Method for determining a road condition, vehicle control system, vehicle and computer program product

Abstract

The present application relates to a method for determining a road condition, comprising: during the driving of a vehicle (1), acquiring tire feature information and driver manipulation information of the vehicle (1), and recording audio information of each tire of the vehicle (1) moving on the road (S1); configuring parameters of a tire model of the vehicle (1) based at least on the tire characteristic information and the driver maneuver information (S2); and determining (S3) information about the condition of the road surface traveled by the vehicle (1) at least on the basis of the recorded audio information and the configured tire model. According to the application, the tire model parameters are determined and configured based on the acquired tire feature information and the driver control information in the vehicle driving process, and the information of the road surface condition where the vehicle passes is determined based on the recorded audio information of the movement of each tire on the road surface and the configured tire model; therefore, the road condition can be detected relatively accurately at low technical cost, and a foundation is laid for accurate vehicle control.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a method for determining road conditions, a vehicle control system, a vehicle including a vehicle control system according to the present application, and a computer program product for at least assisting in implementing the steps of the method according to the present application. Background Art

[0002] Vehicle control systems, especially chassis control systems, are usually designed to cope with various types of road conditions, but there are currently no sensors that can detect road conditions at a low cost and relatively accurately. Without accurate road condition information, the controller can only control the vehicle, especially the chassis, based on the assumed worst case scenario, which affects the vehicle's operating performance.

[0003] Therefore, how to obtain road condition information at low cost and accurately has become a technical problem that needs to be solved. Summary of the invention

[0004] The object of the present application is to provide a method for determining road conditions, a vehicle control system, a vehicle including the vehicle control system according to the present application, and a computer program product, so as to at least partially solve the problems in the prior art.

[0005] According to a first aspect of the present application, a method for determining a road surface condition is provided, the method comprising the following steps:

[0006] - During the driving process of the vehicle, obtain the vehicle's tire characteristic information and driver operation information,

[0007] and record the audio information of each tire of the vehicle moving on the road;

[0008] - configuring parameters of a tire model of a vehicle based at least on the tire characteristic information and the driver manipulation information; and

[0009] - determining information about the condition of the road surface on which the vehicle is travelling based at least on the recorded audio information and the configured tire model.

[0010] The core concept of the present application is to determine the configuration tire model parameters based on the collected tire characteristic information and driver operation information during vehicle driving, and to determine the information on the road condition that the vehicle is passing through based on the recorded audio information of each tire moving on the road surface and the configured tire model. In this way, the road condition can be detected relatively accurately with low technical overhead, thus laying the foundation for precise vehicle control.

[0011] According to an optional embodiment of the present application, the tire feature information may include the tire model information and / or tire running time of the vehicle sent via an RFID chip or other communication technology, and / or tire pressure information and / or tire temperature information detected by a temperature and pressure sensor, etc., wherein the other communication technologies include, for example, NFC (near field communication) technology, Bluetooth technology, ZigBee (ZigBee) technology, Wi-Fi (wireless network communication) technology, infrared communication technology, UWB (ultra-wideband) communication technology, z-wave technology, Sigfox technology, NB-IoT (narrowband Internet of Things) technology and / or 5G communication technology, etc.

[0012] According to another optional embodiment of the present application, the driver manipulation information may include steering wheel angle information detected by a steering angle sensor, vehicle acceleration information detected by an acceleration sensor, and / or vehicle speed information detected by a rotation speed sensor, etc.

[0013] According to another optional embodiment of the present application, the driver's driving style can be evaluated based on the driver's manipulation information, and the tire wear condition of the vehicle can be evaluated based at least on the tire operating time and the evaluated driving style, and the parameters of the vehicle's tire model can be configured based at least on the vehicle's tire model information, tire wear condition, tire pressure information and / or tire temperature information.

[0014] According to another optional embodiment of the present application, information about the conditions of the road the vehicle is traveling on is determined by comparing audio information recorded during vehicle driving and reference audio information recorded during testing of tires with configured parameters on standard roads with various predetermined road conditions, wherein the road conditions include, for example, road weather conditions, road material information and / or road surface flatness, wherein the road weather conditions include, for example, road water accumulation conditions, road snow accumulation conditions and / or road icing conditions, etc.

