can determine the flatness of the road on which the vehicle is currently traveling, and thus can output the perception results of the unevenness of the current road surface to the control system of the vehicle, thereby providing data support for the driving instructions of the control system, which helps the vehicle to drive safely and comfortably. However, the range of road surface information that can be detected at present is too small, resulting in the need to improve vehicle safety.

[0026] In order to solve the above problems, the embodiments of the present application propose a vehicle control method, device, controller, medium, program product and vehicle. The embodiments of the present application combine the road surface preview system and the road surface information obtained by the vehicle networking system to control the vehicle, which can improve the stability and comfort of the vehicle.

[0027] Specifically, the vehicle control method in the present application can be applied to a controller or a vehicle, and the controller can also be a vehicle or be arranged on a vehicle. In the following, the execution subject of the vehicle control method is a vehicle as an example, and each embodiment is described in detail.

[0028] This application provides a vehicle control method, please refer to Figure 1 The vehicle control method provided in the embodiment of the present application includes steps S10 to S30, which are described in detail below.

[0029] S10, obtaining road surface information in front of the vehicle through a road surface preview system and a vehicle networking system;

[0030] In this embodiment, the vehicle may be provided with a road surface preview system and a vehicle networking system. The road surface preview system may sense the condition of the road surface in front of the vehicle in advance and then control the vehicle, thereby improving the comfort and safety of driving. The vehicle networking system is a system that uses the Internet of Things technology to improve the vehicle's communication capabilities with other devices, and can realize information exchange between vehicles and other vehicles, vehicles and infrastructure, and vehicles and the cloud.

[0031] In this embodiment, the road surface information in front of the vehicle can be obtained through the road surface preview system and the vehicle networking system. Among them, the road surface preview system can make the road surface information more real-time and accurate, and the vehicle networking system can obtain a wider range of road surface information by interacting with other remote vehicles, infrastructure, and the cloud, so as to predict the road conditions ahead more in advance.

[0032] S20. Control the vehicle based on the road surface information.

[0033] In this embodiment, vehicle control is performed based on road surface information with greater real-time performance, accuracy and scope, so that the vehicle can perform corresponding operations in advance to adapt to different road conditions ahead, thereby improving the safety and comfort of the vehicle.

[0034] In one embodiment, the road surface information includes:

[0035] First road surface elevation information of the road ahead of the vehicle; and / or

[0036] Second road surface elevation information on the predicted trajectory of the vehicle.

[0037] In this embodiment, the road surface information may include first road surface information of the road ahead and second road surface elevation information on the predicted trajectory of the vehicle. The first road surface information is the road surface elevation information on the entire road, and the second elevation information may be the road surface elevation information of the predicted trajectory of the vehicle on the road ahead. It can be understood that the first road surface elevation information corresponds to the entire road, and the second road surface elevation information corresponds to the trajectory on the road. Compared with the first road surface elevation information, the data width of the second road surface elevation information is narrower and more targeted.

[0038] The first road elevation information and the second road elevation information are both road elevation information. Road elevation information is data describing the height change of a specific point or a specific area on the road surface in the vertical direction, reflecting the flatness, undulation and other height-related features of the road surface, and may include three-dimensional information and position of the corresponding specific point or area. For example, if there is a speed bump on the road surface, the position and three-dimensional information around the speed bump can be obtained. More specifically, if there is a protrusion on the road surface ahead, the distance is xx meters, and the protrusion is xx centimeters, a warning operation can be performed to remind the driver to bypass the protrusion.

[0039] In some embodiments, the first road surface elevation information of the road ahead of the vehicle can be obtained as road surface information through the road surface preview system and the vehicle networking system. In other embodiments, the second road surface elevation information on the predicted trajectory of the vehicle can be obtained as road surface information through the road surface preview system and the vehicle networking system in combination with path prediction.

[0040] In one embodiment, the first road surface elevation information is obtained through the Internet of Vehicles system, and the second road surface elevation information is obtained through a road surface preview system.

