Method and device for controlling vehicle suspension

Abstract

The embodiment of the invention provides a method and device for controlling a vehicle suspension. The method comprises: controlling a vehicle lamp of a vehicle to irradiate light spots to a road surface; acquiring an image of a road surface acquired by an image acquisition device of the vehicle; and controlling state parameters of the vehicle suspension according to the image. According to the scheme, the condition of the road surface is detected through cooperation of the vehicle lamp and the image collecting device, the problem that road surface recognition is inaccurate in dark light scenes, ground road sections without texture features, small-range frequent fluctuation of the road surface and other scenes can be solved, then the suspension adjusting accuracy is improved, and the driving safety and riding comfort are improved.

Description

Technical Field

[0001] The present application relates to the field of smart vehicles, and in particular to a method and device for controlling a vehicle suspension. Background Art

[0002] In recent years, vehicles have gradually added body suspension control systems based on optical perception such as cameras and lidar, which can realize intelligent adjustment of the suspension under complex road conditions, ensuring that the vehicle can predict the road conditions ahead and pass through uneven areas of the road in the most suitable suspension state to ensure the stability of the vehicle body, improve driving safety and ride comfort, and enhance the vehicle's sense of technology.

[0003] The existing suspension control solution uses passive binocular or lidar to identify road conditions. This solution is limited in use in scenarios such as dark light, roads without texture features, and roads with frequent small-scale undulations. It cannot accurately identify road conditions, resulting in poor suspension adjustment accuracy, affecting driving safety and ride comfort. Summary of the invention

[0004] The embodiments of the present application provide a method and device for controlling a vehicle suspension, which are used to improve the problem of inaccurate road surface recognition in scenarios such as dark light, ground sections without texture features, and frequent undulations in a small area of ​​the road surface, thereby improving the accuracy of suspension adjustment and thereby improving driving safety and riding comfort.

[0005] In a first aspect, a method for controlling a vehicle suspension is provided, the method comprising: controlling a vehicle headlight to irradiate a light spot onto a road surface; acquiring an image of the road surface captured by an image acquisition device of the vehicle; and controlling state parameters of the vehicle suspension according to the image.

[0006] In the above scheme, by cooperating with the headlights and the image acquisition device to detect the road surface (i.e., controlling the vehicle's headlights to irradiate light spots on the road surface; acquiring images of the road surface acquired by the vehicle's image acquisition device), the problem of inaccurate road surface identification in dark light scenes, ground sections without texture features, and small-scale frequent ups and downs on the road surface can be improved, thereby improving the accuracy of suspension adjustment, driving safety, and riding comfort. In addition, for vehicles including headlights and suspensions, the above scheme can be directly implemented through software. For example, original equipment manufacturers (OEMs) can deploy relevant software for executing the above method in the vehicle's control device based on Over the Air technology (OTA), which can reduce the OEM's recall costs and quickly respond to users' driving and riding needs.

[0007] In a possible design, the pattern of the light spot includes at least two areas of different brightness. For example, the pattern of the light spot is light and dark stripes. Accordingly, the collected image may include structured light information.

[0008] In this way, the road condition can be detected based on the structured light detection principle, which improves the reliability of the solution.

[0009] In a possible design, before acquiring the image of the road surface captured by the image acquisition device of the vehicle, the image acquisition device may be controlled to capture the image of the area where the light spot is located on the road surface.

[0010] In this way, the image acquisition device can be controlled, so that the vehicle lights and the image acquisition device have a higher degree of coordination, further improving the reliability of the solution.

[0011] In a possible design, the state of the road surface can be determined based on the image, and the state parameters of the vehicle suspension can be determined based on the state of the road surface. In other words, the state parameters of the vehicle suspension can be associated with the state of the road surface.

[0012] In this way, the state of the road surface is first determined based on the image, and then the state parameters of the vehicle suspension are determined based on the state of the road surface, which can improve the reliability of the solution.

[0013] In a possible design, the state of the road surface includes the undulation degree of the road surface. Of course, it is not limited to this.

[0014] In a possible design, the state parameter of the vehicle suspension includes at least one of height and damping. Of course, the invention is not limited thereto.

[0015] In a possible design, perception information can also be obtained, and the perception information includes the undulation of the road surface and / or the speed of the vehicle; the headlights of the vehicle are controlled to irradiate a light spot onto the road surface, including: a first control module sends a first control signal to the headlights, and the first control signal is used to trigger the headlights to emit the first light spot onto the road surface; the image acquisition device is controlled to acquire an image of the area where the light spot is located on the road surface, including: a second control module sends a second control signal to the image acquisition device, and the second control signal is used to trigger the image acquisition device to acquire a first image of the road surface within a time period when the headlights emit the first light spot; the state parameters of the vehicle suspension are controlled according to the image, including: a third control module generates a third control signal according to the first image, and sends the third control signal to the vehicle suspension, and the third control signal is used to trigger the vehicle suspension to adjust its own state parameters.

[0016] This design method sends control signals to the headlights, image acquisition device and suspension respectively, which can improve the coordination among the three, further improve the reliability of the solution and improve the accuracy of suspension adjustment.

[0017] In one possible design, the undulation of the road surface does not exceed a preset density and / or the speed of the vehicle does not exceed a preset speed; controlling the vehicle's headlights to irradiate a light spot onto the road surface also includes: after the third control module sends a third control signal to the vehicle suspension, the first control module sends a fourth control signal to the headlights, and the fourth control signal is used to trigger the headlights to emit a second light spot onto the road surface; controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface also includes: the second control module sends a fifth control signal to the image acquisition device, and the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; controlling the state parameters of the vehicle suspension according to the image also includes: the third control module generates a sixth control signal according to the second image, and sends the sixth control signal to the vehicle suspension, and the sixth control signal is used to trigger the vehicle suspension to adjust its own state parameters.

[0018] In another possible design, the undulation of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed;

[0019] Controlling the headlights of a vehicle to irradiate a light spot onto a road surface, further comprising: after the second control module sends a second control signal to the image acquisition device and before the third control module sends a third control signal to the vehicle suspension, the first control module sends a fourth control signal to the headlights, the fourth control signal being used to trigger the headlights to emit a second light spot onto the road surface; controlling the image acquisition device to acquire an image of an area on the road surface where the light spot is located, further comprising: before the third control module sends the third control signal to the vehicle suspension, the second control module sends a fifth control signal to the image acquisition device, the fifth control signal being used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; controlling the state parameters of the vehicle suspension according to the image, further comprising: after the third control module sends the third control signal to the vehicle suspension, the third control module sends a sixth control signal to the vehicle suspension, the sixth control signal being generated according to the second image, the sixth control signal being used to trigger the vehicle suspension to adjust its own state parameters; or,

[0020] Controlling the headlights of a vehicle to irradiate a light spot onto a road surface also includes: after the second control module sends a second control signal to the image acquisition device and before the third control module sends a third control signal to the vehicle suspension, the first control module sends a fourth control signal to the headlights, the fourth control signal being used to trigger the headlights to emit a second light spot onto the road surface; controlling the image acquisition device to acquire an image of an area on the road surface where the light spot is located also includes: after the third control module sends the third control signal to the vehicle suspension, the second control module sends a fifth control signal to the image acquisition device, the fifth control signal being used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; controlling the state parameters of the vehicle suspension according to the image also includes: the third control module sends a sixth control signal to the vehicle suspension, the sixth control signal being generated according to the second image, the sixth control signal being used to trigger the vehicle suspension to adjust its own state parameters.