[0015] According to another optional embodiment of the present application, the method may further include the following steps:

[0016] - determining the friction between each tire of the vehicle and the road surface being traveled based at least on the determined road condition information, the configured tire model, the vehicle load information and the tire position information.

[0017] According to another optional embodiment of the present application, the method may further include the following steps:

[0018] If the determined tire friction falls below a predefined friction threshold, a warning message about the determined road condition can be sent to the driver of the vehicle.

[0019] According to another optional embodiment of the present application, the method may further include the following steps:

[0020] - Controlling the vehicle, in particular the chassis control system of the vehicle, based on the determined road condition information and / or the determined tire friction, wherein the chassis control system includes an anti-lock braking system, an electronic stability system and / or a launch control system, etc.

[0021] According to another optional embodiment of the present application, the method may further include the following steps:

[0022] - Sending information on road conditions and / or tyre friction determined to other vehicles, service providers and / or road safety authorities.

[0023] According to another optional embodiment of the present application, the method may further include the following steps:

[0024] -Based on the determined road condition information and / or the determined chassis control system of the vehicle, the following information is used as input parameters and / or verification parameters for the assisted driving system and / or the automatic driving system: the information includes, for example, the vehicle's tire characteristic information, driver operation information, determined road condition information, and / or determined tire friction, etc.

[0025] According to a second aspect of the present application, a vehicle control system is provided, which may include:

[0026] - a characteristic information acquisition module, which is configured to acquire tire characteristic information of the vehicle during the driving process of the vehicle;

[0027] - a manipulation information collection module, which is configured to collect driver manipulation information during the driving process of the vehicle;

[0028] - a sound collection module configured to record audio information of the movement of each tire of the vehicle on the road surface; and

[0029] - A control unit configured to perform the method according to the application.

[0030] According to another optional embodiment of the present application, the vehicle control system may further include a notification module, which is configured to send warning information about the determined road condition to the driver of the vehicle.

[0031] According to another optional embodiment of the present application, the vehicle control system may further include an on-board communication module, which is configured to send the determined road condition information and / or tire friction to other vehicles, service providers and / or road safety agencies.

[0032] According to a third aspect of the present application, a vehicle is provided, which may include a vehicle control system according to the present application.

[0033] According to a fourth aspect of the present application, a computer program product, such as a computer-readable program carrier, is provided, which contains or stores computer program instructions, and when the computer program instructions are executed by a processor, they at least assist in implementing the steps of the method described in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The principles, features and advantages of the present application may be better understood by describing the present application in more detail below with reference to the accompanying drawings. The accompanying drawings show:

[0035] Figure 1 A flowchart showing a method for determining a road surface condition according to an exemplary embodiment of the present application is shown;

[0036] Figure 2 A driving scene diagram according to an exemplary embodiment of the present application is shown;

[0037] Figure 3 A diagram showing the arrangement of vehicle-mounted components according to an exemplary embodiment of the present application is shown;

[0038] Figure 4 A flowchart showing a method for determining a road surface condition according to another exemplary embodiment of the present application is shown;

[0039] Figure 5 A flowchart showing a method for determining a road surface condition according to another exemplary embodiment of the present application is shown;

[0040] Figure 6 A flowchart showing a method for determining a road surface condition according to another exemplary embodiment of the present application is shown;

[0041] Figure 7 A flowchart showing a method for determining a road surface condition according to another exemplary embodiment of the present application is shown;

[0042] Figure 8 A flowchart showing a method for determining a road surface condition according to another exemplary embodiment of the present application; and

[0043] Fig. 9 A schematic block diagram of a vehicle control system according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0045] Figure 1 A flowchart of a method for determining a road surface condition according to an exemplary embodiment of the present application is shown. The following exemplary embodiments describe the method according to the present application in more detail.