[0041] In this embodiment, the first road surface elevation information is obtained through the vehicle networking system to obtain the real-time position of the vehicle. Based on the real-time position, the road surface elevation information of the road ahead corresponding to the real-time position is obtained from the vehicle networking system, and the road surface elevation information is used as the first road surface elevation information. The second road surface elevation information is obtained through the road surface preview system. By previewing the front of the vehicle through the road surface preview system, the second road surface elevation information on the previewed road can be obtained.

[0042] In this way, the second road surface elevation information can be obtained through the road surface preview system, and it can be made more real-time and accurate. The first road surface elevation information can be obtained through the vehicle networking system, and its foreseeable range can be wider, so that risk avoidance and stable driving can be carried out in advance.

[0043] In one embodiment, the road surface information in front of the vehicle is obtained through the road surface preview system and the vehicle networking system, including:

[0044] Acquiring first road elevation information of the road ahead of the vehicle through the Internet of Vehicles;

[0045] When the first road elevation information meets the first preset risk condition, the second road elevation information on the predicted trajectory of the vehicle is acquired through the road preview system.

[0046] In this embodiment, when obtaining the second road elevation information as the road information, the first road elevation information can be used as an acquisition condition. First, the first road elevation information of the road ahead of the vehicle is obtained through the Internet of Vehicles system. The road length corresponding to the first road elevation information obtained through the Internet of Vehicles system will be greater than the road length corresponding to the second road elevation information obtained through the road preview system, because the road preview system can preview a smaller range, generally limited to the visible road ahead of the vehicle, but the Internet of Vehicles system can obtain a larger range of data, including invisible roads ahead of the vehicle. The road information obtained through the Internet of Vehicles system can assist the vehicle in driving in extreme weather or low visibility conditions, and the second road elevation information obtained through the Internet of Vehicles system can be obtained in advance of the vehicle's road preview system to understand the road conditions ahead in advance. When the first road elevation information meets the first preset risk condition, the road preview system is used to obtain the second road elevation information on the predicted trajectory of the vehicle. The second road elevation information obtained through the road preview system can understand the road conditions ahead in a more refined manner and accurately assist the vehicle in driving.

[0047] Among them, the first preset risk condition is a condition indicating that the road ahead has a driving risk, and may include a threshold condition or a type condition, etc. For example, if the first road surface elevation information is data, the first preset risk condition includes a threshold condition. When the data in the first road surface elevation information is greater than the threshold in the first preset risk condition, it is determined that it specifically meets the first preset risk condition, and the second road surface elevation information on the predicted trajectory of the vehicle can be obtained through the road surface preview system.

[0048] In this way, when the first road surface elevation information meets the first preset risk condition, the second road surface elevation information on the predicted trajectory of the vehicle is obtained through the road surface preview system, so that the road conditions in a larger range can be understood in advance, and further refined preview can be determined, which can save computing consumption, improve computing efficiency, and improve safety and comfort.

[0049] In one embodiment, the second road elevation information on the predicted trajectory of the vehicle obtained by the road preview system includes:

[0050] Acquire perception data of the road previewed by the road preview system;

[0051] Based on the perception data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

[0052] In this embodiment, the road surface preview system includes a road surface sensing device, which can preview the road ahead of the vehicle and obtain sensing data of the previewed road. The sensing data can reflect the shape of the previewed road, and then the sensing data can determine the third elevation information on the previewed road. The third elevation information also includes the road surface elevation information of the entire road surface, so that the second road surface elevation information of the predicted trajectory on the previewed road can be obtained to perform control operations based on it.

[0053] In one embodiment, the perception data is collected by at least two road surface perception devices in the road surface preview system.

[0054] In this embodiment, the road preview system is more flexible, and includes at least two different road perception devices for road preview to obtain perception data of the previewed road. The road perception device includes at least one of a homogeneous binocular camera, a heterogeneous binocular camera (for example, a color and infrared camera constitute a heterogeneous binocular camera), a laser radar (LiDAR), a millimeter wave radar, and a ranging laser device.

