Road surface type identification method and motorcycle

Abstract

The invention discloses a road surface type identification method and a motorcycle, and belongs to the technical field of motorcycles. According to the technical scheme, whether the target motorcycle slips or not is determined according to the front wheel rotating speed, the rear wheel rotating speed, the front wheel acceleration and the rear wheel acceleration of the target motorcycle, and the accuracy of slip judgment is high. Under the condition that the target motorcycle slips, based on the driving torque when the target motorcycle slips, the road surface type of the road surface where the target motorcycle slips is determined, so that the road surface type identification capability is provided for the target motorcycle, whether a traction force control system is activated or not can be determined, and the safety of the motorcycle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motorcycles, and more specifically, to a method for identifying road types and a motorcycle in the technical field of motorcycles. Background Art

[0002] As the speed and performance of motorcycles increase, the motorcycles may skid. In order to reduce the risk of the motorcycle losing control after skidding, more and more motorcycles are equipped with traction control systems.

[0003] In the related art, the traction control system is usually automatically activated after the motorcycle skids, in the hope of reducing the risk of the motorcycle losing control. However, whether the traction control system is activated should not only consider whether the motorcycle skids, but also the road type of the road on which the motorcycle is skidding. Otherwise, the activation of the traction control system may increase the risk of the motorcycle losing control. However, motorcycles usually do not have the ability to identify the road type.

[0004] Therefore, how to provide a motorcycle with the ability to identify the road type so that the traction control system can be activated more appropriately, thereby improving the safety of the motorcycle. Summary of the invention

[0005] The embodiment of the present application provides a method for identifying a road surface type and a motorcycle, which can identify the road surface type on which the motorcycle is sliding. The technical solution is as follows:

[0006] In one aspect, a method for identifying a road surface type is provided, the method comprising:

[0007] Obtaining the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle;

[0008] Determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration;

[0009] In the case that the target motorcycle slips, the road type of the road on which the target motorcycle is located when the slip occurs is determined based on the driving torque of the target motorcycle when the slip occurs.

[0010] In a possible implementation manner, determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration includes:

[0011] Determining a wheel speed difference rate of the target motorcycle based on the front wheel speed and the rear wheel speed;

[0012] When the wheel speed difference is greater than or equal to a rotation speed difference threshold, determining whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration;

[0013] When the wheel speed difference is less than the rotation speed difference threshold, it is determined that the target motorcycle is not slipping.

[0014] In a possible implementation manner, determining the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed includes:

[0015] Subtracting the rear wheel speed from the front wheel speed to obtain a wheel speed difference of the target motorcycle;

[0016] The wheel speed difference is divided by the rear wheel speed to obtain the wheel speed difference ratio.

[0017] In a possible implementation manner, determining whether the target motorcycle is skidding based on the front wheel acceleration and the rear wheel acceleration includes:

[0018] When the acceleration difference between the rear wheel acceleration and the front wheel acceleration is greater than or equal to an acceleration difference threshold, determining that the target motorcycle is skidding;

[0019] When the acceleration difference between the rear wheel acceleration and the front wheel acceleration is less than the acceleration difference threshold, it is determined that the target motorcycle is not slipping.

[0020] In a possible implementation manner, determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration includes:

[0021] Determining a wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed;

[0022] determining an acceleration difference of the target motorcycle based on the front wheel acceleration and the rear wheel acceleration;

[0023] Based on the wheel speed difference and the acceleration difference, it is determined whether the target motorcycle is slipping.

[0024] In a possible implementation manner, determining whether the target motorcycle is slipping based on the wheel speed difference and the acceleration difference includes:

[0025] When the wheel speed difference is greater than or equal to the wheel speed difference threshold and the acceleration difference is greater than or equal to the acceleration difference threshold, it is determined that the target motorcycle is skidding; when the wheel speed difference is less than the wheel speed difference threshold or the acceleration difference is less than the acceleration difference threshold, it is determined that the target motorcycle is not skidding;

[0026] Alternatively, the wheel speed difference and the acceleration difference are input into a slip identification model, and the wheel speed difference and the acceleration difference are processed by the slip identification model to obtain a corresponding slip classification value; when the slip classification value is greater than or equal to a classification value threshold, it is determined that the target motorcycle has slipped; when the slip classification value is less than the classification value threshold, it is determined that the target motorcycle has not slipped.

[0027] In a possible implementation manner, determining the road surface type of the road surface on which the target motorcycle is located when skidding based on the driving torque of the target motorcycle when skidding comprises:

[0028] When the driving torque is greater than or equal to a first torque threshold, determining the road type as a high-adhesion road;

[0029] When the driving torque is greater than or equal to a second torque threshold and less than the first torque threshold, determining the road type as a medium-adherent road;

[0030] When the driving torque is less than the second torque threshold, the road surface type is determined to be a low-adhesion road surface.

[0031] In a possible implementation manner, before determining the road type of the road on which the target motorcycle is located when the target motorcycle is slipping based on the driving torque when the target motorcycle is slipping, the method further includes:

[0032] Obtaining the speed of the target motorcycle when it skids;

[0033] The first torque threshold and the second torque threshold are determined based on the vehicle speed.

[0034] In a possible implementation manner, after determining the road type of the road on which the target motorcycle is located when the motorcycle is skidding based on the driving torque of the target motorcycle when the motorcycle is skidding, the method further includes:

[0035] When the traction control system of the target motorcycle is activated, based on the road surface type, determining a target operating mode of the traction control system, the traction control system being used to improve the driving stability of the motorcycle, and the target operating mode being an operating mode matching the road surface type;

[0036] The traction control system is controlled to operate in the target operating mode.

[0037] In one aspect, a device for identifying a road surface type is provided, the device comprising:

[0038] An acquisition module, used to acquire the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle;

[0039] a skidding judgment module, configured to determine whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration;

[0040] The road surface type determination module is used to determine the road surface type of the road surface on which the target motorcycle is located when the target motorcycle slips based on the driving torque when the target motorcycle slips.

[0041] In a possible implementation, the slip judgment module is used to determine the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed; when the wheel speed difference is greater than or equal to a speed difference threshold, determine whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration; when the wheel speed difference is less than the speed difference threshold, determine that the target motorcycle is not slipping.