[0046] In step S1, during the driving process of the vehicle 1, the tire characteristic information and the driver operation information of the vehicle 1 can be obtained, and the audio information of the tire moving on the road surface can be recorded. Figure 2 An exemplary driving scene diagram is shown in FIG. 1 , in which the driver controls the vehicle 1 to travel on the road. Figure 3 The layout diagram of the vehicle components according to an exemplary embodiment of the present application is shown. An RFID (Radio Frequency Identification) chip 111 can be installed in each tire of the vehicle 1. The RFID chip 111 can send the electronic tag of the tire to the characteristic information acquisition module 11 of the vehicle control system 10, which is configured as a signal receiver, for example. The electronic tag can include not only the tire model information, based on which the parameters of the tire in a brand new and unused state can be determined, but also the tire operation time, that is, how long the tire has been put into operation. Optionally, the tire model information and / or tire operation time of the vehicle can also be sent through other communication technologies, such as NFC technology, Bluetooth technology, ZigBee technology, Wi-Fi technology, infrared communication technology, UWB communication technology, z-wave technology, Sigfox technology, NB-IoT technology and / or 5G communication technology.

[0047] In addition, a temperature and pressure sensor 112 may be installed in each tire of the vehicle 1, and the temperature and pressure sensor 112 may detect tire pressure information and / or tire temperature information, and the detected tire pressure information and / or tire temperature information may be received by the characteristic information acquisition module 11. In addition, the tire pressure information and / or tire temperature information may also be sent through an RFID chip or other communication technologies, such as NFC technology, Bluetooth technology, ZigBee technology, Wi-Fi technology, infrared communication technology, UWB communication technology, z-wave technology, Sigfox technology, NB-IoT technology and / or 5G communication technology.

[0048] like Figure 2As shown in the exemplary driving scene diagram, when the driver controls the vehicle 1 to travel on the road, the steering wheel angle information can be detected by the steering angle sensor, the vehicle acceleration information can be detected by the acceleration sensor, and the vehicle speed information - including wheel speed and driving direction, can be detected by the rotation speed sensor. The control information acquisition module 12 can obtain this information from the CAN bus of the vehicle 1, for example.

[0049] During the driving process of the vehicle 1, the audio information of each tire of the vehicle 1 moving on the road surface, especially the audio information generated by the friction vibration between the tire and the road surface, can also be recorded by the sound collection module 13, which is configured as a vehicle-mounted microphone in the wheel cover 30 of the vehicle 1, for example. Considering that the tire will generate sound at multiple locations of the tire during the movement on the road surface, such as the contact surface between the tire and the road surface and / or the connection between the tire and the chassis 40 / suspension 50, multiple vehicle-mounted microphones 13 can be installed in the wheel cover 30, and only two are shown here as an example.

[0050] In step S2, the parameters of the tire model of the vehicle 1 may be configured based at least on the tire characteristic information and the driver manipulation information. In the current embodiment of the present application, a corresponding tire model may be established for the tire of the model, and the parameters of the tire model may be configured so that the tire model can reflect the influence of the current state of the tire on the audio information generated by the friction vibration between the tire and the road surface.

[0051] Here, the driver's driving style can be evaluated based on the driver's manipulation information, for example, the aggressiveness or conservativeness of the driver's driving style can be determined through vehicle acceleration information, vehicle speed information and / or steering wheel angle information. It can be understood that the more aggressive the driving style, the faster the tire wears; the more conservative the driving style, the slower the tire wears. Next, the tire wear condition of the vehicle 1 can be evaluated based at least on the tire running time and the evaluated driving style, and then the parameters of the tire model of the vehicle 1 can be configured based at least on the tire model information, tire wear condition, tire pressure information and / or tire temperature information of the vehicle 1, such parameters include, for example, tire structure material, tire width, tire aspect ratio, tire wear degree (which will affect the friction coefficient of the tire on the road), tire pressure, tire temperature and / or tire load index (i.e., the maximum load under the current tire pressure), etc.