[0055] In this way, by collecting perception data through at least two road surface sensing devices, the road surface preview system can be made more flexible, more accurate second road surface elevation information can be obtained, and the safety and stability of the vehicle can be further improved.

[0056] In one embodiment, determining the second road elevation information of the predicted trajectory of the vehicle on the previewed road based on the sensed data includes:

[0057] Perform three-dimensional reconstruction calculation based on the perception data to obtain three-dimensional data;

[0058] Based on the three-dimensional data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

[0059] In one embodiment, after the perception data collected by at least two road surface sensing devices are fused, a three-dimensional reconstruction calculation is performed to obtain three-dimensional data on the previewed road. Further, based on the three-dimensional data, analysis is performed to obtain second road surface elevation information of the predicted trajectory of the vehicle on the previewed road, so that the second road surface elevation information is richer, which can further improve the safety and stability of the vehicle.

[0060] In this embodiment, determining the second road elevation information of the predicted trajectory of the vehicle on the previewed road based on the sensed data includes:

[0061] Acquiring motion data of the vehicle;

[0062] Determine second road surface elevation information of a predicted trajectory of the vehicle on the previewed road based on the motion data and the perception data.

[0063] In this embodiment, motion data of the vehicle is obtained. The motion data can be collected by at least one sensor on the vehicle including an inertial navigation sensor, a vehicle speed collection device and a steering wheel angle collection device. The motion data can more accurately determine the predicted driving trajectory of the vehicle, and then based on the motion data and the perception data, the second road surface elevation information of the predicted trajectory of the vehicle on the previewed road can be determined, so that the previewed second road surface elevation information is more accurate, further improving the safety and accuracy of the vehicle.

[0064] In one embodiment, determining second road elevation information of a predicted trajectory of the vehicle on the previewed road according to the motion data and the perception data includes:

[0065] The motion data and the perception data are input into a deep learning network model to obtain second road surface elevation information of the predicted trajectory of the vehicle on the previewed road.

[0066] In this embodiment, deep learning technology can be used to process the perception data obtained by the road surface perception device, so as to more accurately detect the road surface elevation information. Deep learning technology can automatically learn the characteristics of the road surface, thereby improving the accuracy of detection. Specifically, a deep learning model that can predict the elevation road surface information on the trajectory based on the perception data and motion data is pre-constructed, and the real-time collected motion data and perception data are input into the pre-constructed deep learning network model, so that the second road surface elevation information of the predicted trajectory of the vehicle on the pre-targeted road can be obtained.

[0067] In some embodiments, in the deep learning network model, the third road surface elevation information of the road previewed by the road surface preview system can be obtained through perception data, and the predicted trajectory on the previewed road can be obtained through motion data, and then the second road surface elevation information on the predicted trajectory can be extracted from the third road surface elevation information. In other words, the second road surface elevation information can be obtained based on the deep learning network model, and the third road surface elevation information of the entire road surface on the road previewed by the road surface preview system can also be obtained.

[0068] In one embodiment, the method further comprises:

[0069] Determining third road elevation information of the previewed road based on the perception data;

[0070] The third road elevation information is uploaded through the vehicle networking system so as to be acquired by other vehicles associated with the vehicle networking system.

[0071] In this embodiment, based on the perception data, the third road elevation information of the road can be previewed. The third road elevation information is the third elevation information on the entire road surface of the previewed road. Based on the above, it can be known that the third road elevation information can also be obtained through deep learning technology, and it can also be used as an intermediate quantity for obtaining the second road elevation information. In this embodiment, the third road elevation information needs to be sent to the Internet of Vehicles system, and the third road elevation information is uploaded to the cloud, other vehicles or infrastructure and other devices through the Internet of Vehicles system, so that other vehicles associated with the Internet of Vehicles system can obtain it based on their own Internet of Vehicles systems, thereby realizing the sharing of road elevation information.