[0042] In a possible implementation manner, the slip judgment module is used to subtract the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle; and divide the wheel speed difference by the rear wheel speed to obtain the wheel speed difference rate.

[0043] In a possible implementation, the slip judgment module is used to determine that the target motorcycle is slipping when the acceleration difference between the rear wheel acceleration and the front wheel acceleration is greater than or equal to an acceleration difference threshold; and to determine that the target motorcycle is not slipping when the acceleration difference between the rear wheel acceleration and the front wheel acceleration is less than the acceleration difference threshold.

[0044] In a possible implementation, the slip judgment module is used to determine the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed; determine the acceleration difference of the target motorcycle based on the front wheel acceleration and the rear wheel acceleration; and determine whether the target motorcycle is slipping based on the wheel speed difference and the acceleration difference.

[0045] In one possible implementation, the slip judgment module is used to determine that the target motorcycle is slipping when the wheel speed difference is greater than or equal to a wheel speed difference threshold and the acceleration difference is greater than or equal to an acceleration difference threshold; to determine that the target motorcycle is not slipping when the wheel speed difference is less than the wheel speed difference threshold or the acceleration difference is less than the acceleration difference threshold; or, input the wheel speed difference and the acceleration difference into a slip recognition model, process the wheel speed difference and the acceleration difference through the slip recognition model to obtain corresponding slip classification values; determine that the target motorcycle is slipping when the slip classification value is greater than or equal to a classification value threshold; and determine that the target motorcycle is not slipping when the slip classification value is less than the classification value threshold.

[0046] In one possible implementation, the road surface type determination module is used to determine the road surface type as a high-adhesion road surface when the driving torque is greater than or equal to a first torque threshold; to determine the road surface type as a medium-adhesion road surface when the driving torque is greater than or equal to a second torque threshold and less than the first torque threshold; and to determine the road surface type as a low-adhesion road surface when the driving torque is less than the second torque threshold.

[0047] In a possible implementation, the device further includes:

[0048] The torque threshold determination module is used to obtain the vehicle speed of the target motorcycle when it slips; based on the vehicle speed, determine the first torque threshold and the second torque threshold.

[0049] In a possible implementation, the device further includes:

[0050] A control module is used to determine a target operating mode of the traction control system based on the road surface type when the traction control system of the target motorcycle is activated, the traction control system is used to improve the driving stability of the motorcycle, and the target operating mode is an operating mode matching the road surface type; and control the traction control system to operate in the target operating mode.

[0051] On the one hand, a motorcycle is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the program code is loaded and executed by the one or more processors to implement the operations performed by the road surface type identification method.

[0052] On the one hand, a computer-readable storage medium is provided, in which at least one program code is stored, and the program code is loaded and executed by a processor to implement the operations performed by the road surface type identification method.

[0053] Through the technical solution provided in the embodiment of the present application, the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle are used to determine whether the target motorcycle is skidding, and the accuracy of skidding judgment is high. In the case that the target motorcycle is skidding, the road surface type of the road surface when the skidding occurs is determined based on the driving torque of the target motorcycle when the skidding occurs, thereby providing the target motorcycle with the ability to identify the road surface type, which can help determine whether to activate the traction control system and improve the safety of the motorcycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a schematic diagram of an implementation environment of a road surface type identification method provided in an embodiment of the present application;

[0055] Figure 2 is a flow chart of a method for identifying a road surface type provided in an embodiment of the present application;

[0056] Figure 3 is a flow chart of another method for identifying road surface types provided in an embodiment of the present application;

[0057] Figure 4 is a schematic diagram of the structure of a road surface type identification device provided in an embodiment of the present application;

[0058] Figure 5 It is a structural schematic diagram of a motorcycle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0061] In order to illustrate the technical solution provided by the embodiments of the present application, the terms involved in the embodiments of the present application are first introduced.

[0062] Motorcycle: A two-wheeled or three-wheeled vehicle driven by a fuel or electric power unit, with the front wheel steered by a handlebar. It is light, flexible, and fast, and is widely used for patrolling, passenger and cargo transportation, etc., and is also used as sports equipment.

[0063] Traction Control System (TCS): An electronic control system that is mainly used to control the friction between the motorcycle's drive wheels and the ground during driving, prevent the drive wheels from slipping, and improve the stability and safety of the motorcycle.

[0064] Road surface type: The road surface type is differentiated according to the degree of road surface adhesion. In the embodiment of the present application, the road surface types include high-adhesion road surface, medium-adhesion road surface, low-adhesion road surface and mixed road surface.

[0065] In the related art, the traction control system of a motorcycle will automatically activate after the motorcycle skids, without considering the type of road surface on which the motorcycle is located when the skid occurs. In the case of a motorcycle stuck in a muddy road, the activation of the traction control system will prevent the motorcycle from getting out of trouble. In addition, when the motorcycle is traveling on a low-adhesion road, the activation of the traction control system will also make it difficult for the motorcycle to travel on the low-adhesion road.

[0066] Based on the above problems, an embodiment of the present application provides a technical solution that can identify the type of road surface on which a motorcycle is located when it slips, so as to assist in more appropriate activation of the traction control system, thereby improving the safety of the motorcycle.

[0067] The implementation environment of the embodiment of the present application is introduced below. Figure 1 The implementation environment of the road type recognition method provided in the embodiment of the present application includes a motorcycle controller 101, a wheel sensor 102 and a traction control system 103.

[0068] The motorcycle controller 101 is also called a vehicle controller, and is used to control the motorcycle as a whole. The motorcycle controller 101 is connected to the wheel sensor 102 and the traction control system 103. The motorcycle controller 101 can obtain data collected by the wheel sensor 102 and can also control the traction control system 103. In the embodiment of the present application, the motorcycle controller 101 can determine the road surface type of the road surface on which the motorcycle is located when it slips.

[0069] The wheel sensor 102 can collect wheel-related data, for example, the wheel sensor 102 can collect wheel speed, wheel acceleration, and wheel direction.

[0070] The traction control system 103 is used to control the driving force output by the motorcycle engine, and can improve the stability of the motorcycle after skidding.