[0021] The above two design methods use different control timings for the headlights, image acquisition devices and suspensions according to different perception information, which can further improve the accuracy of suspension adjustment.

[0022] In one possible design, the first control signal is used to trigger the vehicle light to continuously irradiate a light spot onto the road surface for a preset duration.

[0023] In this way, the image acquisition device can be provided with conditional support for collecting road patterns for a long time. At the same time, there is no need to frequently send control signals to the headlights, which can save control resources.

[0024] In one possible design, the first control module periodically sends the first control signal.

[0025] In this way, long-term support conditions can be provided for the image acquisition device to acquire road surface patterns.

[0026] In one possible design, the second control module may also periodically send a second control signal.

[0027] In this way, the pattern of the road surface can be acquired periodically, and the image is highly real-time, which helps to improve the accuracy of suspension adjustment.

[0028] In a possible design, after the second control module sends the second control signal for N cycles, the third control module sends the third control signal once, where N is a positive integer. Optionally, the value of N may be related to the vehicle speed.

[0029] In this way, the adjustment frequency of the vehicle suspension can be controlled according to demand, which improves the flexibility of the solution.

[0030] In one possible design, the method can also control state parameters of the vehicle seat based on the image.

[0031] In this way, when the vehicle passes through an undulating area on the road, the seats can be adjusted to the most suitable state, thereby ensuring the user's riding comfort and enhancing the vehicle's sense of technology.

[0032] In one possible design, the vehicle light includes a plurality of pixels whose lighting can be independently controlled, and the number of pixels exceeds a first threshold.

[0033] In this way, the headlights can emit structured light to the outside, so that the headlights can illuminate alternating light and dark spots on the road surface.

[0034] In one possible design, the wavelength of the light emitted by the headlight is within the range of 390nm to 780nm, and the image acquisition device is a visible light camera. Optionally, controlling the headlight of the vehicle to irradiate light spots onto the road surface may include: controlling the headlight to alternately irradiate light spots of different patterns onto the road surface, and the frame rate of the headlight exceeds a second threshold.

[0035] In this way, it is possible to detect road conditions based on visible light without the human eye being sensitive to light spots, thus improving the user experience.

[0036] In one possible design, the wavelength of light emitted by the vehicle headlight is greater than 760 nm, and the image acquisition device is an infrared camera.

[0037] In this way, it is possible to detect road conditions based on infrared light without the human eye being sensitive to light spots, thus improving the user experience.

[0038] In a possible design, the illumination of the light emitted by the vehicle lamp is less than or equal to 0.1 Lux, and the image acquisition device is a low-light camera.

[0039] In this way, it is possible to detect road conditions based on low light levels without the human eye being sensitive to light spots, thus improving the user experience.

[0040] Of course, the above three detection methods are only examples and are not limited to them.

[0041] In a second aspect, a control device is provided, comprising a module or unit or technical means for implementing the method described in the first aspect or any possible design of the first aspect. Exemplarily, the device may include:

[0042] A processing module, used to control the vehicle's lights to irradiate light spots onto the road surface;

[0043] A transceiver module, used to obtain an image of a road surface acquired by an image acquisition device of the vehicle;

[0044] The processing module is also used to control the state parameters of the vehicle suspension according to the image.

[0045] In a possible design, the pattern of the light spot includes at least two areas with different brightness.

[0046] In a possible design, the processing module is also used to control the image acquisition device to acquire an image of the area where the light spot is located on the road surface.

[0047] In one possible design, the image includes structured light information.

[0048] In a possible design, when the processing module controls the state parameters of the vehicle suspension according to the image, it is specifically used to: determine the state of the road surface according to the image; and determine the state parameters of the vehicle suspension according to the state of the road surface.

[0049] In a possible design, the state parameters of the vehicle suspension are associated with the state of the road surface, and the state of the road surface includes the undulation degree of the road surface.

[0050] In a possible design, the state parameter of the vehicle suspension includes at least one of height and damping.

[0051] In one possible design, the transceiver module is also used to obtain perception information, and the perception information includes the undulation of the road surface and / or the speed of the vehicle; when the processing module controls the vehicle's headlights to irradiate a light spot onto the road surface, the processing module is used to: control the transceiver module to send a first control signal to the headlights, and the first control signal is used to trigger the headlights to emit a first light spot onto the road surface; when the processing module controls the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is used to: control the transceiver module to send a second control signal to the image acquisition device, and the second control signal is used to trigger the image acquisition device to acquire a first image of the road surface within a time period when the headlights emit the first light spot; when the processing module controls the state parameters of the vehicle suspension according to the image, the processing module is used to: generate a third control signal according to the first image, and control the transceiver module to send the third control signal to the vehicle suspension, and the third control signal is used to trigger the vehicle suspension to adjust its own state parameters.

[0052] In one possible design, the undulation of the road surface does not exceed a preset density and / or the speed of the vehicle does not exceed a preset speed;

[0053] When controlling the vehicle's headlights to irradiate a light spot onto the road surface, the processing module is also used to: after controlling the transceiver module to send a third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the headlights, the fourth control signal being used to trigger the headlights to emit a second light spot onto the road surface; when controlling the image acquisition device to acquire an image of an area on the road surface where the light spot is located, the processing module is also used to: control the transceiver module to send a fifth control signal to the image acquisition device, the fifth control signal being used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; when controlling the state parameters of the vehicle suspension according to the image, the processing module is also used to: generate a sixth control signal according to the second image, control the transceiver module to send the sixth control signal to the vehicle suspension, the sixth control signal being used to trigger the vehicle suspension to adjust its own state parameters.