[0072] In this way, combined with the Internet of Vehicles technology, the third road elevation information previewed by the current vehicle is uploaded to provide a reference for other related vehicles, and to warn of the road conditions ahead in advance, thereby improving overall traffic safety. For low-end vehicles without a preview system, it can also help them obtain the road information ahead in advance for early warning, control and other operations. In extreme cases such as extreme weather or low visibility, it can help obtain the second road elevation information of the road ahead in advance, which can further improve the safety and comfort of vehicle driving.

[0073] Based on the above embodiments, in one embodiment, refer to Figure 2 Step S20 controls the vehicle based on the road surface information, which may include:

[0074] Step S21, performing classification processing on the road surface information to determine the risk level corresponding to the road surface information;

[0075] Step S22: controlling the vehicle to perform an auxiliary operation corresponding to the risk level.

[0076] In this embodiment, the road surface information can be graded to obtain the risk level corresponding to the road surface information. Different risk levels represent different driving risks and road surface unevenness. Correspondingly, there will be different auxiliary operations to help the vehicle adapt to the road surface ahead, thereby improving the safety and comfort of the vehicle in a targeted manner.

[0077] In one embodiment, the auxiliary operation includes at least one of a warning operation, a suspension control operation, a steering control operation, and a braking control operation.

[0078] In this embodiment, the warning operation is an operation for reminding the driver to notice the changes and risks of the road surface ahead, and remind the driver to pay attention to driving and take actions to avoid risks. The suspension control operation is an operation to adjust the vehicle suspension based on the road surface information. The suspension parameters of the road surface ahead can be determined based on the road surface information, including at least one of suspension damping, suspension height and suspension stiffness, and then the suspension of the vehicle is adjusted based on the suspension parameters to adapt to the unevenness of the road surface and improve the comfort of the vehicle. The vehicle can also perform emergency avoidance through steering control operations and braking control operations. In an emergency, the braking control operation can be used to achieve automatic deceleration or emergency obstacle avoidance through the steering control operation to ensure that the vehicle passes through dangerous potholes safely and comfortably.

[0079] In one embodiment, the warning operation includes at least one of a display reminder, a voice reminder, an alarm reminder, a warning light reminder, a seat vibration reminder, and a steering wheel vibration reminder based on a display device of the vehicle. The display device of the vehicle may include but is not limited to a driving instrument panel, a central control display screen, and a head-up display system (HUD).

[0080] For example, the warning operations specifically performed by the vehicle may include but are not limited to the following:

[0081] 1. Display road information prompts on the driving instrument panel.

[0082] 2. Display road information prompts on the central control display screen.

[0083] 3. Display road information prompts on the HUD.

[0084] 4. Remind road information through voice or alarm sound.

[0085] 5. Remind the driver by quickly flashing the warning light.

[0086] 6. Remind the driver through seat vibration.

[0087] 7. Remind the driver through steering wheel vibration.

[0088] In one embodiment, the grading of the road surface information to determine the risk level corresponding to the road surface information includes:

[0089] When the road surface information satisfies a second preset risk condition, the road surface information is graded to determine a risk level corresponding to the road surface information.

[0090] In this embodiment, when the road surface information satisfies the second preset risk condition, the road surface information is graded to determine the risk level corresponding to the road surface information. The second preset risk condition is also a condition indicating that the road ahead has a driving risk. The second preset risk condition is a condition set for determining whether to grade the road surface information. The second preset risk condition is a condition set for determining whether to obtain the second road surface elevation information based on the road surface preview system based on the first road surface elevation information. The two may be the same or different.

[0091] In this way, when the road surface meets the second preset risk condition, it is graded to perform corresponding auxiliary operations, which can save computing consumption, improve computing efficiency, and improve safety and comfort.