[0071] After introducing the implementation environment of the embodiment of the present application, the application scenario of the technical solution provided by the embodiment of the present application is introduced below. The technical solution provided by the embodiment of the present application can be applied to various types of motorcycles equipped with a motorcycle controller. After adopting the technical solution provided by the embodiment of the present application, the road surface type of the road surface on which the motorcycle is located when it slips can be determined, so that the road surface type can be used for subsequent control to improve the safety of the motorcycle.

[0072] After introducing the implementation environment and application scenarios of the embodiments of the present application, the technical solutions provided by the embodiments of the present application are introduced below. Figure 2 Taking the execution subject as a motorcycle controller as an example, the method includes the following steps.

[0073] 201. A motorcycle controller obtains a front wheel speed, a rear wheel speed, a front wheel acceleration, and a rear wheel acceleration of a target motorcycle.

[0074] Wherein, the target motorcycle is a motorcycle for which the road type is to be determined. The target motorcycle is rear-wheel drive, that is, the rear wheel is a driving wheel, the front wheel is a driven wheel, and the target motorcycle travels under the drive of the rear wheel. The front wheel speed is the speed of the front wheel of the target motorcycle, the rear wheel speed is the speed of the rear wheel of the target motorcycle, the front wheel acceleration is the acceleration of the front wheel of the target motorcycle, and the rear wheel acceleration is the acceleration of the rear wheel of the target motorcycle. The front wheel speed and the rear wheel speed can be represented by angular velocity or linear velocity, and correspondingly, the front wheel acceleration and the rear wheel acceleration can be represented by angular acceleration or linear acceleration.

[0075] 202. The motorcycle controller determines whether the target motorcycle is slipping based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration.

[0076] Determining whether the target motorcycle is slipping refers to determining whether the driving wheel of the target motorcycle is slipping. In the case where the driving wheel of the target motorcycle is the rear wheel, it means determining whether the rear wheel of the target motorcycle is slipping.

[0077] 203. When the target motorcycle slips, the motorcycle controller determines the road surface type of the road surface on which the target motorcycle is located when the slip occurs based on the driving torque of the target motorcycle when the slip occurs.

[0078] The driving torque when slipping occurs refers to the torque provided by the engine to the driving wheels when slipping occurs. The types of road surfaces include high-adhesion road surfaces, medium-adhesion road surfaces, low-adhesion road surfaces and mixed road surfaces. The adhesion of high-adhesion road surfaces, medium-adhesion road surfaces and low-adhesion road surfaces decreases in sequence. The mixed road surface is a road surface where at least two of the high-adhesion road surfaces, medium-adhesion road surfaces and low-adhesion road surfaces are mixed.

[0079] Through the technical solution provided in the embodiment of the present application, the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle are used to determine whether the target motorcycle is skidding, and the accuracy of skidding judgment is high. In the case that the target motorcycle is skidding, the road surface type of the road surface when the skidding occurs is determined based on the driving torque of the target motorcycle when the skidding occurs, thereby providing the target motorcycle with the ability to identify the road surface type, which can help determine whether to activate the traction control system and improve the safety of the motorcycle.

[0080] It should be noted that the above steps 201-203 are a simple description of the road surface type recognition method provided in the embodiment of the present application. The road surface type recognition method provided in the embodiment of the present application will be described in more detail below with reference to some examples. Figure 3 Taking the execution subject as a motorcycle controller as an example, the method includes the following steps.

[0081] 301. A motorcycle controller obtains a front wheel speed, a rear wheel speed, a front wheel acceleration, and a rear wheel acceleration of a target motorcycle.

[0082] Wherein, the target motorcycle is a motorcycle to be determined for the road surface type. The target motorcycle is rear-wheel drive, that is, the rear wheel is a driving wheel, the front wheel is a driven wheel, and the target motorcycle travels under the drive of the rear wheel. The front wheel speed is the speed of the front wheel of the target motorcycle, the rear wheel speed is the speed of the rear wheel of the target motorcycle, the front wheel acceleration is the acceleration of the front wheel of the target motorcycle, and the rear wheel acceleration is the acceleration of the rear wheel of the target motorcycle. The front wheel speed and the rear wheel speed can be represented by angular velocity or linear velocity, and correspondingly, the front wheel acceleration and the rear wheel acceleration can be represented by angular acceleration or linear acceleration. In some embodiments, the radius of the front wheel and the rear wheel of the target motorcycle are different, for example, the radius of the front wheel is greater than the radius of the rear wheel, which can improve the passability and comfort of the target motorcycle, so there is a natural wheel speed difference between the front wheel and the rear wheel of the target motorcycle.

[0083] In a possible implementation, the motorcycle controller obtains the front wheel speed and the rear wheel speed through a wheel sensor of the target motorcycle, and the motorcycle controller determines the front wheel acceleration and the rear wheel acceleration based on the front wheel speed and the rear wheel speed.

[0084] The wheel sensor is also called a wheel speed sensor, and the wheel sensor includes a wheel sensor on the front wheel and a wheel sensor on the rear wheel, which are used to obtain the front wheel speed and the rear wheel speed respectively. The wheel sensor is a magnetoelectric wheel speed sensor, a Hall wheel speed sensor or a magnetoresistive wheel speed sensor, which is not limited in the embodiments of the present application.

[0085] In this implementation mode, the wheel sensors are used to obtain the front wheel speed and the rear wheel speed, and the front wheel speed and the rear wheel speed are obtained with high efficiency.

[0086] For example, the motorcycle controller obtains the front wheel speed and the rear wheel speed through the wheel sensor. The motorcycle controller obtains the front wheel acceleration by subtracting the front wheel speed from the last collected front wheel speed and dividing the result by the time difference between the two collections of the front wheel speed. The motorcycle controller obtains the rear wheel acceleration by subtracting the rear wheel speed from the last collected rear wheel speed and dividing the result by the time difference between the two collections of the rear wheel speed.

[0087] Among them, the time difference between two collections of front wheel speed and the time difference between two collections of rear wheel speed are associated with the collection frequency of the wheel sensor. The collection frequency of the wheel sensor is set by technicians according to actual conditions, and the embodiments of the present application do not limit this.

[0088] 302. The motorcycle controller determines whether the target motorcycle is slipping based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration.

[0089] Determining whether the target motorcycle is slipping refers to determining whether the driving wheel of the target motorcycle is slipping. In the case where the driving wheel of the target motorcycle is the rear wheel, it means determining whether the rear wheel of the target motorcycle is slipping.

