Vehicle, control method and device thereof, controller and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle and a control method and device thereof, a controller and a storage medium, and the method comprises the steps: monitoring whether an abnormal target appears in front of a target vehicle or not in the driving process of the target vehicle; in response to monitoring that the abnormal target appears in front of the target vehicle, determining the distance between the target vehicle and the abnormal target; and according to the battery electric quantity of the target vehicle and the distance, controlling a brake pad of the target vehicle to brake and / or controlling a motor of the target vehicle to recover energy so as to decelerate the target vehicle. According to the control method, different braking modes can be selected according to the electric quantity of the battery of the vehicle and the distance between the vehicle and the abnormal target when the abnormal target is recognized on the road surface in front of the vehicle, safety accidents are avoided, and the personal safety of a driver and passengers is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a vehicle control method, a vehicle control device, a controller, a non-transitory computer-readable storage medium, and a vehicle. Background Art

[0002] When a vehicle is traveling on the road surface, if there is a sunken area on the road surface, the vehicle is prone to safety accidents, affecting driving safety. Currently, the popularity of automatic assisted driving in automobiles is increasing, and the active braking system is a very important safety function of automatic assisted driving. The active braking system brakes actively when the vehicle encounters a sudden danger or when the distance from the vehicle in front, a pedestrian, or an obstacle is less than the safe distance. It cannot guarantee complete avoidance of collisions, but only tries to reduce or avoid accidents such as rear-end collisions. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems in the related art to some extent. For this reason, the first object of the present invention is to propose a vehicle control method, which can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when an abnormal target appears in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0004] The second object of the present invention is to propose a vehicle control device.

[0005] The third object of the present invention is to propose a controller.

[0006] The fourth object of the present invention is to propose a non-transitory computer-readable storage medium.

[0007] The fifth object of the present invention is to propose a vehicle.

[0008] To achieve the above object, an embodiment of the first aspect of the present invention proposes a vehicle control method, including: during the driving process of the target vehicle, monitoring whether an abnormal target appears in front of the target vehicle; in response to monitoring that an abnormal target appears in front of the target vehicle, determining the distance between the target vehicle and the abnormal target; controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, so as to decelerate the target vehicle.

[0009] In addition, the vehicle control method according to the above embodiment of the present invention may further have the following additional technical features:

[0010] According to some embodiments of the present invention, the abnormal target includes at least one of the following identifiers: road surface potholes, road surface static obstacles, and road surface dynamic obstacles.

[0011] According to some embodiments of the present invention, monitoring whether an abnormal target appears in front of a target vehicle includes: obtaining a road condition image in front of the target vehicle through an in-vehicle road recognition device; performing image recognition on the road condition image; and determining whether an abnormal target appears in front of the target vehicle in response to recognizing a marker.

[0012] According to some embodiments of the present invention, controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle to perform energy recovery according to the battery power and distance of the target vehicle includes: determining whether the battery power reaches a preset power threshold; and controlling the brake pads of the target vehicle to brake in response to the battery power reaching the preset power threshold.

[0013] According to some embodiments of the present invention, the above method further includes: determining whether the distance is less than a preset distance in response to the battery power not reaching the preset power threshold; and controlling the brake pads of the target vehicle to brake and controlling the motor of the target vehicle to perform energy recovery in response to the distance being less than the preset distance.

[0014] According to some embodiments of the present invention, the above method further includes: controlling the motor of the target vehicle to perform energy recovery in response to the distance being not less than the preset distance.

[0015] A vehicle control method according to an embodiment of the present invention includes: during the driving of a target vehicle, monitoring whether an abnormal target appears in front of the target vehicle; determining the distance between the target vehicle and the abnormal target in response to monitoring that an abnormal target appears in front of the target vehicle; and controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle to perform energy recovery according to the battery power and distance of the target vehicle, so as to decelerate the target vehicle. Thus, this method can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when an abnormal target appears on the road in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0016] The second object of the present invention is to propose a vehicle control device, which can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when an abnormal target appears on the road in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0017] To achieve the above object, an embodiment of the second aspect of the present invention provides a vehicle control device, including: a detection module configured to monitor whether an abnormal target appears in front of a target vehicle during the driving of the target vehicle; a response module configured to determine the distance between the target vehicle and the abnormal target in response to monitoring that an abnormal target appears in front of the target vehicle; and a braking module configured to control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, so as to decelerate the target vehicle.