[0052] In step S3, information about the road conditions that the vehicle 1 has traveled over can be determined based at least on the recorded audio information and the configured tire model. Here, the tire of the model can be tested under different tire parameters on various standard roads with predetermined road conditions, especially under different tire wear degrees, different tire pressures and / or different tire temperatures, and the audio information of the friction vibration between the tire and the standard road surface of various road conditions is recorded during the test as reference audio information assigned to the tire model parameters, and these reference audio information are stored in the control unit 14 of the vehicle control system 10. The road conditions can include road weather conditions, such as road surface water conditions, road surface snow conditions and / or road surface ice conditions, which can affect the smoothness of the road surface. The road conditions can also include road surface material information, such as asphalt road surface, cement concrete road surface and / or gravel road surface, and the friction coefficient between the same tire and roads of different materials is also greatly different. The road conditions can also include road surface flatness, which refers to the deviation value of the longitudinal concave-convex amount of the road surface, which can also affect the friction coefficient between the tire and the road surface.

[0053] Here, by comparing the audio information recorded during the driving of the vehicle 1 and the reference audio information recorded during the test of the tire with the configured parameters on the standard road surface with various predetermined road conditions, the information about the road condition that the vehicle 1 has traveled over can be determined. Exemplarily, the machine learning model can be trained based on the stored reference audio information, and the information about the road condition that the vehicle 1 has traveled over can be determined through the trained machine learning model, for example, by filtering out one or more reference audios that are closest to the audio information recorded during the driving of the vehicle 1 from the reference audio information assigned to the tire with the configured parameters, and determining the information about the road condition that the vehicle 1 has traveled over based on the predetermined road condition corresponding to the filtered reference audios.

[0054] According to an embodiment of the present application, during vehicle driving, tire model parameters are determined based on collected tire characteristic information and driver manipulation information, and information about the condition of the road the vehicle is passing through is determined based on the recorded audio information of the movement of each tire on the road surface and the configured tire model. This allows relatively accurate detection of road conditions with low technical overhead, thereby laying the foundation for precise vehicle control.

[0055] Figure 4 The following is a flowchart of a method for determining road conditions according to another exemplary embodiment of the present application. Figure 1 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0056] like Figure 4 As shown, the method may further include step S4. In step S4, the friction between each tire of the vehicle 1 and the road surface traveled can be determined based at least on the determined road surface condition information, the configured tire model, the vehicle load information and the tire position information. Here, for example, the friction coefficient between each tire of the vehicle 1 and the road surface can be determined based on the determined road surface condition information, the configured tire model - in particular, the degree of tire wear, tire pressure and / or tire temperature, etc. - and the tire position information obtained from the CAN bus of the vehicle, and the friction between each tire of the vehicle 1 and the road surface traveled can be determined based on the determined friction and vehicle load information.

[0057] Figure 5 FIG. 1 shows a workflow diagram of a method for determining road conditions according to another exemplary embodiment of the present application. Figure 4 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0058] like Figure 5 As shown, the method may also include steps S5 and S6. In step S5, it is determined whether the determined tire friction is lower than a predetermined friction threshold. For example, in the case of severe snow or ice conditions on the road, the determined tire friction will be lower than the predetermined friction threshold, and in step S6, early warning information about the determined road conditions may be sent to the driver of vehicle 1. Here, acoustic early warning information may be sent to the driver of vehicle 1 through an on-board voice device, and optical early warning information may be sent to the driver of vehicle 1 through a central control display, a head-up display, an instrument panel, etc. It is understandable that when the friction between the tire and the road is too low, vehicle 1 is prone to tire slippage, which may lead to loss of control of the vehicle or even a traffic accident. Therefore, the driver may be promptly prompted to drive cautiously, such as driving at a low speed, to reduce the risk of traffic accidents.

[0059] Optionally, the predetermined friction threshold can be adjusted based on the driving style evaluated by the driver's manipulation information, wherein the more aggressive the driving style is, the smaller the predetermined friction threshold can be adjusted; and the more conservative the driving style is, the larger the predetermined friction threshold can be adjusted, thereby specifying a personalized early warning strategy.

[0060] Figure 6 FIG. 1 shows a workflow diagram of a method for determining road conditions according to another exemplary embodiment of the present application. Figure 4 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0061] like Figure 6As shown, the method may further include step S7. In step S7, the vehicle 1, in particular the chassis control system of the vehicle 1, may be controlled based on the determined road condition information and / or the determined tire friction. Here, the chassis control system of the vehicle 1 may no longer be controlled based on the assumed worst case, but the parameters of the chassis control system such as the anti-lock braking system, the vehicle electronic stability system and / or the launch control system may be adjusted based on the accurate road condition information and / or the tire friction, thereby improving the vehicle running performance.