[0054] In one possible design, the undulation of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed;

[0055] When controlling the headlights of the vehicle to irradiate a light spot onto the road surface, the processing module is further used to: after controlling the transceiver module to send the second control signal to the image acquisition device and before sending the third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the headlights, the fourth control signal being used to trigger the headlights to emit a second light spot onto the road surface; when controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is further used to: before controlling the transceiver module to send the third control signal to the vehicle suspension, control the transceiver module to send a fifth control signal to the image acquisition device, the fifth control signal being used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; when controlling the state parameters of the vehicle suspension according to the image, the processing module is further used to: after controlling the transceiver module to send the third control signal to the vehicle suspension, control the transceiver module to send a sixth control signal to the vehicle suspension, the sixth control signal being generated according to the second image, the sixth control signal being used to trigger the vehicle suspension to adjust its own state parameters; or,

[0056] When controlling the vehicle's headlights to irradiate a light spot onto the road surface, the processing module is also used to: after controlling the image acquisition device of the transceiver module to send a second control signal and before sending a third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the headlights, and the fourth control signal is used to trigger the headlights to emit a second light spot onto the road surface; when controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is also used to: after controlling the transceiver module to send the third control signal to the vehicle suspension, control the transceiver module to send a fifth control signal to the image acquisition device, and the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the headlights emit the second light spot; when controlling the state parameters of the vehicle suspension according to the image, the processing module is also used to: control the transceiver module to send a sixth control signal to the vehicle suspension, the sixth control signal is generated according to the second image, and the sixth control signal is used to trigger the vehicle suspension to adjust its own state parameters.

[0057] In one possible design, the first control signal is used to trigger the vehicle lights to continuously irradiate a light spot onto the road surface for a preset time period; or, the processing module is further used to control the transceiver module to periodically send the first control signal.

[0058] In one possible design, the processing module is also used to: control the transceiver module to periodically send a second control signal; after the transceiver module sends the second control signal for N cycles, control the transceiver module to send a third control signal once, where N is a positive integer.

[0059] In a possible design, the processing module is also used to control the state parameters of the vehicle seat according to the image.

[0060] In one possible design, the vehicle light includes a plurality of pixels whose lighting can be independently controlled, and the number of pixels exceeds a first threshold.

[0061] In one possible design, the wavelength of light emitted by the headlights is in the range of 390nm to 780nm, and the image acquisition device is a visible light camera; when the processing module controls the vehicle's headlights to irradiate light spots onto the road surface, it is also used to: control the headlights to alternately irradiate light spots of different patterns onto the road surface; wherein the frame rate of the headlights exceeds a second threshold.

[0062] In one possible design, the wavelength of the light emitted by the headlight is greater than 760nm, and the image acquisition device is an infrared camera; or, the illumination of the light emitted by the headlight is less than or equal to 0.1Lux, and the image acquisition device is a low-light camera.

[0063] In a third aspect, a control device is provided, which includes a processor and an interface circuit, the interface circuit being used to receive signals from other devices outside the device and transmit them to the processor or to send signals from the processor to other communication devices outside the device, and the processor being used to implement the method described in the first aspect or any possible design of the first aspect through logic circuits or execution code instructions.

[0064] In a fourth aspect, a computer-readable storage medium is provided, comprising a program or an instruction, which, when executed on a computer, enables the method described in the first aspect or any possible design of the first aspect to be executed.

[0065] In a fifth aspect, a program product is provided, comprising instructions, which, when executed on a computer, enables the method described in the first aspect or any possible design of the first aspect to be executed.

[0066] In a sixth aspect, a terminal is provided, comprising the device as described in the second aspect or any possible implementation of the second aspect, or the device as described in the third aspect, or the computer-readable storage medium as described in the fourth aspect, or the program product as described in the fifth aspect.

[0067] Optionally, the terminal is a vehicle.

[0068] The beneficial effects of the second to sixth aspects mentioned above can be referred to the description of the beneficial effects of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0070] Figure 2A flow chart of a method for controlling a vehicle suspension provided in an embodiment of the present application;

[0071] Figure 3 is an example diagram of a light spot pattern;

[0072] Figure 4A to Figure 4F Schematic diagram of several possible control timings;

[0073] Figure 5 A schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0074] Figure 6 A schematic diagram of the structure of another control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] The technical solution provided in the embodiment of the present application can be applied to mobile devices with suspension, such as cars, ships, drones, trains, vans, trucks, etc., and the embodiment of the present application is not limited. The following takes the application to a car (or vehicle) as an example.

[0076] See also Figure 1 , is a schematic diagram of a vehicle structure provided in an embodiment of the present application, the vehicle may include: a headlight, an image acquisition device, a vehicle suspension, and a control device. It can be understood that the vehicle suspension in this article can also be referred to as a suspension system or suspension, etc.

[0077] The control device has control capabilities, such as being able to connect to other components in the vehicle through a controller area network (CAN) bus or other means, and sending control signals to other components to control the operation of other components. For example, the control device can control the headlights to emit light spots, such as emitting light spots to the road surface; the control device can control the image acquisition device to acquire images, such as controlling the image acquisition device to acquire images of the road surface during the time period when the headlights emit light spots to the road surface; the control device can also control the state parameters of the suspension (such as at least one of height, damping, etc.) according to the images acquired by the image acquisition device.

[0078] In the specific implementation process, the control device may include multiple control modules, and different control modules may respectively control different components, for example, the first control module controls the lighting of the vehicle lights, the second control module controls the image acquisition device to acquire images, the third control module controls the state parameters of the suspension, etc. Optionally, the control device may also include a central control module (such as a fourth control module) for coordinating and controlling the cooperation between the first control module, the second control module, the third control module, etc.

[0079] In a specific implementation process, each control module may be integrated into one device or distributed into multiple devices.

[0080] Exemplarily, when the first control module, the second control module, the third control module, etc. are integrated into one device, the device may specifically be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processing circuit (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated chips. Among them, the device may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0081] Exemplarily, when the first control module, the second control module, the third control module, etc. can be implemented separately in multiple devices, the control device can be a distributed controller. The control device can include multiple controllers and be distributed at different locations in the vehicle. For example, the control device includes one or more of a body domain controller, a cockpit domain controller, an intelligent driving domain controller, a vehicle control domain controller, a vehicle controller, etc.

[0082] Understandably, Figure 1 The example in the figure is the headlight of the car, but it is not limited to this. For example, it can also be the taillight, turn signal, atmosphere light, etc. In addition, Figure 1The position of the image acquisition device in the figure is taken as being set on the top of the cab in the vehicle as an example, but is not limited thereto and can also be set at other positions in the vehicle or outside the vehicle.

[0083] Figure 1 Only some components of the vehicle are shown, and other components may actually be included.

[0084] See also Figure 2 , is a method for controlling a vehicle suspension provided in an embodiment of the present application, which can be applied to a vehicle (e.g. Figure 1 The vehicle shown in the figure), the method includes S201 to S203.

[0085] S201, controlling the headlights of the vehicle to irradiate a light spot onto the road surface.

[0086] In a specific implementation, the vehicle can control the headlights to irradiate a light spot onto the road surface. Exemplarily, the control device of the vehicle can send a first control signal to the headlights via wired (such as CAN bus) or wireless (such as Bluetooth, Wi-Fi, etc.) means to trigger the headlights to irradiate a light spot onto the road surface. Among them, the control device can be an integrated circuit chip on the vehicle, or it can be a distributed controller. The specific implementation can refer to the relevant description above, which will not be repeated here. In a possible example, the control device can send a first control signal to the headlights (for example, to the controller of the headlights (such as the ECU of the headlights)), for example, the first control module in the control device sends a first control signal to the headlights; after receiving the first control signal, the headlights irradiate a light spot onto the road surface.