[0092] Based on the above embodiments, in one example, refer to Figure 3 The vehicle has a road surface perception unit, a safety warning unit, an emergency avoidance unit, a vehicle control unit, a vehicle networking coordination unit, and a road surface elevation information calculation unit. Among them, the road surface perception unit and the road surface elevation information calculation unit can belong to the vehicle's pre-aiming assistance system, and the vehicle networking coordination unit can belong to the vehicle's vehicle networking coordination system.

[0093] Based on the vehicle, the process of the method provided in this embodiment can be executed as follows: Figure 4As shown, the vehicle can obtain the first road elevation information of the road ahead at a long distance through the vehicle network collaboration unit. If the first road elevation information includes an elevation area exceeding the threshold and meets the first preset risk condition, the multiple road surface sensing devices in the road surface sensing unit obtain the sensing data for fusion, and then perform three-dimensional data reconstruction to obtain the three-dimensional data of the road surface, which is sent to the road surface elevation information calculation unit to obtain the second elevation information, and determine whether the second road surface elevation information exceeds the threshold and meets the second preset risk to determine whether to perform classification. According to the classification result, the vehicle control unit is selected to perform suspension control operation, or the safety warning unit is selected to perform warning operation, or the emergency avoidance unit is selected to perform steering control operation and / or braking control operation for automatic retrieval or emergency obstacle avoidance, or the vehicle network collaboration unit is selected to upload the relevant road surface elevation information pre-sighted to the cloud to provide reference for other vehicles.

[0094] This embodiment also provides a vehicle control device, which can be integrated in a vehicle, for example, Figure 5 As shown, the vehicle control device may include:

[0095] The acquisition module 1001 is used to acquire the road surface information in front of the vehicle through the road surface preview system and the vehicle networking system;

[0096] The control module 1002 performs vehicle control based on the road surface information.

[0097] Optionally, the road surface information includes:

[0098] First road surface elevation information of the road ahead of the vehicle; and / or

[0099] Second road surface elevation information on the predicted trajectory of the vehicle.

[0100] Optionally, the first road surface elevation information is acquired through the Internet of Vehicles system, and the second road surface elevation information is acquired through a road surface preview system.

[0101] Optionally, the acquisition module 1001 is further used for:

[0102] Acquiring first road elevation information of the road ahead of the vehicle through the vehicle networking system;

[0103] When the first road elevation information meets the first preset risk condition, the second road elevation information on the predicted trajectory of the vehicle is acquired through the road preview system.

[0104] Optionally, the acquisition module 1001 is further used to: acquire perception data of the road previewed by the road surface preview system;

[0105] Based on the perception data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

[0106] Optionally, the perception data is collected by at least two road surface perception devices in the road surface preview system.

[0107] Optionally, the road surface sensing device includes at least one of a homogeneous binocular camera, a heterogeneous binocular camera, a lidar, a millimeter wave radar and a ranging laser device.

[0108] Optionally, the acquisition module 1001 is further used to: perform three-dimensional reconstruction calculation based on the perception data to obtain three-dimensional data;

[0109] Based on the three-dimensional data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

[0110] Optionally, the acquisition module 1001 is further used to: acquire motion data of the vehicle;

[0111] Determine second road surface elevation information of a predicted trajectory of the vehicle on the previewed road based on the motion data and the perception data.

[0112] Optionally, the acquisition module 1001 is also used to: input the motion data and the perception data into a deep learning network model to obtain second road surface elevation information of the predicted trajectory of the vehicle on the previewed road.

[0113] Optionally, the sensor for collecting the motion data includes at least one of an inertial navigation sensor, a vehicle speed collection device and a steering wheel angle collection device.

[0114] Optionally, the acquisition module 1001 is further used to: determine third road elevation information of the previewed road based on the perception data;

[0115] The third road elevation information is uploaded through the vehicle networking system so as to be acquired by other vehicles associated with the vehicle networking system.