[0090] In a possible implementation, the motorcycle controller determines the wheel speed differential of the target motorcycle based on the front wheel speed and the rear wheel speed. When the wheel speed differential is greater than or equal to a rotation speed differential threshold, the motorcycle controller determines whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration. When the wheel speed differential is less than the rotation speed differential threshold, the motorcycle controller determines that the target motorcycle is not slipping.

[0091] Among them, the wheel speed differential is used to reflect the deviation degree of the wheel speed between the front wheel and the rear wheel. In the case of skidding, the deviation degree of the wheel speed between the front wheel and the rear wheel is usually large, so the wheel speed differential can be used to help determine whether the target motorcycle is skidding. If the wheel speed differential is greater than or equal to the speed differential threshold, it means that the deviation degree of the wheel speed between the front wheel and the rear wheel is large, so the possibility of the target motorcycle skidding is high. The front wheel acceleration and the rear wheel acceleration are used to make further skidding judgments later. Correspondingly, if the wheel speed differential is less than the speed differential threshold, it means that the deviation degree of the wheel speed between the front wheel and the rear wheel is small, so the possibility of the target motorcycle skidding is low, so it is directly determined that the target motorcycle has not skidded. The speed differential threshold is set by the technician according to the actual situation, and the embodiments of the present application do not limit this.

[0092] In this embodiment, the speed difference ratio is determined by using the front wheel speed and the rear wheel speed, and the speed difference ratio is used to make a preliminary skidding judgment, so that it can be directly identified that no skidding occurs. In the case where the speed difference ratio is used to identify that the possibility of skidding is high, the front wheel acceleration and the rear wheel acceleration are used to make a further skidding judgment, thereby improving the accuracy of the skidding judgment.

[0093] In order to explain the above embodiment more clearly, the following will be divided into two parts to explain the method of determining the rotation speed difference and using acceleration to determine whether slip occurs in the above embodiment.

[0094] In the first part, a motorcycle controller determines a wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed.

[0095] In a possible implementation, the motorcycle controller subtracts the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle. The motorcycle controller divides the wheel speed difference from the rear wheel speed to obtain the wheel speed difference rate.

[0096] Generally speaking, the rear wheel of the target motorcycle is a driving wheel, so no matter the front wheel speed and the rear wheel speed are linear speed or angular speed, the rear wheel speed is greater than or equal to the front wheel speed, so the wheel speed difference obtained by subtracting the rear wheel speed from the front wheel speed is greater than or equal to 0. For the sake of distinction, the wheel speed difference obtained by subtracting the rear wheel speed from the front wheel speed can be recorded as the first wheel speed difference. The wheel speed difference rate obtained by dividing the first wheel speed difference by the rear wheel speed can reflect the deviation between the wheel speed difference between the driven wheel (front wheel) and the driving wheel (rear wheel) and the wheel speed of the driving wheel (wheel speed of the rear wheel), thereby reflecting the degree of deviation of the wheel speed between the front wheel and the rear wheel.

[0097] In this implementation mode, the wheel speed difference between the rear wheel speed and the front wheel speed is divided by the rear wheel speed to obtain the wheel speed difference rate, and the wheel speed difference rate is determined with high efficiency.

[0098] Another implementation of the first part is described below.

[0099] In a possible implementation, the motorcycle controller subtracts the front wheel speed from the rear wheel speed to obtain the wheel speed difference of the target motorcycle. The motorcycle controller divides the absolute value of the wheel speed difference from the front wheel speed to obtain the wheel speed difference rate.

[0100] Wherein, referring to the description of the previous embodiment, the wheel speed difference obtained by subtracting the front wheel speed from the rear wheel speed is less than or equal to 0, so after obtaining the wheel speed difference, the absolute value of the wheel speed difference is taken to divide the front wheel speed to ensure that the speed difference rate is a positive number. For the sake of distinction, the wheel speed difference obtained by subtracting the front wheel speed from the rear wheel speed can be recorded as the second wheel speed difference. The wheel speed difference rate obtained by dividing the second wheel speed difference by the front wheel speed can reflect the deviation between the wheel speed difference between the driving wheel (rear wheel) and the driven wheel speed (front wheel speed), thereby reflecting the degree of deviation of the wheel speed between the front wheel and the rear wheel.

[0101] In this implementation mode, the wheel speed difference between the front wheel speed and the rear wheel speed is divided by the front wheel speed to obtain the wheel speed difference rate, and the wheel speed difference rate is determined with high efficiency.

[0102] Part 2: When the wheel speed difference is greater than or equal to the rotation speed difference threshold, the motorcycle controller determines whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration.

[0103] In a possible implementation, when the acceleration difference between the rear wheel acceleration and the front wheel acceleration is greater than or equal to an acceleration difference threshold, the motorcycle controller determines that the target motorcycle is skidding. When the acceleration difference between the rear wheel acceleration and the front wheel acceleration is less than the acceleration difference threshold, the motorcycle controller determines that the target motorcycle is not skidding.

[0104] Wherein, since the rear wheel of the target motorcycle is a driving wheel, the acceleration of the rear wheel is usually greater than or equal to the acceleration of the front wheel, so the acceleration difference between the acceleration of the rear wheel and the acceleration of the front wheel is greater than or equal to 0. For the convenience of distinction, the acceleration difference between the acceleration of the rear wheel and the acceleration of the front wheel can be recorded as the first acceleration difference. In the case of slipping, the acceleration of the driving wheel will suddenly change, which is due to the reduction of the friction between the driving wheel and the ground when slipping. When the driving force remains unchanged, the rotation speed of the driving wheel will increase rapidly, so the acceleration of the driving wheel will suddenly increase, that is, a sudden change occurs. On this basis, the acceleration difference between the front wheel acceleration and the acceleration of the rear wheel can be used to make further slip judgments. The acceleration difference threshold is set by a technician according to actual conditions, and the embodiments of the present application are not limited to this.

[0105] In this implementation mode, the front wheel acceleration and the rear wheel acceleration are used to determine the slippage, and the accuracy of the slippage determination is relatively high.

[0106] Another implementation of the second part is described below.