[0087] In the embodiments of the present application, there are many ways to realize that the vehicle lights emit light spots to the road surface.

[0088] In one possible design, the headlights can emit infrared light, such as light with a wavelength of >760nm. Since infrared light is invisible to the human eye, this design can achieve a non-sensitive light spot for the human eye, improving the user experience.

[0089] In another possible design, the headlights can emit dim light, for example, the illumination of the light emitted by the headlights is less than or equal to 0.1 Lux. This design method can achieve a light spot that is imperceptible (or almost imperceptible) to the human eye, and can save the power consumption of the vehicle.

[0090] In another possible design, the headlight can emit visible light, for example, the wavelength of the light emitted by the headlight is within the range of 390nm to 780nm. This design method can utilize the visible light emission function that general headlights already have, which can save the design cost of the headlight.

[0091] In the case where the headlight emits visible light, the headlight may include a plurality of pixels that can independently control illumination, and the number of pixels that can independently control illumination exceeds a first threshold value, which is, for example, 100 (of course, 100 is only an example and is not limited thereto). In this way, the headlight can emit structured light (i.e., the optical characteristics of the spatial light distribution, such as amplitude, intensity, phase, or normality, can be modulated), so that the pattern of the light spot irradiated by the headlight on the road surface includes at least two areas of different brightness. Figure 3 As shown in the figure, the pattern of the light spot projected by the headlight on the road is a striped light spot with alternating light and dark. Figure 3 The striped light spots shown are only an example, and the actual light spot pattern is not limited thereto.

[0092] Optionally, the control device may also control the headlights to alternately irradiate light spots of different patterns onto the road surface, or the controller of the headlights may control the headlights to alternately irradiate light spots of different patterns onto the road surface. Optionally, the frame rate of the light spots irradiated by the headlights exceeds a second threshold, and the second threshold may be related to the duration of human visual retention. For example, the second threshold may be 2(1 / t), where t is the duration of human visual retention. For example, the frame rate of the headlights is 48 Hz. In this way, the human eye may not be sensitive to the light spot pattern, which may improve the user experience.

[0093] Of course, the above three designs are only examples. In actual applications, there may be other ways to implement the headlights.

[0094] In the embodiment of the present application, the headlights can emit structured light to the road surface according to a set reference image. The structured light emitted by the headlights is emitted in the style of the reference image. After the structured light is irradiated on the road surface, when it forms an image on the road surface, it will be affected by the undulations of the road surface and deformed. Therefore, the light spot pattern in the pattern captured by the image acquisition device has a certain deformation relative to the reference pattern, for example Figure 3 A possible reference pattern and a spot pattern imaged on an actual road surface are illustrated. The stripes in the spot pattern are deformed compared to the stripes in the reference image, indicating that the road surface has ups and downs at the deformed position.

[0095] S202: Acquire an image of the road surface captured by an image capture device of the vehicle.

[0096] In the embodiment of the present application, the light band that can be detected by the image acquisition device matches the light band emitted by the vehicle lights.

[0097] Based on the multiple implementation methods of vehicle lights emitting light spots onto the road surface, the image acquisition device may also be implemented in multiple ways.

[0098] For example, when the headlights emit infrared light, the image acquisition device may be an infrared camera that can detect infrared light. In this way, it is possible to use infrared detection technology to acquire road images, ensuring detection accuracy while ensuring that the human eye has no sensitive spots.

[0099] For example, when the headlights emit dim light, the image acquisition device is a dim light camera (or a high-sensitivity camera) that can detect the dim light. In this way, it is possible to use the dim light detection technology to collect road images, ensure detection accuracy, ensure that the human eye has no sensitive spots, and save vehicle power consumption.

[0100] For example, when the headlights can emit visible light, the image acquisition device is a visible light camera that can detect visible light. In this way, the road image can be acquired based on the visible light camera (such as a driving recorder, a driver monitoring system, etc.) that is already in general vehicles, which can save design costs.

[0101] In a specific design, the number of pixels of the image acquisition device in any direction (such as the x direction, y direction, etc.) is greater than the number of pixels of the headlight in that direction (for example, the number of pixels of the image acquisition device in any direction is more than twice the number of pixels of the headlight in that direction), and the frame rate of the image acquisition device capturing images is greater than or equal to the frame rate of the light spot irradiated by the headlight on the road surface. In this way, it can be ensured that the image acquisition device captures a clear image of the light spot formed on the road surface, thereby improving the reliability of the solution.

[0102] In a possible implementation, before acquiring the image of the road surface acquired by the image acquisition device, the vehicle may also control the image acquisition device to acquire an image of the area where the light spot is located on the road surface. Exemplarily, before acquiring the image of the road surface acquired by the image acquisition device of the vehicle, the control device of the vehicle may further send a second control signal to the image acquisition device (for example, the second control module in the control device sends the second control signal to the image acquisition device), and after receiving the second control signal, the image acquisition device acquires the image of the road surface during the time period when the light spot is irradiated by the vehicle light.

[0103] In an alternative implementation, the control device may not control the image acquisition device to acquire images of the area where the light spot on the road surface is located, but other devices may control the image acquisition device to acquire images of the area where the light spot on the road surface is located, or the image acquisition device may be configured in advance to acquire images of the area where the light spot on the road surface is located (such as being configured in advance to periodically acquire images of the area where the light spot on the road surface is located at a set time interval).

[0104] S203. Control state parameters of a vehicle suspension (hereinafter referred to as suspension) according to the image.

[0105] The state of the road surface may include the undulation of the road surface. Optionally, the state of the road surface may also include the distance and height of the road surface relative to the vehicle. The state parameter of the suspension includes at least one of height, damping, and the like.

[0106] Specifically, the state parameters of the suspension are associated with the state of the road surface. Exemplarily, the control device of the vehicle may first determine the state of the road surface based on the image, and then determine the state parameters of the suspension based on the state of the road surface. After the control device determines the state parameters of the suspension, it may send a third control signal to the suspension (or the controller of the suspension) (for example, the third control module in the control device sends a third control signal to the suspension), and the third control signal may indicate the determined state parameter or indicate an adjustment value of the state parameter, so that the suspension adjusts its own state parameter based on the third control signal.

[0107] In a possible example, the image captured by the image acquisition device also includes structured light information, wherein the structured light information may be a light spot pattern formed by the structured light projected on the road surface or parameters of the light spot pattern (such as shape, size, position, etc.).

[0108] The control device can compare the collected pattern with the reference pattern to obtain deformation information (such as position change, size change, direction change, etc.) that occurs when the structured light is imaged on the road surface, and then determine the state of the road surface based on the deformation information.

