Vehicle control method, vehicle and computer readable storage medium

Abstract

The invention relates to the field of vehicle control, in particular to a vehicle control method, a vehicle and a computer readable storage medium. The vehicle control method comprises the steps that under the condition that a vehicle is in an unlocking state, the current environment information of the vehicle is obtained, and the environment information comprises road information and obstacle position information; in response to a gear shifting instruction of the gear shifting element, predicting a target gear of the gear shifting element and a driving range matched with the target gear; based on the obstacle position information and the road information, detecting whether the vehicle cannot run normally in the running range; and under the condition that it is detected that the vehicle cannot run normally, the gear shifting element is allowed to switch the current gear to the target gear. According to the method and the device, the situation that when a driver mistakenly switches the gear and drives the vehicle, objects or people around the vehicle are possibly injured can be avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and particularly to a vehicle control method, a vehicle, and a computer-readable storage medium. Background Art

[0002] When the driver is inside the vehicle, the driver's field of vision is greatly restricted, making it impossible for the driver to clearly and timely understand the external environment where the vehicle is located. In this case, if the driver mistakenly switches gears and drives the vehicle, there may be a situation of damaging objects or personnel on the periphery of the vehicle. Summary of the Invention

[0003] In view of the above, embodiments of this application provide a vehicle control method, a vehicle, and a computer-readable storage medium, aiming to solve the problem that when the driver mistakenly switches gears and drives the vehicle, there may be a situation of damaging objects or personnel on the periphery of the vehicle.

[0004] In a first aspect, an embodiment of this application provides a vehicle control method, which is applied to a vehicle. The vehicle includes a shift element for switching the gear in which the vehicle is located. The vehicle control method includes: when the vehicle is in an unlocked state, obtaining the environmental information of the vehicle, where the environmental information includes road information and obstacle position information; in response to a shift instruction of the shift element, predicting the target gear of the shift element and the driving range matching the target gear; based on the obstacle position information and the road information, detecting whether the vehicle cannot drive normally within the driving range; and when it is detected that the vehicle can drive normally, allowing the shift element to switch the current gear to the target gear.

[0005] In the embodiment of this application, when the vehicle is in an unlocked state, through the obtained environmental information, the obstacle position information and road information of the obstacles in the external environment where the vehicle is located can be clearly and timely understood. When responding to the shift instruction of the shift element, the target gear to be switched and the driving range are predicted. When it is detected that the vehicle can drive normally, it indicates that there is no collision risk between the vehicle and the obstacles when the vehicle drives through the driving range in the target gear, and the vehicle can smoothly drive through the road within the driving range. At this time, the shift element can be allowed to switch the current gear to the target gear so that the driver can drive the vehicle subsequently. Thus, the driving safety of the vehicle and the safety of objects or personnel on the periphery of the vehicle are ensured.

[0006] In some embodiments, the obstacle position information includes first static position information and second static position information; detecting whether the vehicle cannot travel normally within the driving range based on the obstacle position information and the road information includes: determining the first obstacle and the second obstacle with the shortest distances based on the obstacle position information; obtaining the first static position information of the first obstacle and the second static position information of the second obstacle; calculating the static distance between the first static position information and the second static position information; determining road surface deviation data based on the road information, where the road surface deviation data is the deviation value of the unevenness amount in the longitudinal direction of the road where the vehicle is located; and detecting whether the vehicle cannot travel normally within the driving range based on the static distance and the road surface deviation data.

[0007] In some embodiments, detecting whether the vehicle cannot travel normally within the driving range includes at least one of the following: detecting whether the road surface deviation data is greater than the ground clearance distance; detecting whether the static distance is greater than the body width of the vehicle; and when both the first obstacle and the second obstacle are within the turning area, detecting whether the static distance is greater than the body turning radius; where the ground clearance distance is the vertical distance between the chassis of the vehicle and the convex or concave point of the road, the turning area is the spatial range covered by the movement trajectory of the vehicle body when the vehicle turns, and the body turning radius is the radius of the circular motion trajectory formed by the outermost point of the vehicle body with the geometric center of the vehicle as the center during the steering process of the vehicle.

[0008] In some embodiments, when it is detected that the vehicle can travel normally, allowing the shift element to switch the current gear to the target gear includes: when the road surface deviation data is less than the ground clearance distance, the static distance is greater than the body width, and the static distance is greater than the body turning radius, allowing the shift element to switch the current gear to the target gear.

[0009] In some embodiments, the vehicle is provided with a liftable suspension, and the liftable suspension is used to adjust the height between the chassis and the road surface; after detecting whether the vehicle can travel normally within the driving range based on the static distance and the road surface deviation data, the method further includes: when the road surface deviation data is not less than the ground clearance distance, the static distance is greater than the vehicle body width, and the static distance is greater than the turning radius of the vehicle body, calculating the data difference between the road surface deviation data and the ground clearance distance; obtaining an adjustment height, where the adjustment height is to control the liftable suspension to adjust the distance difference between the chassis and the road surface; when the adjustment height is greater than the data difference, controlling the liftable suspension to raise the chassis in a direction away from the road surface, and when the road surface deviation data is less than the new ground clearance distance, allowing the shift element to switch the current gear to the target gear.

[0010] In some embodiments, the vehicle includes an air conditioning system, a display device, and lighting elements. The air conditioning system is provided with a plurality of air outlets located at different positions of the vehicle. The display device is disposed inside the vehicle, and the lighting elements are disposed around the inside of the vehicle; after allowing the shift element to switch the current gear to the target gear, the method further includes: adjusting the display parameters of the lighting elements in the warning area, and / or adjusting the air volume of the air outlets in the warning area, and / or controlling the display device to display the target gear, where the warning area is the inner area of the vehicle matching the target gear.