[0107] In a possible implementation, when the absolute value of the acceleration difference between the front wheel acceleration and the rear wheel acceleration is greater than or equal to the acceleration difference threshold, the motorcycle controller determines that the target motorcycle is skidding. When the absolute value of the acceleration difference between the front wheel acceleration and the rear wheel acceleration is less than the acceleration difference threshold, the motorcycle controller determines that the target motorcycle is not skidding.

[0108] Since the rear wheel of the target motorcycle is a driving wheel, the acceleration of the rear wheel is usually greater than or equal to the acceleration of the front wheel, so the acceleration difference between the front wheel acceleration and the rear wheel acceleration is less than or equal to 0, so the absolute value of the acceleration difference is used for judgment. For the convenience of distinction, the acceleration difference between the front wheel acceleration and the rear wheel acceleration can be recorded as the second acceleration difference.

[0109] In this implementation mode, the front wheel acceleration and the rear wheel acceleration are used to determine the slippage, and the accuracy of the slippage determination is relatively high.

[0110] Another implementation of the above step 302 is described below.

[0111] In a possible implementation, the motorcycle controller determines the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed. The motorcycle controller determines the acceleration difference of the target motorcycle based on the front wheel acceleration and the rear wheel acceleration. The motorcycle controller determines whether the target motorcycle is slipping based on the wheel speed difference and the acceleration difference.

[0112] In this implementation mode, the wheel speed difference and the acceleration difference are directly used to determine whether the target motorcycle is skidding, and the accuracy of the skidding determination is relatively high.

[0113] In order to explain the above embodiment more clearly, the above embodiment is described below by using two examples.

[0114] Example 1: The motorcycle controller subtracts the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle. The motorcycle controller subtracts the rear wheel acceleration from the front wheel acceleration to obtain the acceleration difference of the target motorcycle. When the wheel speed difference is greater than or equal to the wheel speed difference threshold and the acceleration difference is greater than or equal to the acceleration difference threshold, the motorcycle controller determines that the target motorcycle is slipping. When the wheel speed difference is less than the wheel speed difference threshold or the acceleration difference is less than the acceleration difference threshold, the motorcycle controller determines that the target motorcycle is not slipping.

[0115] Wherein, the wheel speed difference being greater than or equal to the wheel speed difference threshold value indicates that the difference between the front wheel speed and the rear wheel speed is large, that is, the speed deviation between the front wheel and the rear wheel of the target motorcycle is large, so there is a possibility of slipping. The acceleration difference being greater than or equal to the acceleration difference threshold value indicates that the difference between the rear wheel acceleration and the front wheel acceleration is large, and can also indicate the possibility of slipping. The wheel speed difference threshold value and the acceleration threshold value are set by technicians according to actual conditions, and the embodiments of the present application do not limit this.

[0116] In this implementation mode, the wheel speed difference and the acceleration difference are used to perform the slip judgment, and the efficiency of the slip judgment is relatively high.

[0117] Example 2: The motorcycle controller subtracts the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle. The motorcycle controller subtracts the rear wheel acceleration from the front wheel acceleration to obtain the acceleration difference of the target motorcycle. The motorcycle controller inputs the wheel speed difference and the acceleration difference into a slip identification model, processes the wheel speed difference and the acceleration difference through the slip identification model, and obtains a corresponding slip classification value. When the slip classification value is greater than or equal to the classification value threshold, the motorcycle controller determines that the target motorcycle has slipped. When the slip classification value is less than the classification value threshold, the motorcycle controller determines that the target motorcycle has not slipped.

[0118] Among them, the slip recognition model is a binary classification model, which can map the input wheel speed difference and acceleration difference into a slip classification value, and use the slip classification value to determine whether the target motorcycle is slipping. The slip recognition model can be a binary classification model of any structure, and the classification value threshold is set by the technician according to the actual situation, and the embodiment of the present application does not limit this. The slip recognition model is trained using multiple first sample data and the labeled data corresponding to each first sample data. A first sample data includes a sample wheel speed difference and a sample acceleration difference. The labeled data is the first labeled data or the second labeled data. The first labeled data is used to indicate the occurrence of slipping, and the second labeled data is used to indicate that no slipping has occurred.

[0119] In this implementation mode, the wheel speed difference and acceleration difference are processed using the slip recognition model to achieve slip judgment, which can fully utilize the generalization ability of the slip recognition model and improve the accuracy of slip judgment.

[0120] For example, the motorcycle controller subtracts the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle. The motorcycle controller subtracts the rear wheel acceleration from the front wheel acceleration to obtain the acceleration difference of the target motorcycle. The motorcycle controller inputs the wheel speed difference and the acceleration difference into a slip recognition model, and extracts features of the wheel speed difference and the acceleration difference through the slip recognition model to obtain a slip recognition feature of the target motorcycle. The motorcycle controller maps the slip recognition feature through the slip recognition model to obtain a corresponding slip classification value. When the slip classification value is greater than or equal to the classification value threshold, the motorcycle controller determines that the target motorcycle has slipped. When the slip classification value is less than the classification value threshold, the motorcycle controller determines that the target motorcycle has not slipped.

[0121] The following is an explanation of the manner in which the features of the wheel speed difference and the acceleration difference are extracted by using the slip recognition model.

[0122] In some embodiments, the motorcycle controller performs multiple full connections on the wheel speed difference and the acceleration difference through the slip recognition model to obtain the slip recognition feature. Alternatively, the motorcycle controller performs multiple convolutions on the wheel speed difference and the acceleration difference through the slip recognition model to obtain the slip recognition feature.

[0123] The following is an explanation of the manner in which the skid identification feature is mapped using the skid identification model.

[0124] In some embodiments, the motorcycle controller fully connects and normalizes the skid identification feature through the skid identification model to obtain the skid classification value.

[0125] Optionally, after step 302, the motorcycle controller executes the following step 303 or 304 according to actual conditions, which is not limited in the embodiment of the present application.

[0126] 303. When the target motorcycle slips, the motorcycle controller determines the road surface type of the road surface on which the target motorcycle is located based on the driving torque of the target motorcycle when the motorcycle slips.

[0127] The driving torque when slipping occurs refers to the torque provided by the engine to the driving wheels when slipping occurs. The types of road surfaces include high-adhesion road surfaces, medium-adhesion road surfaces, low-adhesion road surfaces and mixed road surfaces. The adhesion of high-adhesion road surfaces, medium-adhesion road surfaces and low-adhesion road surfaces decreases in sequence. The mixed road surface is a road surface where at least two of the high-adhesion road surfaces, medium-adhesion road surfaces and low-adhesion road surfaces are mixed. In some embodiments, the low-adhesion road surface is also called an icy road surface.