[0018] The vehicle control device according to an embodiment of the present invention includes: a detection module configured to monitor whether an abnormal target appears in front of a target vehicle during the driving of the target vehicle; a response module configured to determine the distance between the target vehicle and the abnormal target in response to monitoring that an abnormal target appears in front of the target vehicle; and a braking module configured to control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, so as to decelerate the target vehicle. Thus, when the device identifies an abnormal target on the road surface in front of the vehicle, it can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0019] To achieve the above object, an embodiment of the third aspect of the present invention provides a controller, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the above vehicle control method when executing the program.

[0020] The controller according to an embodiment of the present invention, through the above vehicle control method, can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when identifying an abnormal target on the road surface in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0021] To achieve the above object, an embodiment of the fourth aspect of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to implement the above vehicle control method.

[0022] The non-transitory computer-readable storage medium according to an embodiment of the present invention, by executing the above vehicle control method, can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when identifying an abnormal target on the road surface in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0023] To achieve the above object, an embodiment of the fifth aspect of the present invention provides a vehicle including the above controller.

[0024] According to the vehicle of the embodiment of the present invention, through the above-mentioned controller, when an abnormal target appears on the road surface in front of the vehicle, different braking methods can be selected according to the battery power of the vehicle and the distance between the vehicle and the abnormal target, so as to avoid safety accidents and ensure the personal safety of the passengers and drivers.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flowchart of a vehicle control method according to some embodiments of the present invention;

[0027] Figure 2 It is a schematic diagram of an application scenario of a vehicle control method according to some embodiments of the present invention;

[0028] Figure 3 It is a flowchart of a vehicle control method according to some other embodiments of the present invention;

[0029] Figure 4 It is a block diagram of a vehicle control device according to some embodiments of the present invention;

[0030] Figure 5 It is a block diagram of a controller according to some embodiments of the present invention;

[0031] Figure 6 It is a block diagram of a vehicle according to some embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To make the objectives, technical solutions, and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0033] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings understood by those of ordinary skill in the art to which the present invention belongs. The "first", "second", and similar terms used in the embodiments of the present invention do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0034] As described in the background art section, when a vehicle is traveling on a road surface, if there is a sunken area on the road surface, the vehicle is prone to safety accidents, affecting driving safety.

[0035] During the implementation of the present invention by the applicant, it is found that with the increasing popularity of automatic assisted driving in automobiles, the active braking system is a very important safety function of automatic assisted driving. The active braking system brakes actively when the vehicle encounters a sudden danger or when the distance from the vehicle in front, a pedestrian or an obstacle is less than the safe distance. It cannot guarantee complete avoidance of collisions, but only tries to reduce or avoid accidents such as rear-end collisions.

[0036] The vehicle control method, vehicle control device, controller, storage medium and vehicle proposed in the embodiments of the present invention will be described below with reference to the drawings.

[0037] Reference Figure 1 , which is a flowchart of a vehicle control method according to some embodiments of the present invention.

[0038] As Figure 1 shown, the vehicle control method according to the embodiments of the present invention may include the following steps:

[0039] S101, during the driving process of the target vehicle, monitor whether an abnormal target appears in front of the target vehicle.

[0040] Specifically, during the driving process of the target vehicle, an in-vehicle AI (Artificial Intelligence) road surface recognition device may be used to monitor whether an abnormal target appears in front of the target vehicle, where the abnormal target may be a sunken road surface, a vehicle, a pedestrian or other obstacles, etc.

[0041] S102, in response to monitoring that an abnormal target appears in front of the target vehicle, determine the distance between the target vehicle and the abnormal target.

[0042] Specifically, when it is monitored that an abnormal target appears in front of the target vehicle, the target vehicle may need to decelerate or stop. Then, first, an in-vehicle AI road surface recognition device may be used to determine the distance between the target vehicle and the abnormal target.

[0043] S103, according to the battery power of the target vehicle and the distance, control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to perform energy recovery, so as to decelerate the target vehicle.

[0044] Specifically, before enabling the motor for energy recovery, it is first necessary to determine the battery charge of the target vehicle. When the battery charge can accept charging, the motor can be enabled for energy recovery. When the battery is fully charged and cannot accept charging, the motor cannot be enabled for energy recovery.