[0011] In some embodiments, the environmental information further includes the movement data of dynamic obstacles. The vehicle includes an air conditioning system, seats, and lighting elements. The air conditioning system is provided with a plurality of air outlets located at different positions of the vehicle. Each seat is provided with a plurality of vibration devices, and each vibration device corresponds to one position of the vehicle. The lighting elements are disposed around the inside of the vehicle; after allowing the shift element to switch the current gear to the target gear, the method further includes: based on the movement data, determining the orientation data of the dynamic obstacle relative to the vehicle in front of the driving direction of the vehicle; controlling the vibration device matching the orientation data to vibrate, and / or adjusting the display parameters of the lighting elements in the target area, and / or increasing the air volume of the air outlet matching the orientation data, where the target area is the inner area of the vehicle matching the orientation data.

[0012] In some embodiments, after allowing the shift element to switch the current gear to the target gear, the method further includes: obtaining environmental information within a preset range in front of the vehicle in the driving direction; based on the environmental information, detecting whether there is a blocked road within the preset range, where the blocked road is a road on which the vehicle cannot pass normally; and triggering vehicle braking when it is detected that there is a blocked road within the preset range.

[0013] In some embodiments, the environmental information further includes movement data of dynamic obstacles; after allowing the shift element to switch the current gear to the target gear, the method further includes: during the driving of the vehicle, obtaining the driving route of the vehicle; predicting the movement route of the dynamic obstacle based on the movement data; and controlling the driving speed of the vehicle based on the driving route and the movement route.

[0014] In some embodiments, the environmental information further includes movement data of dynamic obstacles; after allowing the shift element to switch the current gear to the target gear, the method further includes: during the driving of the vehicle, obtaining the steering wheel angle of the vehicle; calculating a target angle, where the target angle is the angle by which the steering wheel of the vehicle needs to be turned when there is no collision risk predicted between the vehicle and the dynamic obstacle; calculating the angle difference between the steering wheel angle and the target angle; and controlling the steering wheel to turn by the target angle when the angle difference is greater than a preset angle difference.

[0015] In a second aspect, an embodiment of the present application further provides a vehicle, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the vehicle control method as described in the first aspect.

[0016] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions run on an electronic device, the electronic device is caused to execute the vehicle control method as described in the first aspect. Description of the Drawings

[0017] Figure 1 It is a flowchart of steps of a vehicle control method provided by an embodiment of the present application.

[0018] Figure 2 It is another flowchart of steps of a vehicle control method provided by an embodiment of the present application.

[0019] Figure 3 It is a flowchart of steps of the vehicle control method provided by an embodiment of the present application after executing step 104.

[0020] Figure 4 Another flowchart of steps after the vehicle control method provided by the embodiment of the present application executes step 104.

[0021] Figure 5 Schematic diagram of the distribution of multiple vibration devices provided by an embodiment of the present application.

[0022] Figure 6 Another flowchart of steps after the vehicle control method provided by the embodiment of the present application executes step 104.

[0023] Figure 7 Another flowchart of steps after the vehicle control method provided by the embodiment of the present application executes step 104.

[0024] Figure 8 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0025] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the implementation manners of the present application and the features in the implementation manners can be combined with each other.

[0026] Many specific details are set forth in the following description in order to fully understand the present application. The described implementation manners are only a part of the implementation manners of the present application, rather than all of the implementation manners.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific implementation manners, and are not intended to limit the present application.

[0028] Further, it should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0029] In this application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0030] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0031] The embodiments of this application provide a vehicle control method, a vehicle, and a computer-readable storage medium.

[0032] The vehicle control method of this application can be applied to a vehicle. Specifically, the vehicle control method can be applied to one or more electronic devices in the vehicle. Among them, the vehicle can be a fuel vehicle, a new energy vehicle, an engineering vehicle, etc. This application does not limit the specific type of the vehicle.

[0033] The electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, a processor, a microprogrammed control unit (MCU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc. The electronic device can be an in-vehicle processor of the vehicle, such as a vehicle controller, an electronic control unit, etc., but is not limited thereto.

[0034] The electronic device is communicatively connected to an in-vehicle sensor in the vehicle. The in-vehicle sensor can be an image sensor, a radar sensor, etc., but is not limited thereto. The sensor can be used to collect the environmental information of the vehicle and transmit the environmental information to the electronic device.

[0035] Among them, the environmental information can reflect the situation of the driving environment where the vehicle is located. The environmental information may include, but is not limited to, the road images and laser point cloud data collected by on-vehicle sensors.

[0036] After the sensor collects the environmental information, when the electronic device needs to switch the gear of the vehicle according to the environmental information, it can execute the vehicle control method. Among them, a shifting element is provided in the vehicle, and the shifting element is used to switch the gear of the vehicle. In this embodiment, the shifting element may be a shift lever or a shift paddle.

[0037] When the vehicle control method of the embodiment of the present application needs to switch the gear of the vehicle, it can determine whether to allow gear shifting based on the analysis of the environmental information.

[0038] The vehicle control method may include: when the vehicle is in an unlocked state, obtaining the environmental information where the vehicle is currently located, the environmental information including road information and obstacle position information; in response to the shifting instruction of the shifting element, predicting the target gear of the shifting element and the driving range matching the target gear; based on the obstacle position information and road information, detecting whether the vehicle cannot drive normally within the driving range; when it is detected that the vehicle can drive normally, allowing the shifting element to switch the current gear to the target gear.