[0128] The following is an explanation of the manner in which the road surface type is determined based on the driving torque when the target motorcycle slips in the above step 303 .

[0129] In a possible implementation, when the driving torque is greater than or equal to the first torque threshold, the motorcycle controller determines the road surface type as a high-adhesion road surface. When the driving torque is greater than or equal to the second torque threshold and less than the first torque threshold, the motorcycle controller determines the road surface type as a medium-adhesion road surface. When the driving torque is less than the second torque threshold, the motorcycle controller determines the road surface type as a low-adhesion road surface.

[0130] Among them, the first torque threshold is greater than the second torque threshold, and the first torque threshold and the second torque threshold are associated with the speed of the target motorcycle when slipping occurs. The determination method of the first torque threshold and the second torque threshold will be described later. The principle of using the driving torque during slipping to determine the road surface type is that if the driving torque during slipping is high, it means that the adhesion between the target motorcycle and the road surface is high, thereby determining the road surface type as a high-adhesion road surface. If the driving torque during slipping is low, it means that the adhesion between the target motorcycle and the road surface is low, thereby determining the road surface type as a low-adhesion road surface.

[0131] In this implementation, by comparing the driving torque with the first torque threshold and the second torque threshold, the road surface type of the road surface when the slip occurs can be determined, and the road surface type is determined with high efficiency.

[0132] The following is an explanation of how to determine the first torque threshold and the second torque threshold in the above embodiment.

[0133] In a possible implementation, the motorcycle controller obtains the speed of the target motorcycle when the motorcycle slips, and the motorcycle controller determines the first torque threshold and the second torque threshold based on the speed.

[0134] Generally speaking, the vehicle speed is determined based on the wheel speed, and the wheel speed may be the wheel speed of the driving wheel or the wheel speed of the driven wheel. In the case where the wheel speed is the wheel speed of the driven wheel, the vehicle speed determined based on the wheel speed of the driven wheel can be directly used. In the case where the wheel speed is the wheel speed of the driving wheel, since the wheel speed of the driving wheel may change suddenly when the target motorcycle slips, the vehicle speed determined based on the wheel speed of the driving wheel may also change suddenly, and the vehicle speed determined in this way is inaccurate. Therefore, in the case of slipping, the vehicle speed before the slipping occurs can be directly used as the vehicle speed when the slipping occurs.

[0135] In this embodiment, the first torque threshold and the second torque threshold are determined based on the speed of the target motorcycle when it slips. The first torque threshold and the second torque threshold are more closely matched to the actual situation of the target motorcycle, and the road type is more accurately determined.

[0136] The above implementation is described below through two examples.

[0137] Example 1: The motorcycle controller obtains the speed of the target motorcycle when it slips. The motorcycle controller uses the speed to query the torque threshold table to obtain the first torque threshold and the second torque threshold corresponding to the speed.

[0138] The torque threshold table stores multiple sets of data, one set of data includes a vehicle speed, a first torque threshold, and a second torque threshold. The corresponding first torque threshold and second torque threshold can be obtained by querying the torque threshold table using the vehicle speed. The torque threshold table is set by technicians according to actual conditions, and the embodiments of the present application do not limit this.

[0139] In this implementation, the corresponding first torque threshold and second torque threshold can be obtained by querying the torque threshold table using the vehicle speed, and the first torque threshold and the second torque threshold are determined with high efficiency.

[0140] Example 2: The motorcycle controller obtains the speed of the target motorcycle when it slips. The motorcycle controller substitutes the speed into the first relationship data and the second relationship data respectively to obtain the first torque threshold and the second torque threshold corresponding to the speed, wherein the first relationship data is used to describe the corresponding relationship between the speed and the first torque threshold, and the second relationship data is used to describe the corresponding relationship between the speed and the second torque threshold.

[0141] Among them, the first relationship data and the second relationship data are both set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0142] In this implementation manner, the vehicle speed is substituted into the first relationship data and the second relationship data respectively to obtain the corresponding first torque threshold and the second torque threshold, and the first torque threshold and the second torque threshold have high accuracy.

[0143] Another implementation of the above step 303 is described below.

[0144] In a possible implementation, when the target motorcycle slips, the motorcycle controller acquires the speed of the target motorcycle when the motorcycle slips, and the motorcycle controller determines the road type of the road where the target motorcycle is located when the motorcycle slips based on the speed and the slip torque.

[0145] Among them, the method for determining the speed of the target motorcycle when it slips belongs to the same inventive concept as the previous embodiment. The implementation process refers to the relevant description of the previous embodiment and will not be repeated here.

[0146] In this implementation manner, when the target motorcycle slips, the road surface type is determined using the vehicle speed and driving torque when the slip occurs, and the road surface type has a high accuracy.

[0147] For example, when the target motorcycle slips, the motorcycle controller obtains the speed of the target motorcycle when the motorcycle slips. The motorcycle controller inputs the speed and the driving torque into the road type recognition model, and processes the speed and the driving torque through the road type recognition model to obtain the road type.

[0148] The road surface type recognition model is a multi-classification model, which can use the vehicle speed and driving torque when slipping to determine the matching road surface type from multiple candidate road surface types. The road surface type recognition model can be any type of multi-classification model, which is not limited in the embodiment of the present application. The road surface type recognition model is trained using multiple second sample data and the labeled data corresponding to each second sample data. One second sample data includes a sample vehicle speed and a sample driving torque, and the labeled data is the corresponding labeled road surface type.

[0149] In this implementation, the road type recognition model is used to process the vehicle speed and driving torque when skidding occurs, thereby obtaining the road type, making full use of the generalization ability of the road type recognition model to improve the accuracy of the determined road type.

[0150] For example, when the target motorcycle slips, the motorcycle controller obtains the speed of the target motorcycle when it slips. The motorcycle controller inputs the speed and the driving torque into the road surface type recognition model, and extracts features of the speed and the driving torque through the road surface type recognition model to obtain the road surface characteristics of the road surface on which the target motorcycle is located when it slips. The motorcycle controller fully connects and normalizes the road surface characteristics through the road surface type recognition model to obtain multiple probabilities, and one probability corresponds to one candidate road surface type. The motorcycle controller determines the candidate road surface type with the highest probability among the multiple candidate road surface types as the road surface type of the road surface on which the target motorcycle is located when it slips.