[0045] After obtaining the distance between the target vehicle and the abnormal target and the battery charge of the target vehicle, the target vehicle is braked according to the battery charge of the target vehicle and the distance. For example, when the battery charge of the target vehicle is sufficient, since the battery is fully charged and cannot accept charging, the motor cannot be enabled for energy recovery, and only the brake pads of the target vehicle can be controlled to brake. Another example is that when the battery charge of the target vehicle is low (i.e., the battery charge can accept charging) and the distance between the target vehicle and the abnormal target is relatively close, in order to speed up parking, the brake pads of the target vehicle are controlled to brake and the motor of the target vehicle is controlled for energy recovery. Another example is that when the battery charge of the target vehicle is low and the distance between the target vehicle and the abnormal target is relatively far, the motor of the target vehicle is controlled for energy recovery. Thus, when an abnormal target appears on the road surface in front of the vehicle is recognized, different braking methods can be selected according to the battery charge of the vehicle and the distance between the vehicle and the abnormal target, avoiding safety accidents and ensuring the personal safety of the passengers and drivers.

[0046] As a specific embodiment, refer to Figure 2 , which is a schematic diagram of the application scenario of the vehicle control method according to some embodiments of the present invention. When it is recognized by the in-vehicle AI road surface recognition device that there is a collapse area on the road surface in front of the vehicle, the distance between the vehicle and the collapse area is obtained, and the in-vehicle AI road surface recognition device sends the distance between the vehicle and the collapse area to the controller. When the vehicle is relatively close to the collapse area, the controller starts to control the motor to recover the kinetic energy of the vehicle and the brake pads to brake; when the vehicle is relatively far from the collapse area, the controller starts to control the motor for energy recovery; after the state of charge (SOC) of the battery reaches 99% during energy recovery, the controller only uses the brake pads to brake, so that the vehicle stops within a safe range from the collapse area, thereby avoiding safety accidents.

[0047] In some embodiments of the present invention, the abnormal target includes at least one of the following identifiers: road surface potholes, road surface static obstacles, and road surface dynamic obstacles.

[0048] Specifically, the abnormal target may include at least one of road surface potholes, road surface static obstacles, and road surface dynamic obstacles. Among them, the road surface static obstacles can be parked vehicles on the road surface, fallen big trees on the road surface, etc., and the road surface dynamic obstacles can be moving vehicles, moving people, moving animals, etc. A road surface pothole refers to a local depression or damaged area on the road. These depressions are usually caused by wear, aging, water erosion of the road surface material or the action of vehicle loads, which may lead to unstable driving, vehicle damage, and even traffic accidents. If the pothole area on the road surface is not repaired, the road surface potholes will always exist.

[0049] In some embodiments of the present invention, monitoring whether an abnormal target appears in front of the target vehicle includes: obtaining a road condition image in front of the target vehicle through an in-vehicle road surface recognition device; performing image recognition on the road condition image; and determining whether an abnormal target appears in front of the target vehicle in response to identifying a marker.

[0050] Specifically, a road condition image in front of the target vehicle is obtained through an in-vehicle road surface recognition device. Among them, the in-vehicle road surface recognition device can be multiple cameras, which are arranged on the outer shell of the vehicle close to the corresponding shooting direction to collect road condition images of the corresponding direction. Then, image recognition is performed on the road condition image, that is, preprocessing operations such as denoising and brightness adjustment are performed on the road condition image in front of the target vehicle to improve the image quality. A feature extraction algorithm is designed according to the collected vibration acceleration signal for feature extraction of the road surface topography. The data of different sensors are integrated, and multi-dimensional feature fusion is realized through the bilinear pooling method to improve the accuracy of road surface recognition. A deep learning model, such as a convolutional neural network, is used to process and recognize the image. The model learns the features of the road surface through training, so as to be able to recognize different road surface types. A semantic segmentation model is applied to analyze the road surface image, classify and label different road surface types in the image to achieve more detailed road surface recognition. The transfer learning technology is introduced to apply the knowledge learned from one road surface type recognition model to another model to improve the model's ability to extract road surface features. The image data is analyzed to understand the semantic information of the real-time traffic scene, including vehicles, pedestrians, road conditions, etc., to provide support for the decision-making and control of the vehicle. The category of the currently traveled road surface is obtained according to the model prediction result to provide road condition information for the vehicle, help the vehicle adjust the vehicle speed and vehicle distance in time according to the road condition information, and reduce the occurrence of traffic accidents.

[0051] When a marker is recognized, an abnormal target may appear in front of the target vehicle, and braking is required to stop the vehicle within a safe range from the abnormal target.