[0062] Figure 7 FIG. 1 shows a workflow diagram of a method for determining road conditions according to another exemplary embodiment of the present application. Figure 4 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0063] like Figure 7 As shown, the method may further include step S8. In step S8, the determined road condition information and / or tire friction may be sent to other vehicles 2, service providers 3 and / or road safety agencies 4, etc. Here, the vehicle-mounted communication module 16 of the vehicle 1 may, for example, send the determined road condition information and / or tire friction to other vehicles 2 through vehicle-to-vehicle communication, especially in the case of poor road conditions, such as more water on the road, more snow on the road or a high degree of ice on the road, and / or in the case of low tire friction, timely prompt the driver of the other vehicle 2 to drive cautiously. The vehicle-mounted communication module 16 of the vehicle 1 may also establish a communication connection with a service provider 3, such as a map service provider, an intelligent driving service provider, a manufacturer's back-end server, etc., and / or a road safety agency 4, such as a traffic management department, through the Internet of Vehicles technology, and send the determined road condition information and / or tire friction through the established communication connection, so that the service provider 3 and / or the road safety agency 4 can timely collect road condition information about the road section, laying a foundation for improving road safety services.

[0064] Figure 8 The following is a flowchart of a method for determining road conditions according to another exemplary embodiment of the present application. Figure 6 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0065] like Figure 8As shown, the method may further include step S9. In step S9, based on the determined road condition information and / or the determined chassis control system of the vehicle, the following information may be used as input parameters and / or verification parameters for the assisted driving system and / or the automatic driving system: the information may include, for example, tire characteristic information of the vehicle, driver manipulation information, determined road condition information, and / or determined tire friction, etc. Such information may be input into the assisted driving system and / or the automatic driving system and participate in the control tasks of the corresponding assisted driving function and / or the automatic driving function, such as executing steering control tasks and speed control tasks that conform to the driver's operating habits based on the road condition information and / or the tire friction, etc. These parameters may also be used to verify the output control parameters of the assisted driving system and / or the automatic driving system, such as whether the output control parameters of the assisted driving system and / or the automatic driving system of the vehicle under the current road condition conform to the safe driving principle or the driver's operating habits, etc.

[0066] In addition, it should be noted that the step numbers described herein do not necessarily represent a chronological order, but are merely a figure mark. The order can be changed according to specific circumstances as long as the technical purpose of the present application can be achieved.

[0067] Fig. 9 A schematic block diagram of a vehicle control system according to an exemplary embodiment of the present application is shown.

[0068] like Fig. 9 As shown, the vehicle control system 10 may include:

[0069] - a characteristic information acquisition module 11, which is configured to acquire tire characteristic information of the vehicle 1 during the driving process of the vehicle 1, and is configured as a signal receiver, for example, to receive tire model information and / or tire running time of the tire from an RFID chip 111 arranged in the tire, and / or to receive detected tire pressure information and / or tire temperature information from a temperature and pressure sensor 112 arranged in the tire, etc.;

[0070] - a manipulation information collection module 12, which is configured to collect driver manipulation information during the driving process of the vehicle 1, wherein the driver manipulation information includes, for example, steering wheel angle information detected by a steering angle sensor, vehicle acceleration information detected by an acceleration sensor, and / or vehicle speed information detected by a rotation speed sensor, etc.;

[0071] - a sound collection module 13, which is configured to record audio information of the movement of each tire of the vehicle 1 on the road surface, which is configured as one or more vehicle-mounted microphones arranged in the wheel housing 30 of the vehicle 1, for example; and

[0072] A control unit 14 configured to carry out the method according to the present application.

[0073] Optionally, the vehicle control system 10 may further include a notification module 15, which is configured to send warning information about the determined road condition to the driver of the vehicle 1. The notification module includes, for example, an in-vehicle voice device, a central control display, a head-up display, and / or a dashboard.

[0074] The vehicle control system 10 may further include an onboard communication module 16 configured to send the determined road condition information and / or tire friction to other vehicles 2 , service providers 3 and / or road safety agencies 4 .