[0039] In the embodiment of the present application, when the vehicle is in an unlocked state, through the obtained environmental information, the obstacle position information and road information of static obstacles and dynamic obstacles in the external environment where the vehicle is located can be clearly obtained in time. In response to the shifting instruction of the shifting element, the target gear to be switched and the driving range are predicted. When it is detected that the vehicle can drive normally, it indicates that when the vehicle is driving in the driving range in the target gear, there is no collision risk between the vehicle and the obstacles, and the vehicle can smoothly drive through the road within the driving range. At this time, the shifting element can be allowed to switch the current gear to the target gear so that the driver can drive the vehicle subsequently. Thus, the driving safety of the vehicle and the safety of objects or personnel around the vehicle are ensured.

[0040] Refer to Figure 1 as shown in Figure 1 is a flowchart of the steps of an embodiment of the vehicle control method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The vehicle control method may include the following steps.

[0041] Step 101, when the vehicle is in an unlocked state, obtain the environmental information where the vehicle is currently located.

[0042] In this embodiment, when the user approaches the vehicle and the unlocking device of the vehicle is within a preset range of the vehicle, or when the user opens the vehicle door, the electronic device will send an unlocking instruction. After the vehicle receives the unlocking instruction, the vehicle is unlocked. At this time, the vehicle is in an unlocked state.

[0043] In some embodiments, the environmental information includes road information and obstacle position information. Among them, the road information may include the road surface image of the road where the vehicle is located, and the road condition information can be obtained from the road surface image. For example, when there are potholes or bumps on the road where the vehicle is located, the vehicle can determine that there are potholes or bumps in the road from the road surface image.

[0044] The obstacle position information may include the position information of static obstacles and the position information of dynamic obstacles. Among them, in this embodiment, a static obstacle is an object that does not change its position over time or with the movement of the vehicle during the driving process of the vehicle. Among them, static obstacles may include traffic signs, traffic lights, street lights and lighting facilities, buildings, bridges, culverts, municipal facilities (such as recycling bins, mailboxes and telephone booths), trees, flower beds, isolation belts, guardrails and railings, etc. Dynamic obstacles include, but are not limited to, people, moving vehicles and animals.

[0045] When the vehicle is in an unlocked state, the electronic device can collect environmental information such as camera images and laser point cloud data of the vehicle's current location from in-vehicle sensors.

[0046] Specifically, the in-vehicle sensor obtains the environmental information within a preset acquisition range of the current position of the vehicle. The preset acquisition range can be a circular range centered on the current position of the vehicle with a preset radius. The preset radius can be 5 meters, 6 meters or 10 meters, and the present application does not limit the specific value of the preset radius. Alternatively, the preset acquisition range can also be the range where a quadrilateral formed by a first preset length and a first preset width is centered on the current position of the vehicle, and the first preset length and the first preset width can be set according to the actual situation. In other embodiments, the preset acquisition range can also be a triangular area, a polygonal area or an irregular area, and the present application does not limit the specific shape of the preset acquisition range.

[0047] It should be noted that in daily traffic roads, in order to ensure the driving safety of each vehicle, road facility obstacles such as stone piers, curbs, speed bumps, isolation belts, guardrails and railings need to be set on the road. When the height of one or more road facility obstacles is greater than the preset facility height, these one or more road facility obstacles are regarded as static obstacles. Otherwise, these one or more road facility obstacles are regarded as bumps on the road. Among them, the preset height can be 10 cm or 8 cm, and the present application does not limit it.

[0048] For example, the heights of the curb and the speed bump are less than the preset facility height. Therefore, the curb and the speed bump are protrusions on the road. The heights of the bollard, the median strip, the guardrail, and the railing are greater than the preset facility height. Therefore, the bollard, the median strip, the guardrail, and the railing are static obstacles.

[0049] Step 102: In response to the shifting instruction of the shifting element, predict the target gear of the shifting element and the driving range matching the target gear.

[0050] In this embodiment, the vehicle-mounted sensor is further configured to collect a shifting image including the shifting element, so that the subsequent electronic device can analyze the shifting image in response to the shifting instruction of the shifting element to predict the target gear that the driver wants to switch to in a timely manner.

[0051] Specifically, the vehicle-mounted sensor sends the shifting image to the electronic device, and the electronic device can perform image analysis on the shifting image to predict the target gear to be switched and the driving range matching the target gear. For example, if the current gear of the vehicle is the P gear and the shifting element is a circular shifting knob, when the driver rotates the shifting knob clockwise (in the clockwise direction, the next gear after the P gear is the D gear), it is predicted that the target gear is the D gear. At the same time, the driving range matching the D gear is predicted. Since the target gear is the D gear, the driving range is the road area directly in front of the vehicle.

[0052] When the driver rotates the shifting knob counterclockwise (in the counterclockwise direction, the next gear after the P gear is the R gear), it is predicted that the target gear is the R gear. At the same time, the driving range matching the R gear is predicted. Since the target gear is the R gear, the driving range is the road area directly behind the vehicle.

[0053] In this embodiment, the driving range can be a road area in front of the vehicle with a length of a first preset length starting from the front of the vehicle. The first preset length can be 10 meters, 15 meters, or 20 meters.

[0054] Since it is often necessary to operate the shifting element in two opposite directions when switching from the P gear or the N gear to the D gear or the R gear, the target gear of the shifting element predicted based on the shifting image can achieve highly accurate prediction.

[0055] Step 103: Based on the obstacle position information and the road information, detect whether the vehicle cannot drive normally within the driving range.

[0056] In this embodiment, the coordinate data of the obstacle can be obtained from the obstacle position information, and the road conditions can be obtained from the road information. For example, the coordinate data of the static obstacle and the dynamic obstacle can be obtained from the obstacle position information.

[0057] Therefore, based on the obstacle position information and road information, it is possible to determine whether the static obstacles affect the vehicle's passage and whether the road conditions are suitable for the vehicle's passage, so as to detect whether the vehicle cannot drive normally within the driving range.