[0052] As an alternative embodiment, when no identifier is recognized but a control instruction from the driver is received, the brake pads of the target vehicle can be controlled to brake and / or the motor of the target vehicle can be controlled for energy recovery according to the control instruction. For example, when the driver performs an emergency brake, it indicates that rapid deceleration or stopping is required at this time, and the brake pads can be selected for braking. If the stroke of the driver's brake pedal changes slowly, it means that smooth deceleration or stopping is required at this time, and the motor of the target vehicle can be controlled for energy recovery to decelerate the target vehicle.

[0053] In some embodiments of the present invention, controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle for energy recovery according to the battery power and distance of the target vehicle includes: determining whether the battery power reaches a preset power threshold; in response to the battery power reaching the preset power threshold, controlling the brake pads of the target vehicle to brake. Wherein, the preset power threshold can be calibrated according to the actual situation. For example, the preset power threshold can be 99%.

[0054] Specifically, after obtaining the battery power of the target vehicle, compare the battery power with the preset power threshold to determine whether the battery power reaches the preset power threshold. When the battery power reaches the preset power threshold, it indicates that the battery power is relatively high and there is no need to charge the battery, and it is no longer possible to charge the battery by controlling the motor of the target vehicle for energy recovery. At this time, control the brake pads of the target vehicle to brake. Among them, the braking system usually consists of components such as a brake pedal, a master cylinder, a wheel cylinder (also called a brake caliper), brake pads, and a brake disc. When the driver presses the brake pedal, this action generates hydraulic pressure through the master cylinder. The hydraulic pressure generated by the master cylinder is transmitted to the wheel cylinders of each wheel through the brake hoses. After the wheel cylinders (calipers) receive the hydraulic pressure, they will push the brake pads against the brake disc (or brake drum). The friction between the brake pads and the brake disc (or brake drum) generates a large amount of heat, and this frictional force can convert the kinetic energy of the vehicle into heat energy, thereby achieving deceleration or stopping. Brake pads are usually made of a variety of materials, including metals, ceramics, and organic materials, etc., and these materials need to have good friction performance and heat resistance.

[0055] In some embodiments of the present invention, the above method further includes: in response to the battery power not reaching the preset power threshold, determining whether the distance is less than a preset distance; in response to the distance being less than the preset distance, controlling the brake pads of the target vehicle to brake and controlling the motor of the target vehicle for energy recovery. Wherein, the preset distance can be calibrated according to the actual situation.

[0056] Specifically, when the battery power does not reach the preset power threshold, it indicates that the battery power is low and the battery needs to be charged. The battery can be charged by controlling the motor of the target vehicle to perform energy recovery. Compare the distance between the target vehicle and the abnormal target with the preset distance to determine whether the distance between the target vehicle and the abnormal target is less than the preset distance. When the distance between the target vehicle and the abnormal target is less than the preset distance, it means that the distance between the target vehicle and the abnormal target is relatively close and rapid braking is required. At this time, control the brake pads of the target vehicle to brake and control the motor of the target vehicle to perform energy recovery to accelerate braking, so that the target vehicle stops within the safe range from the abnormal target, avoiding safety accidents and ensuring the personal safety of the driver and passengers. Among them, controlling the motor of the target vehicle to perform energy recovery means converting the kinetic energy of the target vehicle into electrical energy to reduce the vehicle speed.

[0057] In some embodiments of the present invention, the above method further includes: in response to the distance being not less than the preset distance, controlling the motor of the target vehicle to perform energy recovery.

[0058] Specifically, when the distance between the target vehicle and the abnormal target is not less than the preset distance, it means that the distance between the target vehicle and the abnormal target is relatively far and rapid braking is not required. At this time, control the motor of the target vehicle to perform energy recovery to decelerate the target vehicle, so that the target vehicle stops within the safe range from the abnormal target, avoiding safety accidents and ensuring the personal safety of the driver and passengers.

[0059] As a specific embodiment, as Figure 3 shown, the flowchart of the vehicle control method of the present invention may include the following steps:

[0060] S301, obtain the road condition image in front of the target vehicle through the on-vehicle road surface recognition device, and perform image recognition on the road condition image.

[0061] S302, determine whether an abnormal target appears in front of the target vehicle. If yes, execute step S303; if no, end this process.

[0062] S303, determine whether the battery power reaches the preset power threshold. If yes, execute step S304; if no, execute step S305.

[0063] S304, control the brake pads of the target vehicle to brake.

[0064] S305, determine whether the distance between the target vehicle and the abnormal target is less than the preset distance. If yes, execute step S306; if no, execute step S307.

[0065] S306, control the brake pads of the target vehicle to brake and control the motor of the target vehicle to perform energy recovery.

[0066] S307, control the motor of the target vehicle to perform energy recovery.