[0109] In a possible design, the state parameters of the suspension can also be associated with the speed of the vehicle. For example, the control device can determine the state parameters of the suspension according to the state of the road surface and the speed of the vehicle. Because under the same road surface undulation, the higher the vehicle speed, the worse the vehicle driving stability, so adjusting the state parameters of the suspension considering the vehicle speed at the same time can further improve the accuracy of the suspension adjustment.

[0110] Optionally, when the determined state parameter is the same as the current state parameter of the suspension (or the difference is less than a threshold), the control device may not send the third control signal to the suspension, or the control device sends the third control signal to the suspension, but the suspension may not adjust the state parameter based on the third control signal. In this way, invalid adjustment can be avoided and power consumption can be saved.

[0111] In the above scheme, through the cooperation of the vehicle lights and the image acquisition device, it is possible to use structured light to detect the state of the road surface, and control the state parameters of the suspension based on the structured light detection results (that is, control the vehicle to irradiate a light spot to the road surface and control the state parameters of the suspension according to the image of the light spot formed on the road surface). This can improve the problem of inaccurate road surface identification in scenes such as dark light scenes, ground sections without texture features, and small-scale frequent undulations of the road surface (for example: when measuring the degree of road undulation, the spatial resolution of structured light is better than the spatial resolution of radar, and under dark light conditions, the detection capability of structured light is better than the detection capability of passive binocular vision), which in turn helps to improve the accuracy of suspension adjustment and enhance driving safety and riding comfort.

[0112] Moreover, for vehicles that include headlights and suspensions, the above solution can be implemented directly through software. For example, original equipment manufacturers (OEMs) can deploy relevant software for executing the above method steps in the vehicle's control device based on Over the Air technology (OTA), which can reduce the OEM's recall costs and quickly respond to users' driving and riding needs.

[0113] In the embodiment of the present application, the control device sends a control signal to the headlight once to trigger the headlight to irradiate a light spot onto the road surface once, and the control device can trigger the headlight to irradiate light spots onto the road surface multiple times by sending control signals to the headlight multiple times; alternatively, the control device sends a control signal to the headlight once to trigger the headlight to irradiate light spots onto the road surface multiple times; alternatively, the control device sends a control signal to the headlight once to trigger the headlight to continuously irradiate light spots onto the road surface, and the control device can send another control signal to the headlight to trigger the headlight to stop irradiating light spots.

[0114] It can be understood that in this article, the vehicle lights irradiate a light spot onto the road surface once, which may be the vehicle lights irradiating a frame of light spots onto the road surface or the vehicle lights irradiating multiple frames of light spots onto the road surface continuously.

[0115] In the embodiment of the present application, the control device sends a control signal to the image acquisition device once to control the image acquisition device to acquire an image once, and the control device can trigger the image acquisition device to acquire multiple images by sending multiple control signals to the image acquisition device; alternatively, the control device sends a control signal to the image acquisition device once to trigger the image acquisition device to acquire multiple images; alternatively, the control device sends a control signal to the image acquisition device once to trigger the image acquisition device to acquire multiple images; alternatively, the control device sends a control signal to the image acquisition device once to trigger the image acquisition device to continuously acquire images, and the control device can send another control signal to the image acquisition device to trigger the image acquisition device to stop acquiring images.

[0116] In the embodiment of the present application, the control signal (or the state parameter of the suspension) sent by the control device to the suspension can be generated according to one or more images captured by the image acquisition device. In other words, the control device can control the suspension to adjust the state parameter once after the image acquisition device captures N images. In other words, the image acquisition device captures N images, and the suspension adjusts the state parameter once, where N is a positive integer.

[0117] In one possible design, the vehicle (such as the vehicle's control device) can also obtain perception information, and then can perform different control methods on the headlights, image acquisition devices, and suspensions according to different perception information. The perception information includes but is not limited to the undulation of the road surface and / or the speed of the vehicle. It can be understood that the acquired perception information (such as the undulation of the road surface) is used to assist the vehicle in determining the control method for the headlights, image acquisition devices, and suspensions, so the accuracy of the perception information can be low. For example, the vehicle can obtain the perception information through binocular cameras, laser radars, etc.

[0118] The following are some possible examples of how to control lights, image acquisition devices, and suspension:

[0119] Example 1, see Figure 4A When the vehicle speed is low and / or the road surface is not undulating (such as the vehicle speed does not exceed the preset speed and / or the road surface undulation degree does not exceed the preset density), the vehicle (such as the vehicle's control device) can send control signals to the lights, camera, and suspension in the sequence of "lights-camera-suspension-lights-camera-suspension..."

[0120] For example, first, the first control module sends a first control signal to the headlight, and the first control signal triggers the headlight to emit a first light spot onto the road surface; then, the second control module sends a second control signal to the image acquisition device, and the second control signal triggers the image acquisition device to acquire a first image of the road surface during the time period when the headlight emits the first light spot; then, the third control module generates a third control signal based on the first image, and sends the third control signal to the suspension, and the third control signal triggers the suspension to adjust its own state parameters; then, the first control module sends a fourth control signal to the headlight, and the fourth control signal triggers the headlight to emit a second light spot onto the road surface; then, the second control module sends a fifth control signal to the image acquisition device, and the fifth control signal triggers the image acquisition device to acquire a second image of the road surface during the time period when the headlight emits the second light spot; then, the third control module generates a sixth control signal based on the second image, and sends the sixth control signal to the suspension, and the sixth control signal triggers the suspension to adjust its own state parameters.

[0121] Example 2, see Figure 4B When the vehicle speed is high and / or the road surface is undulating (such as the vehicle speed exceeds a preset speed and / or the road surface undulations exceed a preset density), the vehicle (such as the vehicle's control device) can send control signals to the lights, camera, and suspension in the order of "lights-camera-lights-camera-suspension-suspension..."

[0122] For example, first, the first control module sends a first control signal to the headlight, and the first control signal triggers the headlight to emit a first light spot onto the road surface; then, the second control module sends a second control signal to the image acquisition device, and the second control signal triggers the image acquisition device to acquire a first image of the road surface during the time period when the headlight emits the first light spot; then, the first control module sends a fourth control signal to the headlight, and the fourth control signal triggers the headlight to emit a second light spot onto the road surface; then, the second control module sends a fifth control signal to the image acquisition device, and the fifth control signal triggers the image acquisition device to acquire a second image of the road surface during the time period when the headlight emits the second light spot; then, the third control module generates a third control signal according to the first image, and sends a third control signal to the suspension, and the third control signal triggers the suspension to adjust its own state parameters; then, the third control module generates a sixth control signal according to the second image, and sends a sixth control signal to the suspension, and the sixth control signal triggers the suspension to adjust its own state parameters.

[0123] Example 3, see Figure 4C When the vehicle speed is high and / or the road surface is undulating (such as the vehicle speed exceeds a preset speed and / or the road surface undulations exceed a preset density), the vehicle (such as the vehicle's control device) can send control signals to the lights, camera, and suspension in the order of "lights-camera-lights-suspension-camera-suspension..."