[0058] Due to differences in natural geographical features and road infrastructure, etc., the environments where the vehicle is located at different positions are also different. In one embodiment, when the vehicle is currently in a wasteland and the environmental information within the preset acquisition range collected by the vehicle-mounted sensor only includes a traffic sign, at this time, the number of static obstacles is 1, and it is only necessary to detect whether the vehicle cannot drive normally within the driving range based on the road information in the environmental information.

[0059] In another embodiment, for example, when the vehicle is on the side of a lane, there are street lights on one side of the lane and a median strip on the other side. At this time, the number of static obstacles is 2, and it is necessary to detect whether the vehicle cannot drive normally within the driving range based on the obstacle position information and road information.

[0060] In yet another embodiment, for example, when the vehicle is in a parking space in a parking lot, there are other vehicles parked on both sides of the parking space, and there is a wall directly behind the vehicle. At this time, the number of static obstacles is greater than 2, and it is also necessary to detect whether the vehicle cannot drive normally within the driving range based on the obstacle position information and road information.

[0061] It should be noted that the vehicle can drive normally within the driving range means that when the vehicle passes through the driving range, there will be no situation of rubbing or colliding with obstacles and there will also be no rubbing situation between the vehicle and the road.

[0062] The specific steps for detecting whether the vehicle cannot drive normally within the driving range based on the obstacle position information and road information are described in detail below. To avoid repetition, they will not be elaborated here.

[0063] Step 104, when it is detected that the vehicle can drive normally, allow the shift element to switch the current gear to the target gear.

[0064] In this embodiment, when it is detected that the vehicle can drive normally, it indicates that the static obstacles do not affect the normal passage of the vehicle, and the road surface also allows the vehicle to pass normally. At this time, the driver is allowed to operate the shift element to switch the current gear to the target gear, so that after switching the current gear of the vehicle to the target gear, the driver can drive the vehicle.

[0065] When it is detected that the vehicle cannot drive normally, it indicates that static obstacles affect the normal passage of the vehicle. When the vehicle is driving in the target gear, there may be a situation of colliding with static obstacles, or the road surface does not allow the vehicle to drive normally. When the vehicle is driving in the target gear, it may cause the situation that the road surface bumps against the outer side of the vehicle body. Therefore, in order to ensure the driving safety of the driver, the driver is not allowed to switch the current gear to the target gear. At the same time, the vehicle can also emit sound and light reminders to remind the driver of the existence of static obstacles on the outer periphery of the vehicle, or information such as poor road conditions. In this embodiment, the sound and light reminders can be displayed through devices such as a display screen and a speaker set in the vehicle.

[0066] It should be noted that it is also possible to detect whether the vehicle cannot drive normally within the driving range based on the coordinate information of dynamic obstacles and road information during gear shifting of the shift element. If it is detected that the vehicle does not have a situation where it cannot drive normally within the driving range, the shift element is allowed to switch the current gear to the target gear. Otherwise, the shift element is not allowed to switch the current gear to the target gear, and a sound and light reminder is issued.

[0067] Compared with the prior art, the embodiments of the present application have the following advantages:

[0068] In the embodiments of the present application, when the vehicle is in the unlocked state, through the obtained environmental information, the position information of obstacles and road information in the external environment where the vehicle is located can be clearly known in a timely manner. Through the collected shift images, the target gear to be switched and the driving range are predicted. When it is detected that the vehicle does not have a situation where it cannot drive normally, it indicates that when the vehicle is driving in the target gear through the driving range, there is no collision risk between the vehicle and static obstacles, and the vehicle can smoothly drive through the road within the driving range. At this time, the shift element is allowed to switch the current gear to the target gear, so that the subsequent driver can drive the vehicle. Thus, the driving safety of the vehicle and the safety of objects or personnel on the periphery of the vehicle are ensured.

[0069] Please refer to Figure 2 , Figure 2 which is another flow schematic diagram of the vehicle control method provided by the embodiments of the present application. This embodiment is the detailed steps of step 103 and step 104. Among them, if the number of static obstacles is greater than or equal to 2, it is detected whether the vehicle cannot drive normally within the driving range based on the obstacle position information and road information, and when it is detected that the vehicle does not have a situation where it cannot drive normally, the shift element is allowed to switch the current gear to the target gear.

[0070] The specific steps are as follows:

[0071] Step 201, determine the nearest first obstacle and second obstacle based on the obstacle position information.

[0072] In this embodiment, when the number of static obstacles is multiple, calculate the distance between every two static obstacles, and use the two static obstacles with the minimum distance as the first obstacle and the second obstacle.

[0073] For example, as described above, when the vehicle is on the side of a lane and the number of static obstacles is 2, the first obstacle and the second obstacle are a street lamp and a median strip.

[0074] For another example, when the vehicle is in a parking space in a parking lot and the number of static obstacles is greater than 2, determine the first obstacle and the second obstacle with the closest distance from the two other vehicles and the wall on both sides of the parking space.

[0075] In other embodiments, it is also possible to control that the subsequent steps can be executed only when the first obstacle and the second obstacle are respectively located on opposite sides of the driving straight line, where the driving straight line is parallel to the vehicle body and is the straight line where the center point of the vehicle is located. That is, when the first obstacle and the second obstacle are both on one side of the driving straight line, for example, when the first obstacle and the second obstacle are both on the same side of the lane where the vehicle is located and are both street lamps, the vehicle can pass from one side of the first obstacle and the second obstacle without executing the subsequent steps.

[0076] Step 202, obtain the first static position information of the first obstacle and the second static position information of the second obstacle.