[0067] In summary, the vehicle control method according to the embodiments of the present invention includes: during the driving process of the target vehicle, monitoring whether an abnormal target appears in front of the target vehicle; in response to monitoring that an abnormal target appears in front of the target vehicle, determining the distance between the target vehicle and the abnormal target; controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle to perform energy recovery according to the battery power and the distance of the target vehicle, so as to decelerate the target vehicle. Thus, this method can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target when identifying an abnormal target on the road surface in front of the vehicle, avoid safety accidents, and ensure the personal safety of the passengers and drivers.

[0068] It should be noted that the method of the embodiments of the present invention can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiments of the present invention, and these multiple devices will interact with each other to complete the above method.

[0069] It should be noted that some embodiments of the present invention have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the above embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0070] Corresponding to the above embodiments, the present invention also proposes a vehicle control device.

[0071] As Figure 4 shown, the vehicle control device according to the embodiments of the present invention includes: a detection module 410, a response module 420, and a braking module 430.

[0072] Among them, a detection module 410 is configured to monitor whether an abnormal target appears in front of the target vehicle during the driving of the target vehicle; a response module 420 is configured to determine the distance between the target vehicle and the abnormal target in response to monitoring that an abnormal target appears in front of the target vehicle; a braking module 430 is configured to control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, so as to decelerate the target vehicle.

[0073] In some embodiments of the present invention, the abnormal target may include at least one of the following identifiers: road surface potholes, road surface static obstacles, and road surface dynamic obstacles.

[0074] In some embodiments of the present invention, the detection module 410 monitors whether an abnormal target appears in front of the target vehicle, specifically for: obtaining a road condition image in front of the target vehicle through an in-vehicle road surface recognition device; performing image recognition on the road condition image; and the response module 420 determines whether an abnormal target appears in front of the target vehicle in response to recognizing an identifier.

[0075] In some embodiments of the present invention, the braking module 430 controls the brake pads of the target vehicle to brake and / or controls the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, specifically for: determining whether the battery power reaches a preset power threshold; and in response to the battery power reaching the preset power threshold, controlling the brake pads of the target vehicle to brake.

[0076] In some embodiments of the present invention, the braking module 430 is further configured to, in response to the battery power not reaching the preset power threshold, determine whether the distance is less than a preset distance; and in response to the distance being less than the preset distance, control the brake pads of the target vehicle to brake and control the motor of the target vehicle to perform energy recovery.

[0077] In some embodiments of the present invention, the braking module 430 is further configured to, in response to the distance being not less than the preset distance, control the motor of the target vehicle to perform energy recovery.

[0078] It should be noted that for the details not disclosed in the vehicle control device of the embodiments of the present invention, please refer to the details disclosed in the vehicle control method of the embodiments of the present invention, and will not be elaborated here.

[0079] In summary, the vehicle control device according to an embodiment of the present invention includes: a detection module configured to monitor whether an abnormal target appears in front of a target vehicle during the driving of the target vehicle; a response module configured to determine the distance between the target vehicle and the abnormal target in response to monitoring that an abnormal target appears in front of the target vehicle; and a braking module configured to control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to perform energy recovery according to the battery power of the target vehicle and the distance, so as to decelerate the target vehicle. Thus, when the device recognizes an abnormal target on the road surface in front of the vehicle, it can select different braking methods according to the battery power of the vehicle and the distance between the vehicle and the abnormal target, avoiding safety accidents and ensuring the personal safety of the passengers and drivers.

[0080] For the convenience of description, when describing the above system, various modules are described separately according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in one or more software and / or hardware.

[0081] The system of the above embodiment is used to implement the corresponding method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be elaborated here.

[0082] Corresponding to the above embodiment, the present invention also proposes a controller.

[0083] Referring to Figure 5 , which is a block diagram of a controller according to some embodiments of the present invention, showing a more specific schematic diagram of the hardware structure of the controller provided in this embodiment. The controller may include: a processor 510, a memory 520, an input / output interface 530, a communication interface 540, and a bus 550. Among them, the processor 510, the memory 520, the input / output interface 530, and the communication interface 540 are communicatively connected to each other inside the controller through the bus 550.

[0084] The processor 510 may be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0085] The memory 520 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 520 can store the operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 520 and are called and executed by the processor 510.

[0086] The input / output interface 530 is used to connect to the input / output module to implement information input and output. The input / output module can be configured as a component in the controller (not shown in the figure) or externally connected to the controller to provide corresponding functions. The input controller can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output controller can include a display, a speaker, a vibrator, an indicator light, etc.