[0116] Optionally, the control module 1002 is further configured to:

[0117] Performing classification processing on the road surface information to determine the risk level corresponding to the road surface information;

[0118] The vehicle is controlled to perform an auxiliary operation corresponding to the risk level.

[0119] Optionally, the auxiliary operation includes at least one of a warning operation, a suspension control operation, a steering control operation and a braking control operation.

[0120] Optionally, the warning operation includes at least one of a display reminder, a voice reminder, an alarm sound reminder, a warning light reminder, a seat vibration reminder and a steering wheel vibration reminder.

[0121] Optionally, the control module 1002 is further configured to:

[0122] When the road surface information satisfies a second preset risk condition, the road surface information is graded to determine a risk level corresponding to the road surface information.

[0123] In this embodiment, road surface information in front of the vehicle is obtained through the road surface preview system and the vehicle networking system, and the vehicle is controlled based on the road surface information. In this way, the road surface information obtained by combining the road surface preview system and the vehicle networking system has a wider range and is more accurate. Vehicle control based on this road surface information can improve vehicle stability and comfort.

[0124] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0125] Accordingly, an embodiment of the present application further provides an electronic device, which may be a controller, such as Figure 6 As shown, Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1100 also includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art will appreciate that the electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange components differently.

[0126] The processor 1101 is the control center of the electronic device 1100, and uses various interfaces and lines to connect various parts of the entire electronic device 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, the processor 1101 executes various functions of the electronic device 1100 and processes data, thereby monitoring the electronic device 1100 as a whole. The processor 1101 can be a processor (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0127] In the embodiment of the present application, the processor 1101 in the electronic device 1100 will load instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as:

[0128] Obtain road surface information in front of the vehicle through the road preview system and the vehicle networking system;

[0129] The vehicle is controlled based on the road surface information.

[0130] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0131] Optional, such as Figure 6 As shown, the electronic device 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0132] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect the touch operation of the user on or near it (such as the operation of the user using any suitable object or attachment such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts of a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present invention, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0133] The radio frequency circuit 1104 may be used to send and receive radio frequency signals, so as to establish wireless communication with a network medical device or other electronic devices through wireless communication, and to send and receive signals between the network medical device or other electronic devices.

[0134] The audio circuit 1105 can be used to provide an audio interface between the user and the electronic device through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another electronic device through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earplug jack to provide communication between an external headset and an electronic device.

[0135] The input unit 1106 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0136] The power supply 1107 is used to supply power to various components of the electronic device 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, power consumption and other functions. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0137] although Figure 6 Not shown, the electronic device 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0138] 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.

[0139] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0140] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored. The computer program can be loaded by a processor to execute any vehicle control method provided in the embodiment of the present application. The computer program can execute the following steps of the vehicle control method:

[0141] Obtain road surface information in front of the vehicle through the road preview system and the vehicle networking system;

[0142] The vehicle is controlled based on the road surface information.

[0143] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0144] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0145] Since the computer-readable storage medium can store computer programs that can implement any of the vehicle control methods provided in the embodiments of the present application, it can execute any of the vehicle control methods provided in the embodiments of the present application. Therefore, the effects are detailed in the previous embodiments and will not be repeated here.

[0146] Optionally, an embodiment of the present application also provides a vehicle, which includes any of the above vehicle control devices, electronic devices, controllers, computer-readable storage media, and computer program products, and executes any of the above methods.

[0147] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0148] 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.

[0149] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0150] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtain road surface information in front of the vehicle through the road preview system and the vehicle networking system; The vehicle is controlled based on the road surface information.

2. The vehicle control method according to claim 1, characterized in that: The road surface information includes: First road surface elevation information of the road ahead of the vehicle; and / or Second road surface elevation information on the predicted trajectory of the vehicle.

3. The vehicle control method according to claim 2, characterized in that: The first road surface elevation information is obtained through the vehicle networking system, and the second road surface elevation information is obtained through a road surface preview system.