[0077] That is, obtain the first static position information of the street lamp and the second static position information of the median strip. Or, obtain the first static position information of the first obstacle and the second static position information of the second obstacle determined from the two other vehicles and the wall on both sides of the parking space.

[0078] Step 203, calculate the static distance between the first static position information and the second static position information.

[0079] Step 204, determine the road surface deviation data based on the road information.

[0080] In some embodiments, the road surface deviation data is the deviation value of the unevenness in the longitudinal direction of the road where the vehicle is located. As described above, if there is a pothole on the road where the vehicle is located, the road surface deviation data is the deviation value between the bottom surface of the pothole and the highest point of the road plane on the periphery of the pothole. If there is a speed bump or a curb on the road where the vehicle is located, the road surface deviation data is the deviation value between the top surface of the speed bump or the curb and the lowest point of the road plane on the periphery of the speed bump or the curb.

[0081] When there are other protrusions on the road except for speed bumps or curbs, the road surface deviation data can be obtained by referring to the situation of speed bumps or curbs.

[0082] Step 205: Based on the static distance and the road surface deviation data, detect whether the vehicle cannot drive normally within the driving range.

[0083] Specifically, this step may at least include one of the following: detecting whether the road surface deviation data is greater than the ground clearance distance; detecting whether the static distance is greater than the vehicle body width; when both the first obstacle and the second obstacle are within the turning area, detecting whether the static distance is greater than the vehicle body turning radius.

[0084] The ground clearance distance is the vertical distance between the vehicle chassis and the convex or concave points of the road. The concave point of the road is any point on the bottom surface of the road pit, and the convex point of the road is any point on the top surface of the road protrusion. The turning area is the spatial range covered by the movement trajectory of the vehicle body when the vehicle turns. The vehicle body turning radius is the radius of the circular motion trajectory formed by the outermost point of the vehicle body with the geometric center of the vehicle as the center during the steering process of the vehicle.

[0085] By detecting whether the road surface deviation data is greater than the ground clearance distance, it is determined whether the vehicle can drive normally through this road; by detecting whether the static distance is greater than the vehicle body width, it is determined whether the vehicle can go straight or reverse normally between the first obstacle and the second obstacle; by detecting whether the static distance is greater than the vehicle body turning radius, it is determined whether the vehicle can turn and pass normally between the first obstacle and the second obstacle when the vehicle needs to turn.

[0086] In this embodiment, the vehicle body width may be the distance between the outer sides of the two rearview mirrors of the vehicle.

[0087] In some embodiments, after performing step 205, according to the detection result, step 216 may be selected for execution, or steps 226 to 228 may be executed.

[0088] Step 216: When the road surface deviation data is less than the ground clearance distance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, allow the shift element to switch the current gear to the target gear.

[0089] In this embodiment, when the road surface deviation data is less than the ground clearance distance, it indicates that the vehicle can drive normally through this road, and there will be no problem of bumping the outer periphery of the vehicle body due to the pits or protrusions on the road; when the static distance is greater than the vehicle body width, it indicates that the vehicle can go straight or reverse normally between the first obstacle and the second obstacle; when the static distance is greater than the vehicle body turning radius, it indicates that when the vehicle needs to turn, the vehicle can turn and pass normally between the first obstacle and the second obstacle. At this time, the driver can be allowed to switch the target gear. That is, allow the shift element to switch the current gear to the target gear.

[0090] Step 226, when the road surface deviation data is not less than the ground clearance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, calculate the data difference between the road surface deviation data and the ground clearance.

[0091] In this embodiment, although the static distance is greater than the vehicle body width and the static distance is greater than the vehicle body turning radius, and the vehicle can pass normally between the first obstacle and the second obstacle, the road surface deviation data is not less than the ground clearance, so the vehicle cannot pass through this road normally. And when the vehicle is driving in the target gear, the potholes or bumps on the road will cause bumps to the outer periphery of the vehicle body. Therefore, the driver is not allowed to operate the shift element to switch the current gear to the target gear.

[0092] Furthermore, if the vehicle is equipped with a liftable suspension, the liftable suspension is used to adjust the height between the chassis and the road. At this time, when the road surface deviation data is not less than the ground clearance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, the height between the chassis and the road can be adjusted by the liftable suspension, so that the road surface deviation data meets the condition of being less than the ground clearance, so as to allow the vehicle to switch the current gear to the target gear.

[0093] That is to say, when the road surface deviation data is not less than the ground clearance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, calculate the data difference between the road surface deviation data and the ground clearance, so that subsequently, based on the data difference, it can be calculated how much distance the liftable suspension needs to control the chassis of the vehicle to rise to meet the condition that the road surface deviation data is less than the ground clearance.

[0094] Step 227, obtain the adjustment height, and the adjustment height is the distance difference for controlling the liftable suspension to adjust the distance between the chassis and the road.

[0095] In this embodiment, if the liftable suspension can adjust the minimum ground clearance between the chassis and the road to 12 cm, and the liftable suspension can adjust the maximum ground clearance between the chassis and the road to 20 cm, then the adjustment height is the difference between the maximum ground clearance and the minimum ground clearance, that is, 8 cm.

[0096] The adjustment heights of different types of vehicles are different. When the vehicle leaves the factory, the adjustment height is stored in the vehicle, and the electronic device can directly obtain the preset adjustment height. In other embodiments, if there are multiple available adjustment heights stored in the vehicle, the electronic device can also receive the adjustment height selected by the driver (for example, selected through the central control screen).

[0097] Step 228, when the adjustment height is greater than the data difference, control the liftable suspension to raise the chassis away from the road, and when the road surface deviation data is less than the new ground clearance, allow the shift element to switch the current gear to the target gear.