[0151] The following is an explanation of the method for extracting the features of the vehicle speed and the driving torque.

[0152] In some embodiments, the motorcycle controller performs multiple full connections or multiple convolutions on the vehicle speed and the driving torque through the road type recognition model to obtain the road surface characteristics of the road surface on which the target motorcycle is located when skidding occurs.

[0153] Optionally, after step 303, the following steps 305-307 can also be performed.

[0154] 304. When the target motorcycle does not slip, the motorcycle controller does not activate the traction control system of the target motorcycle, where the traction control system is used to improve the driving stability of the motorcycle.

[0155] Among them, the traction control system can control the traction (output torque) of the target motorcycle when the target motorcycle slips, thereby improving the driving stability of the motorcycle. Therefore, if the target motorcycle does not slip, there is no need to activate the traction control system, and it is sufficient to respond to the required torque normally.

[0156] 305. The motorcycle controller determines whether to activate the traction control system of the target motorcycle based on the road surface type.

[0157] In a possible implementation, when the road surface type is a high-adhesion road surface or a medium-adhesion road surface, the motorcycle controller determines to activate the traction control system. When the road surface type is a low-adhesion road surface, the motorcycle controller determines not to activate the traction control system.

[0158] Among them, when the road surface type is a high-adhesion road surface or a medium-adhesion road surface, it means that the adhesion of the road surface can still maintain the normal driving of the target motorcycle. At this time, activating the traction control system can better control the target motorcycle to drive. When the road surface type is a low-adhesion road surface, it means that the adhesion of the road surface is very low. At this time, the engagement of the traction control system will affect the normal driving of the motorcycle, so the traction control system is not activated.

[0159] In this implementation, whether to activate the traction control system is determined in combination with the road type, so that the engagement of the traction control system is adapted to the actual road conditions, thereby improving the driving safety of the target motorcycle.

[0160] 306. When the traction control system of the target motorcycle is activated, the motorcycle controller determines a target operating mode of the traction control system of the target motorcycle based on the road surface type, where the target operating mode is an operating mode that matches the road surface type.

[0161] The traction control system has multiple working modes, and the working parameters of the traction control system are different in different working modes. The target working mode corresponding to the road type is determined from the multiple working modes, thereby improving the adaptability of the traction control system to the road type and improving the effect of the traction control system.

[0162] In one possible implementation, when the traction control system of the target motorcycle is activated, the motorcycle controller uses the road surface type to match multiple operating modes of the traction control system to obtain the target operating mode, which is the operating mode that successfully matches the road surface.

[0163] Among them, the correspondence between the road surface type and the working mode is set by the technical personnel according to the actual situation, and the embodiment of the present application does not limit this.

[0164] 307. The motorcycle controller controls the traction control system to operate in the target operating mode.

[0165] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0166] Through the technical solution provided in the embodiment of the present application, the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle are used to determine whether the target motorcycle is skidding, and the accuracy of skidding judgment is high. In the case that the target motorcycle is skidding, the road surface type of the road surface when the skidding occurs is determined based on the driving torque of the target motorcycle when the skidding occurs, thereby providing the target motorcycle with the ability to identify the road surface type, which can help determine whether to activate the traction control system and improve the safety of the motorcycle.

[0167] Figure 4 is a schematic diagram of a road surface type identification device provided in an embodiment of the present application, see Figure 4 The device includes: an acquisition module 401, a slip judgment module 402 and a road surface type determination module 403.

[0168] The acquisition module 401 is used to acquire the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle.

[0169] The skidding determination module 402 is used to determine whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration and the rear wheel acceleration.

[0170] The road surface type determination module 403 is used to determine the road surface type of the road surface on which the target motorcycle is located when the target motorcycle is slipping based on the driving torque of the target motorcycle when the motorcycle is slipping.

[0171] In a possible implementation, the skidding judgment module 402 is used to determine the wheel speed differential of the target motorcycle based on the front wheel speed and the rear wheel speed. When the wheel speed differential is greater than or equal to the rotation speed differential threshold, it is determined whether the target motorcycle is skidding based on the front wheel acceleration and the rear wheel acceleration. When the wheel speed differential is less than the rotation speed differential threshold, it is determined that the target motorcycle is not skidding.

[0172] In a possible implementation, the slip judgment module 402 is used to subtract the rear wheel speed from the front wheel speed to obtain the wheel speed difference of the target motorcycle, and divide the wheel speed difference by the rear wheel speed to obtain the wheel speed difference rate.

[0173] In a possible implementation manner, the skidding judgment module 402 is configured to determine that the target motorcycle is skidding when the acceleration difference between the rear wheel acceleration and the front wheel acceleration is greater than or equal to an acceleration difference threshold, and to determine that the target motorcycle is not skidding when the acceleration difference between the rear wheel acceleration and the front wheel acceleration is less than the acceleration difference threshold.

[0174] In a possible implementation, the skidding judgment module 402 is used to determine the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed, determine the acceleration difference of the target motorcycle based on the front wheel acceleration and the rear wheel acceleration, and determine whether the target motorcycle is skidding based on the wheel speed difference and the acceleration difference.

[0175] In a possible implementation, the slip judgment module 402 is used to determine that the target motorcycle is slipping when the wheel speed difference is greater than or equal to the wheel speed difference threshold and the acceleration difference is greater than or equal to the acceleration difference threshold. When the wheel speed difference is less than the wheel speed difference threshold or the acceleration difference is less than the acceleration difference threshold, it is determined that the target motorcycle is not slipping. Alternatively, the wheel speed difference and the acceleration difference are input into a slip recognition model, and the wheel speed difference and the acceleration difference are processed by the slip recognition model to obtain a corresponding slip classification value. When the slip classification value is greater than or equal to the classification value threshold, it is determined that the target motorcycle is slipping. When the slip classification value is less than the classification value threshold, it is determined that the target motorcycle is not slipping.