[0124] For example, first, the first control module sends a first control signal to the headlight, and the first control signal triggers the headlight to emit a first light spot onto the road surface; then, the second control module sends a second control signal to the image acquisition device, and the second control signal triggers the image acquisition device to acquire a first image of the road surface during the time period when the headlight emits the first light spot; then, the first control module sends a fourth control signal to the headlight, and the fourth control signal triggers the headlight to emit a second light spot onto the road surface; then, the third control module generates a third control signal based on the first image, and sends a third control signal to the suspension, and the third control signal triggers the suspension to adjust its own state parameters; then, the second control module sends a fifth control signal to the image acquisition device, and the fifth control signal triggers the image acquisition device to acquire a second image of the road surface during the time period when the headlight emits the second light spot; then, the third control module generates a sixth control signal based on the second image, and sends a sixth control signal to the suspension, and the sixth control signal triggers the suspension to adjust its own state parameters.

[0125] Understandably, Figure 4A to Figure 4C In the examples given, it is taken that each time the headlight irradiates a light spot, the image acquisition device acquires an image and the suspension adjusts the state parameter once, but it is not limited to this. For example, Examples 4 and 5 give two other possibilities:

[0126] Example 4: The headlight continuously irradiates a light spot onto the road surface. For example, the control device sends a control signal to the headlight to trigger the headlight to continuously irradiate a light spot onto the road surface. The control device controls the suspension to adjust the state parameter once each time the image acquisition device is controlled to acquire an image. Figure 4D As shown, Figure 4D The dotted box in the figure indicates the duration of the effect of a control signal sent by the control device to the headlight. Although the control device does not send a control signal to the headlight in the second half of the duration, the headlight still irradiates a light spot onto the road surface.

[0127] For example, the first control module sends a first control signal to the headlight, and the first control signal is used to trigger the headlight to continuously irradiate a light spot on the road surface within a preset time. Within the preset time: the second control module sends a second control signal to the image acquisition device, and the second control signal triggers the image acquisition device to acquire a first image of the road surface; then, the third control module generates a third control signal based on the first image, and sends the third control signal to the suspension, and the third control signal triggers the suspension to adjust its own state parameters; then, the second control module sends a fifth control signal to the image acquisition device, and the fifth control signal triggers the image acquisition device to acquire a second image of the road surface; then, the third control module generates a sixth control signal based on the second image, and sends the sixth control signal to the suspension, and the sixth control signal triggers the suspension to adjust its own state parameters.

[0128] Example 5: The headlights periodically irradiate light spots onto the road surface. For example, the control device sends a control signal to the headlights once, and the control signal triggers the headlights to periodically irradiate light spots onto the road surface, or the control device periodically sends a control signal to the headlights to periodically trigger the headlights to irradiate light spots onto the road surface. The control device can send a control signal to the image acquisition device to trigger the image acquisition device to capture images, and send a control signal to the suspension to trigger the suspension to adjust state parameters as required.

[0129] For example, Figure 4E It shows that the control device periodically sends a control signal to the headlight, thereby periodically triggering the headlight to irradiate a light spot on the road surface. Figure 4E Four cycles are shown in FIG. 1 , and the control device sends a control signal to the image acquisition device and a control signal to the suspension in the second cycle.

[0130] Example 6: When the vehicle is stationary or at a low speed, after the image acquisition device acquires multiple images, the vehicle (such as the vehicle's control device) controls the suspension to adjust the state parameters once.

[0131] Exemplarily, the control device may periodically send a control signal to the image acquisition device (for example, the second control module periodically sends a second control signal to the image acquisition device), and after sending N cycles of control signals to the image acquisition device, send a control signal (such as a third control signal) to the suspension, where N is a positive integer. The value of N may be related to the vehicle speed, for example, the lower the vehicle speed, the larger N is.

[0132] For example, Figure 4F It illustrates that after the control device controls the image acquisition device to acquire two images, the control device controls the suspension to adjust the state parameters once.

[0133] Understandably, the above Figure 4A to Figure 4F These are only some possible examples of the embodiments of the present application and are not limited thereto.

[0134] In a possible design, the vehicle (such as the control device of the vehicle) can also indicate a time length (hereinafter referred to as the waiting time length) to the suspension, and the suspension waits for the time length after receiving the control signal (such as the third control signal) before adjusting its own state parameters. For example, the control signal sent by the control device to the suspension includes the waiting time length.

[0135] Exemplarily, when the control device generates a third control signal based on an image, it may include: determining state parameters of the suspension based on the image; determining the waiting time based on the speed of the vehicle and the distance between the vehicle and the projection position of the light spot; and generating the third control signal based on the adjustment value of the state parameters and the waiting time.

[0136] The waiting time may be related to the speed of the vehicle and the distance between the vehicle and the light spot projection position, for example, satisfying the following relationship:

[0137] L / v = Tcal + Tdel + Tadj;

[0138] Among them, Tdel represents the waiting time, v represents the speed of the vehicle, L represents the distance between the vehicle and the projection position of the light spot, Tcal is the time required for the control device to calculate and transmit the third control signal, and Tadj is the time required for the suspension to adjust the state parameters of the suspension.

[0139] It can be understood that the above formula is only an example, and more factors may be considered when actually setting the waiting time.

[0140] The above design method can ensure that the suspension adjusts its own state parameters to those matching the state of the road surface when the vehicle reaches each road surface position by setting the waiting time, avoiding early or delayed adjustment, and further improving driving safety and riding comfort.

[0141] In a possible design, the vehicle (such as the vehicle control device) can also control the state parameters of the vehicle seat according to the image captured by the image acquisition device. The state parameters of the vehicle seat include, but are not limited to, at least one of the height, the distance relative to the brake pedal (or the accelerator pedal or the steering wheel, etc.), and the tilt angle of the seat back.

[0142] Similarly, the state parameters of the vehicle seat can be associated with the state of the road surface. The control device can first determine the state of the road surface based on the image, and then determine the state parameters of the vehicle seat based on the state of the road surface. Similarly, the state parameters of the seat can also be related to the vehicle speed.

[0143] It can be understood that the state of the road surface based on which the control device determines the state parameters of the vehicle seat and the state of the road surface based on which the control device determines the state parameters of the suspension can be the state of the road surface determined based on the same image, and the operation of determining the state of the road surface can be performed only once, that is, after the control device determines the state of the road surface based on the image, it can simultaneously control the state parameters of the vehicle suspension and the state parameters of the vehicle seat based on the state of the road surface. Of course, the control device can also determine the state of the road surface based on different images, and control the state parameters of the vehicle suspension and the state parameters of the vehicle seat respectively.

[0144] Through this design approach, when the vehicle passes through an undulating area on the road, the seats can be adjusted to the most suitable state to ensure the user's riding comfort and enhance the vehicle's sense of technology.

[0145] Of course, the vehicle can also adjust the state parameters of other vehicle components according to the images collected by the image acquisition device. The specific implementation methods can refer to the adjustment methods of the suspension, which will not be elaborated here.