[0098] When the adjustment height is greater than the data difference, it indicates that if the vertical distance between the chassis and the road is adjusted by the liftable suspension to increase the ground clearance, the vehicle can sequentially pass through the road. At this time, the electronic device can control the liftable suspension to raise the chassis away from the road, and when the road surface deviation data is less than the new ground clearance, then allow the shift element to switch the current gear to the target gear.

[0099] When the adjustment height is not greater than the data difference, it indicates that even after adjusting the vertical distance between the chassis and the road by the liftable suspension to increase the ground clearance, the vehicle still cannot normally pass through the road. At this time, it is not allowed to switch the current gear to the target gear.

[0100] In some other embodiments, as described above, if the number of static obstacles is 1, based only on the road information, detect whether the vehicle cannot normally drive within the driving range, and when it is detected that the vehicle does not have a situation where it cannot normally drive, allow the shift element to switch the current gear to the target gear.

[0101] Specifically, when the road surface deviation data is less than the ground clearance, allow the shift element to switch the current gear to the target gear. When the road surface deviation data is not less than the ground clearance, calculate the data difference between the road surface deviation data and the ground clearance, and perform Step 227 and Step 228.

[0102] Compared with the prior art, the embodiments of the present application have the following advantages:

[0103] The embodiments of the present application determine the nearest first obstacle and second obstacle from the static obstacles, and calculate the static distance between the first obstacle and the second obstacle. At the same time, based on the road information, determine the road surface deviation data. Then, based on the static distance and the road surface deviation data, detect whether there is a situation where the vehicle cannot normally drive within the driving range. On the one hand, when the road surface deviation data is less than the ground clearance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, it indicates that the vehicle can normally pass through the road within the driving range, there will be no collision between the vehicle and the road, and the vehicle can normally pass between the first obstacle and the second obstacle without colliding with the first obstacle or the second obstacle. At this time, it is possible to allow the shift element to switch the current gear to the target gear to ensure the driving safety of the subsequent vehicle in the target gear within the driving range.

[0104] On the other hand, when the road surface deviation data is not less than the ground clearance distance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, it indicates that although the vehicle can pass normally between the first obstacle and the second obstacle without colliding with the first obstacle or the second obstacle, the vehicle may collide with the road within the driving range, damaging the vehicle body. At this time, to avoid this situation, the data difference between the road surface deviation data and the ground clearance distance can be calculated, and the data difference and the adjustment height can be detected. According to the detection result, the ground clearance distance can be increased, and when the new ground clearance distance is greater than the road surface deviation data, the current gear can be switched to the target gear. In this way, the situation of the vehicle rubbing against the road is avoided.

[0105] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a process after the vehicle control method provided in the embodiment of the present application executes step 104. The specific steps are as follows:

[0106] Step 301, obtain the environmental information within a preset range in front of the vehicle in the driving direction.

[0107] In this embodiment, the preset range can be a quadrilateral area formed by extending a second preset length forward from the front of the vehicle in the driving direction. The width of the quadrilateral area is the second preset width. Among them, the second preset length can be 100 meters or 150 meters, and the value of the second preset width is equal to the width of the lane where the vehicle is located. Or, the second preset width can be 5 meters or 10 meters. The present application does not limit the specific values of the second preset length and the second preset width.

[0108] In other embodiments, the preset range can also be a polygon area, a circular area or an irregular area. The present application does not limit the specific shape of the preset range.

[0109] Step 302, based on the environmental information, detect whether there is a blocked road within the preset range, and the blocked road is a road where the vehicle cannot pass normally.

[0110] When the vehicle is in the target gear and the vehicle is moving, based on the environmental information, detect whether there is a blocked road within the preset range.

[0111] Among them, the blocked roads include, but are not limited to, roads with structural damages such as deep potholes, collapses, cracks, etc. on the road surface, which make it impossible for vehicles to pass safely; roads where trees fall or rocks roll down due to natural factors, or roads where unremoved construction building materials occupy the road space, resulting in vehicles being unable to pass; roads with serious driving accidents and temporary control facilities set up for handling accidents, causing complete blockage of the road section; and roads with bad weather such as heavy rainwater accumulation, heavy snow coverage, strong sandstorms, etc., which change the road surface condition or reduce visibility, making it impossible for vehicles to pass safely, etc.

[0112] Step 303: When it is detected that there is a blocked road within the preset range, trigger vehicle braking.

[0113] When it is detected that there is a blocked road within the preset range, it indicates that if the vehicle continues to drive, it may lead to a traffic accident. To ensure driving safety, control the vehicle to gradually reduce the speed and brake to a stop.

[0114] Compared with the prior art, the embodiments of the present application have the following advantages:

[0115] The embodiments of the present application can detect in advance whether there is a blocked road within the preset range. If there is a blocked road within the preset range, it indicates that there is a section ahead in the driving direction of the vehicle that cannot be normally passed. If the driver continues to drive the vehicle forward in the driving direction, it may lead to a traffic accident. Therefore, control the vehicle to gradually reduce the speed and brake to a stop to ensure driving safety.

[0116] Please refer to Figure 4 , Figure 4 , which is another schematic flowchart of the vehicle control method provided by the embodiments of the present application after executing step 104. In this embodiment, the environmental information further includes the movement data of dynamic obstacles. The vehicle includes an air conditioning system, seats, and lighting elements. The air conditioning system is provided with a plurality of air outlets at different positions of the vehicle. A plurality of vibration devices are provided inside the seats, and each vibration device corresponds to one position of the vehicle. The lighting elements are arranged around the inner side of the vehicle.

[0117] For example, 8 vibration devices are provided inside the seat where the driver is located. The 8 vibration devices are located inside the seat cushion and are distributed in a cross shape. For example Figure 5 as shown Figure 5 , which is a schematic distribution diagram of the first device, the second device, the third device, the fourth device, the fifth device, the sixth device, the seventh device, and the eighth device among the 8 vibration devices.