4. The vehicle control method according to claim 3, characterized in that: The method of obtaining the road surface information in front of the vehicle through the road surface preview system and the vehicle networking system includes: Acquiring first road elevation information of the road ahead of the vehicle through the vehicle networking system; When the first road elevation information meets the first preset risk condition, the second road elevation information on the predicted trajectory of the vehicle is acquired through the road preview system.

5. The vehicle control method according to claim 2, characterized in that: The second road elevation information on the predicted trajectory of the vehicle obtained by the road preview system includes: Acquire perception data of the road previewed by the road preview system; Based on the perception data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

6. The vehicle control method according to claim 5, characterized in that: The perception data is collected by at least two road surface perception devices in the road surface preview system.

7. The vehicle control method according to claim 6, characterized in that: The road surface perception device includes at least one of a homogeneous binocular camera, a heterogeneous binocular camera, a laser radar, a millimeter wave radar and a ranging laser device.

8. The vehicle control method according to claim 5, characterized in that: The determining, based on the sensed data, second road elevation information of the predicted trajectory of the vehicle on the previewed road comprises: Perform three-dimensional reconstruction calculation based on the perception data to obtain three-dimensional data; Based on the three-dimensional data, second road surface elevation information of a predicted trajectory of the vehicle on the previewed road is determined.

9. The vehicle control method according to claim 5, characterized in that: The determining, based on the sensed data, second road elevation information of the predicted trajectory of the vehicle on the previewed road comprises: Acquiring motion data of the vehicle; Determine second road surface elevation information of a predicted trajectory of the vehicle on the previewed road based on the motion data and the perception data.

10. The vehicle control method according to claim 9, characterized in that: The step of determining second road elevation information of a predicted trajectory of the vehicle on the previewed road according to the motion data and the perception data includes: The motion data and the perception data are input into a deep learning network model to obtain second road surface elevation information of the predicted trajectory of the vehicle on the previewed road.

11. The vehicle control method according to claim 9, characterized in that: The sensor for collecting the motion data includes at least one of an inertial navigation sensor, a vehicle speed collection device and a steering wheel angle collection device.

12. The vehicle control method according to claim 5, characterized in that: The method further comprises: Determining third road elevation information of the previewed road based on the perception data; The third road elevation information is uploaded through the vehicle networking system so as to be acquired by other vehicles associated with the vehicle networking system.

13. The vehicle control method according to any one of claims 1 to 12, characterized in that: The vehicle control based on the road surface information includes: Performing classification processing on the road surface information to determine the risk level corresponding to the road surface information; The vehicle is controlled to perform an auxiliary operation corresponding to the risk level.

14. The control method according to claim 13, characterized in that: The auxiliary operation includes at least one of a warning operation, a suspension control operation, a steering control operation, and a braking control operation.

15. The vehicle control method according to claim 14, characterized in that: The warning operation includes at least one of a display reminder, a voice reminder, an alarm sound reminder, a warning light reminder, a seat vibration reminder, and a steering wheel vibration reminder.

16. The vehicle control method according to claim 13, characterized in that: The step of performing classification processing on the road surface information to determine the risk level corresponding to the road surface information includes: When the road surface information satisfies a second preset risk condition, the road surface information is graded to determine a risk level corresponding to the road surface information.

17. A vehicle control device, characterized in that: include: An acquisition module is used to acquire road surface information in front of the vehicle through a road surface preview system and a vehicle networking system; A control module performs vehicle control based on the road surface information.

18. A controller, characterized in that: The invention comprises a processor connected to a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vehicle control method according to any one of claims 1 to 16.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 16 is implemented.

20. A computer program product, characterized in that It includes a computer program, which is executed by a processor to implement the vehicle control method described in any one of claims 1 to 16.

21. A vehicle, characterized in that: The vehicle executes the vehicle control method as described in any one of claims 1-16, or includes the vehicle control device as described in claim 17 or the controller as described in claim 18.

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