[0075] It should be understood that, in this document, the expressions "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of the indicated technical features.

[0076] If an embodiment includes an “and / or” relationship between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment has both the first feature and the second feature, and according to another embodiment, the embodiment has either only the first feature or only the second feature.

[0077] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative, not restrictive, unless otherwise stated. In specific implementations, multiple features may be combined with each other, where technically feasible, according to actual needs. Various substitutions, changes, and modifications may also be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for determining road conditions, the method comprising the following steps: During the driving process of the vehicle (1), tire characteristic information of the vehicle (1) and driver operation information are obtained, and audio information of each tire of the vehicle (1) moving on the road surface is recorded; configuring parameters of a tire model of a vehicle (1) based at least on the tire characteristic information and the driver manipulation information; as well as Information about the condition of a road surface on which the vehicle (1) is traveling is determined based at least on the recorded audio information and the configured tire model.

2. The method according to claim 1, wherein: The tire characteristic information includes tire model information and / or tire running time of the vehicle (1) sent via an RFID chip or other communication technology, and / or tire pressure information and / or tire temperature information detected by a temperature and pressure sensor, wherein the other communication technology includes NFC technology, Bluetooth technology, ZigBee technology, Wi-Fi technology, infrared communication technology, UWB communication technology, z-wave technology, Sigfox technology, NB-IoT technology and / or 5G communication technology; and / or The driver manipulation information includes steering wheel angle information detected by a steering angle sensor, vehicle acceleration information detected by an acceleration sensor, and / or vehicle speed information detected by a rotation speed sensor.

3. A method according to any one of the preceding claims, wherein: Evaluating the driver's driving style based on the driver's manipulation information, and evaluating the tire wear condition of the vehicle (1) based at least on the tire operating time and the evaluated driving style, and configuring parameters of the tire model of the vehicle (1) based at least on the tire model information, tire wear condition, tire pressure information and / or tire temperature information of the vehicle (1); and / or Information about the condition of the road on which the vehicle (1) is traveling is determined by comparing audio information recorded during the driving of the vehicle (1) with reference audio information recorded during the test of a tire with configured parameters on a standard road surface with various predetermined road conditions, wherein the road condition includes road weather conditions, road material information and / or road surface flatness, wherein the road weather conditions include road surface water conditions, road surface snow conditions and / or road surface icy conditions.

4. A method according to any one of the preceding claims, wherein: The method further comprises the following steps: The friction between each tire of the vehicle (1) and the road surface is determined based on at least the determined road condition information, the configured tire model, the vehicle load information and the tire position information.

5. A method according to any one of the preceding claims, wherein: The method further comprises the following steps: When the determined tire friction falls below a predetermined friction threshold, a warning message about the determined road condition is sent to the driver of the vehicle (1).

6. A method according to any one of the preceding claims, wherein: The method further comprises the following steps: Controlling the vehicle (1), in particular a chassis control system of the vehicle (1), based on the determined road condition information and / or the determined tire friction, wherein the chassis control system includes an anti-lock braking system, an electronic stability system and / or a launch control system; and / or The determined road surface condition information and / or tire friction is transmitted to other vehicles (2), service providers (3) and / or road safety authorities (4).

7. A vehicle control system (10), the vehicle control system (10) comprising: A characteristic information acquisition module (11) configured to acquire tire characteristic information of the vehicle (1) during the driving process of the vehicle (1); A manipulation information collection module (12) configured to collect driver manipulation information during the driving process of the vehicle (1); A sound collection module (13) configured to record audio information of each tire of the vehicle (1) moving on a road surface; and A control unit (14) configured to execute the method according to any one of claims 1 to 6.

8. The vehicle control system (10) according to claim 7, wherein: The vehicle control system (10) further comprises a notification module (15) configured to send a warning message about the determined road condition to a driver of the vehicle (1); and / or The vehicle control system (10) further comprises an on-board communication module (16) configured to send the determined road condition information and / or tire friction to other vehicles (2), service providers (3) and / or road safety agencies (4).

9. A vehicle (1), comprising a vehicle control system (10) according to claim 7 or 8. 10 . A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the method according to claim 1 .

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