[0118] The lighting elements can be arranged around the four sides of the inner side of the vehicle, or the lighting elements can also be arranged around the outer peripheral side of the vehicle-mounted display screen. Among them, the lighting elements can be atmosphere lights. The plurality of air outlets of the air conditioning system are arranged around the four sides of the inner side of the vehicle.

[0119] The above is only an example to illustrate the settings and distributions of the lighting elements, the multiple air outlets of the air conditioning system, and the multiple vibration devices, and does not mean that the lighting elements, the multiple air outlets of the air conditioning system, and the multiple vibration devices must be set and distributed according to the content of the above examples. According to the actual situation, the lighting elements, the multiple air outlets of the air conditioning system, and the multiple vibration devices can be set and distributed.

[0120] The specific steps of this embodiment are as follows:

[0121] Step 401, based on the mobile data, determine the azimuth data of the dynamic obstacle relative to the vehicle in front of the driving direction of the vehicle.

[0122] In this embodiment, the dynamic obstacles include but are not limited to people, moving vehicles, and animals.

[0123] For example, there are multiple pedestrians walking in front of the driving direction of the vehicle. Based on the obtained mobile data of the pedestrians, the azimuth data of the current positions of the pedestrians can be determined.

[0124] That is, if multiple pedestrians are respectively located in the left front and right front of the vehicle, the azimuth data includes the left front and the right front.

[0125] Step 402, control the vibration of the vibration device matching the azimuth data, and / or adjust the display parameters of the lighting elements in the target area, and / or increase the air volume of the air outlet matching the azimuth data, where the target area is the inner area of the vehicle matching the azimuth data.

[0126] When the azimuth data includes the left front and the right front, control the eighth device and the second device to vibrate respectively. Adjust the display parameters of the lighting elements in the left front area and the right front area inside the vehicle respectively. And, increase one or more of the air volume of the air outlet in the left front area and the air volume of the air outlet in the right front area inside the vehicle respectively.

[0127] In this embodiment, the left front area inside the vehicle is the area around the driver's seat, and the right front area inside the vehicle is the area around the passenger seat. The display parameters include but are not limited to the display color, flashing frequency, and display brightness of the lighting elements, etc.

[0128] In other embodiments, devices such as a display screen and a speaker set inside the vehicle can also be used to remind the driver to pay attention to the azimuth where the dynamic obstacle is located.

[0129] It should be noted that in this embodiment, a display device may also be provided in the vehicle. The display device includes, but is not limited to, a display screen and a head-up display. After allowing the shift element to switch the current gear to the target gear, in order to facilitate the driver to timely understand whether the shift element has successfully shifted gears, the following steps may be executed: adjusting the display parameters of the lighting elements in the warning area, and / or adjusting the air volume of the air outlets in the warning area, and / or controlling the display device to display the target gear, where the warning area is the inner area of the vehicle that matches the target gear.

[0130] For example, when the target gear is the forward gear, the warning area may be the area where the driver's cockpit and the co-driver's cockpit are located. When the target gear is the reverse gear, the warning area may be the area where the rear cockpit is located. At this time, adjust the brightness and blinking of the lighting elements in the warning area (or, simply turn on the lighting elements in the warning area and turn off the lighting elements in other areas);

[0131] and / or increase the air volume of the air outlets in the warning area (or, simply turn on the air outlets in the warning area and turn off the air outlets in other areas);

[0132] and / or display the target gear in the head-up display.

[0133] Compared with the prior art, the embodiments of the present application have the following advantages:

[0134] On the one hand, after allowing the shift element to switch gears, the embodiments of the present application can remind the driver to understand whether the gear shift is successful by linking one or more of the lighting elements, the air conditioning system, and the display device in the vehicle, avoiding the problem of inconvenient gear confirmation in the prior art where the driver needs to look down at the gear element or confirm the gear shift on the central control screen.

[0135] On the other hand, during the driving of the vehicle, determine the azimuth data of the dynamic obstacle relative to the vehicle through mobile data. At the same time, link one or more of the lighting elements, the vibration device, and the air conditioning system provided in the vehicle to remind the driver to pay attention to the azimuth of the dynamic obstacle outside the vehicle to assist the driver in safe driving. Thereby reducing the incidence rate of driving accidents between the vehicle and the dynamic obstacle.

[0136] Please refer to Figure 6 , Figure 6 which is another schematic flowchart of the vehicle control method provided by the embodiments of the present application after executing step 104. The specific steps are as follows:

[0137] Step 501, during the driving of the vehicle, obtain the traveling route of the vehicle.

[0138] In this embodiment, for example, the electronic device can read the driving route of the vehicle through the map software in the in-vehicle computer.

[0139] Step 502: Predict the moving route of the dynamic obstacle based on the mobile data.

[0140] The mobile data includes the moving speed and moving direction of the dynamic obstacle. Based on the moving speed and moving direction of the dynamic obstacle, predict the moving route of the dynamic obstacle.

[0141] Step 503: Control the driving speed of the vehicle based on the driving route and the moving route.

[0142] Specifically, determine the route intersection between the driving route and the moving route. Calculate the first time for the dynamic obstacle to reach the route intersection and the second time for the vehicle to reach the route intersection. Calculate the time difference between the first time and the second time. When the time difference is less than the first preset difference, control the vehicle to travel at the first target speed, and the first target speed is less than the current speed of the vehicle. When the time difference is less than the second preset difference, control the vehicle to travel at the second target speed, the second target speed is less than the first target speed, and the second preset difference is less than the first preset difference.

[0143] In this embodiment, the first preset difference can be 5 seconds or 10 seconds, and the second preset difference can be 2 seconds or 3 seconds.