[0146] It can be understood that the above-mentioned implementation methods can be implemented separately or combined with the embodiments without limitation.

[0147] Based on the same technical concept, an embodiment of the present application provides a control device, which includes a module / unit / means for executing the method described in the above method embodiment. The module / unit / means can be implemented by software, or by hardware, or the corresponding software can be implemented by hardware.

[0148] See also Figure 5 The device may include a processing module 501 and a transceiver module 502. The processing module 501 is used to control the headlights of the vehicle to irradiate a light spot on the road surface; the transceiver module 502 is used to obtain an image of the road surface collected by the image collection device of the vehicle; the processing module 501 is also used to control the state parameters of the vehicle suspension according to the image.

[0149] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0150] In specific implementation, the above device can have a variety of product forms. Several possible product forms are introduced below.

[0151] See also Figure 6 , an embodiment of the present application also provides a control device, which includes at least one processor 601 and an interface circuit 602; the interface circuit 602 is used to receive signals from other devices outside the device and transmit them to the processor 601 or send signals from the processor 601 to other communication devices outside the device, and the processor 601 is used to implement the method steps in the above method embodiment through logic circuits or execution code instructions.

[0152] It should be understood that the processor mentioned in the embodiments of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor implemented by reading software code stored in a memory.

[0153] Exemplarily, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0154] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DirectRambus RAM, DR RAM).

[0155] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0156] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0157] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, including a program or instruction. When the program or instruction runs on a computer, the method in the above method embodiment is executed step by step.

[0158] Based on the same technical concept, an embodiment of the present application also provides a computer program product containing instructions. The computer program product stores instructions, and when the computer program product runs on a computer, the method steps in the above method embodiment are executed.

[0159] Based on the same technical concept, an embodiment of the present application also provides a terminal, including any of the devices described above.

[0160] Optionally, the terminal can be deployed on any device such as a vehicle, ship, airplane, drone, smart home device, or on the side of a road or on a building, and this application does not impose any restrictions.

[0161] Optionally, the terminal is a vehicle.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0163] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0166] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of protection of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling a vehicle suspension, characterized in that: include: Control the vehicle's headlights to irradiate light spots onto the road surface; Acquire an image of the road surface captured by an image capture device of the vehicle; A state parameter of the vehicle suspension is controlled according to the image.

2. The method according to claim 1, characterized in that The pattern of the light spot includes at least two areas with different brightness.

3. The method according to claim 1 or 2, characterized in that Before acquiring the image of the road surface acquired by the image acquisition device of the vehicle, the method further includes: The image acquisition device is controlled to acquire an image of the area where the light spot is located on the road surface.

4. The method according to claim 3, characterized in that The image includes structured light information.

5. The method according to any one of claims 1 to 4, characterized in that: The controlling the state parameters of the vehicle suspension according to the image comprises: determining a state of the road surface according to the image; A state parameter of the vehicle suspension is determined according to the state of the road surface.

6. The method according to claim 5, characterized in that The state parameter of the vehicle suspension is associated with the state of the road surface, and the state of the road surface includes the undulation degree of the road surface.

7. The method according to any one of claims 1 to 6, characterized in that: The state parameter of the vehicle suspension includes at least one of height and damping.

8. The method according to claim 3, characterized in that The method further comprises: Acquiring perception information, the perception information including the undulation of the road surface and / or the speed of the vehicle; The step of controlling the vehicle lights to irradiate light spots onto the road surface comprises: A first control module sends a first control signal to the vehicle lamp, wherein the first control signal is used to trigger the vehicle lamp to emit a first light spot toward the road surface; The controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface comprises: The second control module sends a second control signal to the image acquisition device, where the second control signal is used to trigger the image acquisition device to acquire a first image of the road surface during a time period when the vehicle light emits the first light spot; The controlling the state parameters of the vehicle suspension according to the image comprises: The third control module generates a third control signal according to the first image, and sends the third control signal to the vehicle suspension, where the third control signal is used to trigger the vehicle suspension to adjust its own state parameters.

9. The method according to claim 8, characterized in that The undulation of the road surface does not exceed a preset density and / or the speed of the vehicle does not exceed a preset speed; The controlling the vehicle lights to irradiate light spots onto the road surface also includes: After the third control module sends the third control signal to the vehicle suspension, the first control module sends a fourth control signal to the vehicle light, wherein the fourth control signal is used to trigger the vehicle light to emit a second light spot toward the road surface; The controlling the image acquisition device to acquire the image of the area where the light spot is located on the road surface also includes: The second control module sends a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface during a time period when the vehicle light emits the second light spot; The controlling the state parameters of the vehicle suspension according to the image further includes: The third control module generates a sixth control signal according to the second image, and sends the sixth control signal to the vehicle suspension, where the sixth control signal is used to trigger the vehicle suspension to adjust its own state parameters.

10. The method according to claim 8, characterized in that The undulation degree of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed; The controlling the vehicle lights to irradiate light spots onto the road surface also includes: After the second control module sends the second control signal to the image acquisition device and before the third control module sends the third control signal to the vehicle suspension, the first control module sends a fourth control signal to the vehicle light, wherein the fourth control signal is used to trigger the vehicle light to emit a second light spot toward the road surface; The controlling the image acquisition device to acquire the image of the area where the light spot is located on the road surface also includes: Before the third control module sends the third control signal to the vehicle suspension, the second control module sends a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface during a time period when the vehicle lamp emits the second light spot; The controlling the state parameters of the vehicle suspension according to the image further includes: After the third control module sends the third control signal to the vehicle suspension, the third control module sends a sixth control signal to the vehicle suspension, where the sixth control signal is generated according to the second image and is used to trigger the vehicle suspension to adjust its own state parameters.

11. The method according to claim 8, characterized in that The undulation degree of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed; The controlling the vehicle lights to irradiate light spots onto the road surface also includes: After the second control module sends the second control signal to the image acquisition device and before the third control module sends the third control signal to the vehicle suspension, the first control module sends a fourth control signal to the vehicle light, wherein the fourth control signal is used to trigger the vehicle light to emit a second light spot toward the road surface; The controlling the image acquisition device to acquire the image of the area where the light spot is located on the road surface also includes: After the third control module sends the third control signal to the vehicle suspension, the second control module sends a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface during a time period when the vehicle lamp emits the second light spot; The controlling the state parameters of the vehicle suspension according to the image further includes: The third control module sends a sixth control signal to the vehicle suspension, where the sixth control signal is generated according to the second image and is used to trigger the vehicle suspension to adjust its own state parameters.

12. The method according to claim 8, characterized in that The first control signal is used to trigger the vehicle lamp to continuously irradiate a light spot onto the road surface for a preset time period; or, The method further includes: the first control module periodically sending the first control signal.

13. The method according to claim 8, characterized in that The method further comprises: The second control module periodically sends the second control signal; After the second control module sends the second control signal for N cycles, the third control module sends the third control signal once, where N is a positive integer.