[0176] In a possible implementation manner, the road surface type determination module 403 is configured to determine the road surface type as a high-adhesion road surface when the driving torque is greater than or equal to a first torque threshold, determine the road surface type as a medium-adhesion road surface when the driving torque is greater than or equal to a second torque threshold and less than the first torque threshold, and determine the road surface type as a low-adhesion road surface when the driving torque is less than the second torque threshold.

[0177] In a possible implementation, the device further includes:

[0178] The torque threshold determination module is used to obtain the speed of the target motorcycle when it slips, and determine the first torque threshold and the second torque threshold based on the speed.

[0179] In a possible implementation, the device further includes:

[0180] The control module is used to determine a target working mode of the traction control system based on the road surface type when the traction control system of the target motorcycle is activated, the traction control system is used to improve the driving stability of the motorcycle, and the target working mode is a working mode matching the road surface type. The traction control system is controlled to work in the target working mode.

[0181] It should be noted that: the road surface type identification device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when identifying the road surface type. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the road surface type identification device provided in the above embodiment and the road surface type identification method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0182] Through the technical solution provided in the embodiment of the present application, the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle are used to determine whether the target motorcycle is skidding, and the accuracy of skidding judgment is high. In the case that the target motorcycle is skidding, the road surface type of the road surface when the skidding occurs is determined based on the driving torque of the target motorcycle when the skidding occurs, thereby providing the target motorcycle with the ability to identify the road surface type, which can help determine whether to activate the traction control system and improve the safety of the motorcycle.

[0183] The embodiment of the present application also provides a motorcycle, Figure 5 It is a structural schematic diagram of a motorcycle provided in an embodiment of the present application.

[0184] Generally, the motorcycle 500 includes: one or more processors 501 and one or more memories 502 .

[0185] The processor 501 may include one or more processing cores, such as a 4-core processor, a 5-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0186] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one computer program, which is executed by the processor 501 to implement the road surface type recognition method provided in the method embodiment of the present application.

[0187] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the motorcycle 500, and the motorcycle 500 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0188] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for identifying a road surface type provided in the above embodiments.

[0189] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a method for identifying a road surface type provided in the above embodiment.

[0190] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for identifying a road surface type provided in the above embodiment.

[0191] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0192] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0193] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0194] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for identifying road surface types, characterized in that: The method comprises: Obtaining the front wheel speed, rear wheel speed, front wheel acceleration and rear wheel acceleration of the target motorcycle; Determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration; In the case that the target motorcycle slips, the road type of the road on which the target motorcycle is located when the slip occurs is determined based on the driving torque of the target motorcycle when the slip occurs.

2. The method according to claim 1, characterized in that The determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration comprises: Determining a wheel speed difference rate of the target motorcycle based on the front wheel speed and the rear wheel speed; When the wheel speed difference is greater than or equal to a rotation speed difference threshold, determining whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration; When the wheel speed difference is less than the rotation speed difference threshold, it is determined that the target motorcycle is not slipping.

3. The method according to claim 2, characterized in that The determining the wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed includes: Subtracting the rear wheel speed from the front wheel speed to obtain a wheel speed difference of the target motorcycle; The wheel speed difference is divided by the rear wheel speed to obtain the wheel speed difference ratio.

4. The method according to claim 2, characterized in that: The step of determining whether the target motorcycle is slipping based on the front wheel acceleration and the rear wheel acceleration includes: When the acceleration difference between the rear wheel acceleration and the front wheel acceleration is greater than or equal to an acceleration difference threshold, determining that the target motorcycle is skidding; When the acceleration difference between the rear wheel acceleration and the front wheel acceleration is less than the acceleration difference threshold, it is determined that the target motorcycle is not slipping.

5. The method according to claim 1, characterized in that The determining whether the target motorcycle is skidding based on the front wheel speed, the rear wheel speed, the front wheel acceleration, and the rear wheel acceleration comprises: Determining a wheel speed difference of the target motorcycle based on the front wheel speed and the rear wheel speed; determining an acceleration difference of the target motorcycle based on the front wheel acceleration and the rear wheel acceleration; Based on the wheel speed difference and the acceleration difference, it is determined whether the target motorcycle is slipping.

6. The method according to claim 5, characterized in that The step of determining whether the target motorcycle is slipping based on the wheel speed difference and the acceleration difference comprises: When the wheel speed difference is greater than or equal to the wheel speed difference threshold and the acceleration difference is greater than or equal to the acceleration difference threshold, it is determined that the target motorcycle is skidding; when the wheel speed difference is less than the wheel speed difference threshold or the acceleration difference is less than the acceleration difference threshold, it is determined that the target motorcycle is not skidding; Alternatively, the wheel speed difference and the acceleration difference are input into a slip identification model, and the wheel speed difference and the acceleration difference are processed by the slip identification model to obtain a corresponding slip classification value; when the slip classification value is greater than or equal to a classification value threshold, it is determined that the target motorcycle has slipped; when the slip classification value is less than the classification value threshold, it is determined that the target motorcycle has not slipped.

7. The method according to claim 1, characterized in that The determining, based on the driving torque of the target motorcycle when the motorcycle slips, the road surface type on which the target motorcycle is located when the motorcycle slips, comprises: When the driving torque is greater than or equal to a first torque threshold, determining the road type as a high-adhesion road; When the driving torque is greater than or equal to a second torque threshold and less than the first torque threshold, determining the road type as a medium-adherent road; When the driving torque is less than the second torque threshold, the road surface type is determined to be a low-adhesion road surface.

8. The method according to claim 7, characterized in that Before determining the road surface type of the road surface on which the target motorcycle is located when the motorcycle is slipping based on the driving torque when the target motorcycle is slipping, the method further includes: Obtaining the speed of the target motorcycle when it skids; The first torque threshold and the second torque threshold are determined based on the vehicle speed.

9. The method according to claim 1, characterized in that: After determining the road type of the road on which the target motorcycle is located when the motorcycle is slipping based on the driving torque when the target motorcycle is slipping, the method further includes: When the traction control system of the target motorcycle is activated, based on the road surface type, determining a target operating mode of the traction control system, the traction control system being used to improve the driving stability of the motorcycle, and the target operating mode being an operating mode matching the road surface type; The traction control system is controlled to operate in the target operating mode.

10. A motorcycle, characterized in that: The motorcycle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the motorcycle executes the road type recognition method as described in any one of claims 1 to 9.

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