[0087] The communication interface 540 is used to connect to the communication module (not shown in the figure) to implement communication and interaction between this controller and other controllers. The communication module can implement communication in a wired manner (such as USB, network cable, etc.) or in a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0088] The bus 550 includes a path for transmitting information between various components of the controller (such as the processor 510, the memory 520, the input / output interface 530, and the communication interface 540).

[0089] It should be noted that although the above-mentioned controller only shows the processor 510, the memory 520, the input / output interface 530, the communication interface 540, and the bus 550, in the specific implementation process, this controller may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above-mentioned controller may also only include the components necessary for implementing the solutions of the embodiments of this specification and do not necessarily include all the components shown in the figure.

[0090] The controller in the above-mentioned embodiment is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0091] Based on the same inventive concept, corresponding to the method in any of the above embodiments, the present invention also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the method in any of the foregoing embodiments.

[0092] The above non-transitory computer-readable storage medium may be any available medium or data storage device accessible by a computer, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drives (SSD)), etc.

[0093] The computer instructions stored in the storage medium of the above embodiments are used to cause a computer to execute the method of any one of the embodiments in the above exemplary method part, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated herein.

[0094] Corresponding to the above embodiments, the present invention also provides a vehicle.

[0095] Reference Figure 6 , is a block diagram of a vehicle according to some embodiments of the present invention. The vehicle 600 includes the above controller 500.

[0096] According to the vehicle of the embodiment of the present invention, through the above controller, when an abnormal target appears on the road surface in front of the vehicle, different braking methods can be selected according to the battery power of the vehicle and the distance between the vehicle and the abnormal target, so as to avoid safety accidents and ensure the personal safety of the driver and passengers.

[0097] In addition, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the shown operations must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can be changed in the order of execution. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0098] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0099] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second" and similar terms used in the embodiments of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "include" or "comprise" mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. The terms such as "connect" or "couple" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0100] Although the spirit and principles of the present invention have been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the specific embodiments disclosed, and the division of each aspect does not mean that the features in these aspects cannot be combined for benefits. Such division is only for convenience of expression. The present invention aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A vehicle control method, characterized in that: include: During the driving process of the target vehicle, monitoring whether there is an abnormal target in front of the target vehicle; In response to monitoring the presence of an abnormal target in front of the target vehicle, determining a distance between the target vehicle and the abnormal target; According to the battery power of the target vehicle and the distance, the brake pads of the target vehicle are controlled to brake and / or the motor of the target vehicle is controlled to recover energy, so as to decelerate the target vehicle.

2. The vehicle control method according to claim 1, characterized in that: The abnormal target includes at least one of the following identifiers: Potholes on the road, static obstacles on the road and dynamic obstacles on the road.

3. The vehicle control method according to claim 2, characterized in that: The monitoring whether an abnormal target appears in front of the target vehicle includes: Acquiring a road condition image in front of the target vehicle through an on-board road surface recognition device; Performing image recognition on the road condition image; In response to identifying the marker, it is determined whether an abnormal object appears in front of the target vehicle.

4. The vehicle control method according to claim 3, characterized in that: The controlling the brake pads of the target vehicle to brake and / or controlling the motor of the target vehicle to recover energy according to the battery power of the target vehicle and the distance includes: Determining whether the battery power reaches a preset power threshold; In response to the battery power reaching the preset power threshold, the brake pads of the target vehicle are controlled to brake.

5. The vehicle control method according to claim 4, characterized in that: The method further comprises: In response to the battery power not reaching the preset power threshold, determining whether the distance is less than a preset distance; In response to the distance being less than the preset distance, the brake pads of the target vehicle are controlled to brake and the motor of the target vehicle is controlled to recover energy.

6. The vehicle control method according to claim 5, characterized in that: The method further comprises: In response to the distance being not less than the preset distance, controlling the motor of the target vehicle to perform energy recovery.

7. A vehicle control device, characterized in that: include: The detection module is configured to monitor whether an abnormal target appears in front of the target vehicle during the driving process of the target vehicle; A response module, configured to determine a distance between the target vehicle and the abnormal target in response to monitoring the abnormal target in front of the target vehicle; The braking module is configured to control the brake pads of the target vehicle to brake and / or control the motor of the target vehicle to recover energy according to the battery power of the target vehicle and the distance, so as to slow down the target vehicle.

8. A controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the vehicle control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to implement the vehicle control method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: Comprising a controller as claimed in claim 8.

Images