14. The method according to any one of claims 1 to 13, characterized in that: The method further comprises: A state parameter of the vehicle seat is controlled according to the image.

15. The method according to any one of claims 1 to 14, characterized in that: The vehicle lamp includes a plurality of pixels capable of independently controlling illumination, and the number of the pixels exceeds a first threshold.

16. The method according to any one of claims 1 to 15, characterized in that: The wavelength of the light emitted by the vehicle lamp is within the range of 390nm to 780nm, and the image acquisition device is a visible light camera; The step of controlling the vehicle lights to irradiate light spots onto the road surface comprises: Controlling the vehicle lights to alternately illuminate light spots of different patterns onto the road surface; Wherein, the frame rate of the vehicle light exceeds a second threshold.

17. The method according to any one of claims 1 to 15, characterized in that: The wavelength of the light emitted by the headlight is greater than 760nm, and the image acquisition device is an infrared camera; or the illumination of the light emitted by the headlight is less than or equal to 0.1Lux, and the image acquisition device is a low-light camera.

18. A control device, characterized in that: include: A processing module, used to control the vehicle's lights to irradiate light spots onto the road surface; A transceiver module, used for acquiring the image of the road surface acquired by the image acquisition device of the vehicle; The processing module is further used to control state parameters of the vehicle suspension according to the image.

19. The device according to claim 18, characterized in that The processing module is also used to control the image acquisition device to acquire an image of the area where the light spot is located on the road surface.

20. The device according to claim 18 or 19, characterized in that When controlling the state parameters of the vehicle suspension according to the image, the processing module is specifically used to: determine the state of the road surface according to the image; and determine the state parameters of the vehicle suspension according to the state of the road surface.

21. The device according to claim 19, characterized in that The transceiver module is further used to obtain perception information, wherein the perception information includes the undulation of the road surface and / or the speed of the vehicle; When controlling the vehicle's headlights to irradiate a light spot onto a road surface, the processing module is used to: control the transceiver module to send a first control signal to the headlights, wherein the first control signal is used to trigger the headlights to emit a first light spot onto the road surface; When controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is used to: control the transceiver module to send a second control signal to the image acquisition device, wherein the second control signal is used to trigger the image acquisition device to acquire a first image of the road surface within a time period when the vehicle light emits the first light spot; When controlling the state parameters of the vehicle suspension according to the image, the processing module is used to: generate a third control signal according to the first image, control the transceiver module to send the third control signal to the vehicle suspension, and the third control signal is used to trigger the vehicle suspension to adjust its own state parameters.

22. The device according to claim 21, characterized in that The undulation of the road surface does not exceed a preset density and / or the speed of the vehicle does not exceed a preset speed; When controlling the vehicle lamp to irradiate a light spot onto the road surface, the processing module is further used to: after controlling the transceiver module to send a third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the lamp, wherein the fourth control signal is used to trigger the lamp to emit a second light spot onto the road surface; When controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is further used to: control the transceiver module to send a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the vehicle light emits the second light spot; When the processing module controls the state parameters of the vehicle suspension according to the image, the processing module is also used to: generate a sixth control signal according to the second image, control the transceiver module to send the sixth control signal to the vehicle suspension, and the sixth control signal is used to trigger the vehicle suspension to adjust its own state parameters.

23. The device according to claim 21, characterized in that The undulation degree of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed; When controlling the vehicle headlight to irradiate a light spot onto the road surface, the processing module is further used to: after controlling the transceiver module to send a second control signal to the image acquisition device and before sending a third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the headlight, wherein the fourth control signal is used to trigger the headlight to emit a second light spot onto the road surface; When controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is further used to: before controlling the transceiver module to send a third control signal to the vehicle suspension, control the transceiver module to send a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface during a time period when the vehicle light emits the second light spot; When the processing module controls the state parameters of the vehicle suspension according to the image, the processing module is also used to: after controlling the transceiver module to send a third control signal to the vehicle suspension, control the transceiver module to send a sixth control signal to the vehicle suspension, the sixth control signal being generated according to the second image, and the sixth control signal being used to trigger the vehicle suspension to adjust its own state parameters.

24. The device according to claim 21, characterized in that The undulation degree of the road surface exceeds a preset density and / or the speed of the vehicle exceeds a preset speed; When controlling the vehicle headlight to irradiate a light spot onto the road surface, the processing module is further used to: after controlling the image acquisition device of the transceiver module to send a second control signal and before sending a third control signal to the vehicle suspension, control the transceiver module to send a fourth control signal to the headlight, wherein the fourth control signal is used to trigger the headlight to emit a second light spot onto the road surface; When controlling the image acquisition device to acquire an image of the area where the light spot is located on the road surface, the processing module is further used to: after controlling the transceiver module to send a third control signal to the vehicle suspension, control the transceiver module to send a fifth control signal to the image acquisition device, wherein the fifth control signal is used to trigger the image acquisition device to acquire a second image of the road surface within a time period when the vehicle light emits the second light spot; When controlling the state parameters of the vehicle suspension according to the image, the processing module is also used to: control the transceiver module to send a sixth control signal to the vehicle suspension, the sixth control signal is generated according to the second image, and the sixth control signal is used to trigger the vehicle suspension to adjust its own state parameters.

25. The device according to claim 21, characterized in that The first control signal is used to trigger the vehicle lamp to continuously irradiate a light spot onto the road surface for a preset time period; or, The processing module is further used to control the transceiver module to periodically send the first control signal.

26. The device according to claim 21, characterized in that The processing module is further used to: control the transceiver module to periodically send the second control signal; After the transceiver module sends the second control signal for N cycles, the transceiver module is controlled to send the third control signal once, where N is a positive integer.

27. The device according to any one of claims 18 to 26, characterized in that The processing module is also used for: A state parameter of the vehicle seat is controlled according to the image.

28. The device according to any one of claims 18 to 27, characterized in that The wavelength of the light emitted by the vehicle lamp is within the range of 390nm to 780nm, and the image acquisition device is a visible light camera; When controlling the vehicle lights to irradiate light spots onto the road surface, the processing module is further used to: control the vehicle lights to alternately irradiate light spots of different patterns onto the road surface; Wherein, the frame rate of the vehicle light exceeds a second threshold.

29. A control device, characterized in that: The device includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other communication devices outside the device, and the processor is used to implement the method as described in any one of claims 1 to 17 through logic circuits or execution code instructions.

30. A computer-readable storage medium, characterized in that: The method comprises a program or an instruction, which, when being executed on a computer, enables the method according to any one of claims 1 to 17 to be executed.

31. A terminal, characterized in that: The method comprises the apparatus as claimed in any one of claims 18 to 28, or the apparatus as claimed in claim 29, or the computer-readable storage medium as claimed in claim 30.

32. The terminal according to claim 31, characterized in that The terminal is a vehicle.

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