[0144] When the time difference is less than the second preset difference, while reducing the driving speed of the vehicle, the electronic device can also generate a braking instruction, and the vehicle responds to the braking instruction to control the braking system to perform a braking action, so that the driving speed of the vehicle can be quickly reduced to the second target speed, avoiding the situation where the driver fails to actively step on the brake in time and causes a collision with the dynamic obstacle.

[0145] Furthermore, when the time difference is less than the third preset difference, directly control the vehicle to stop, and the third preset difference is less than the second preset difference. The third preset difference can be 0.5 seconds or 1 second.

[0146] When the time difference is less than the third preset difference, it indicates that if the vehicle does not brake in time, it will immediately collide with the dynamic obstacle. At this time, it is necessary to control the vehicle to stop immediately to avoid traffic accidents.

[0147] Compared with the prior art, the embodiments of the present application have the following advantages:

[0148] In the embodiment of the present application, during the driving process of the vehicle, the traveling route of the vehicle and the moving route of the predicted dynamic obstacle are obtained. Then, in the case where there is an intersection between the moving route and the traveling route, based on the first time when the dynamic obstacle reaches the intersection and the second time when the vehicle reaches the intersection, the time difference between the first time and the second time is calculated. The time difference is compared with a plurality of different preset differences, and according to the comparison result, the current driving speed of the vehicle is adjusted to avoid the situation that the driver fails to step on the brake in time and causes a collision with the dynamic obstacle.

[0149] Please refer to Figure 7 , Figure 7 which is another schematic flowchart of the vehicle control method provided by the embodiment of the present application after executing step 104. The specific steps are as follows:

[0150] Step 601, during the driving process of the vehicle, obtain the steering wheel angle of the vehicle.

[0151] In this embodiment, the in-vehicle sensor can collect the rotation angle of the steering wheel of the vehicle (i.e., the steering wheel angle), and send the steering wheel angle to the electronic device.

[0152] Step 602, calculate the target angle, where the target angle is the angle that the steering wheel of the vehicle needs to turn when there is no collision risk between the predicted vehicle and the dynamic obstacle.

[0153] That is, when the vehicle is going straight and there is a pedestrian walking in the front area of the vehicle, the angle that the vehicle needs to turn the steering wheel to avoid the pedestrian is the target angle.

[0154] Step 603, calculate the angle difference between the steering wheel angle and the target angle.

[0155] The difference between the steering wheel angle and the target angle is used as the angle difference.

[0156] Step 604, when the angle difference is greater than the preset angle difference, control the steering wheel to turn to the target angle.

[0157] When the angle difference is greater than the preset angle difference, it means that the angle at which the driver turns the steering wheel is too large or too small. In this case, the vehicle is likely to collide with the dynamic obstacle. Therefore, it is necessary to control the steering wheel to turn to the target angle.

[0158] On the contrary, if the angle difference is not greater than the preset angle difference, it indicates that when the vehicle turns and drives according to the steering wheel angle, the vehicle will not collide with the dynamic obstacle. At this time, the vehicle can continue to drive according to the steering wheel angle.

[0159] Compared with the prior art, the embodiment of the present application has the following advantages:

[0160] In the process of vehicle driving, the embodiments of the present application obtain the steering wheel angle and calculate the target angle. Then, by comparing the angle difference between the steering wheel angle and the target angle with a preset angle difference, it is determined whether it is necessary to control the rotation angle of the steering wheel to avoid the situation where the driver turns the steering wheel too large or too small, resulting in the vehicle hitting a dynamic obstacle.

[0161] Figure 8 It is a schematic diagram of an embodiment of an electronic device of the present application. The electronic device 1000 includes a processor 1001, a memory 1002, and a computer program 1003 stored in the memory 1002 and executable on the processor 1001. When the processor 1001 executes the computer program 1003, the steps in the above embodiments of the vehicle control method are implemented.

[0162] Exemplarily, the computer program 1003 can also be divided into one or more modules / units, and the one or more modules / units are stored in the memory 1002 and executed by the processor 1001. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 1003 in the electronic device 1000.

[0163] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 1000, and does not constitute a limitation on the electronic device 1000. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device 1000 may further include input / output devices, network access devices, buses, etc.

[0164] The processor 1001 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 1001 may also be any conventional processor, etc.

[0165] The memory 1002 can be used to store computer programs 1003 and / or modules / units. By running or executing the computer programs and / or modules / units stored in the memory 1002, and invoking the data stored in the memory 1002, the processor 1001 realizes various functions of the electronic device 1000. The memory 1002 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the electronic device 1000 (such as audio data, etc.). In addition, the memory 1002 can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0166] If the modules / units integrated in the electronic device 1000 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of this application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0167] The embodiment of this application also provides a vehicle, which can include the above-mentioned electronic device.

[0168] In some embodiments, the vehicle can also be configured with sensors, such as an image sensor and a radar sensor, to obtain environmental information.

[0169] In several embodiments provided by the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation.

[0170] In addition, in each embodiment of the present application, the functional units can be integrated in the same processing unit, or each unit can exist physically alone, or two or more units can be integrated in the same unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0171] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic characteristics of the present application, the present application can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or electronic devices stated in the claims of the electronic device can also be implemented by the same unit or electronic device through software or hardware. The words such as first and second are used to represent names and do not represent any specific order.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle comprises a shift element, the shift element is used to switch the gear position of the vehicle; The vehicle control method comprises: When the vehicle is in an unlocked state, obtaining environmental information of the vehicle, the environmental information including road information and obstacle position information; In response to a shift instruction of the shift element, predicting a target gear position of the shift element and a driving range matching the target gear position; Based on the obstacle position information and the road information, detecting whether the vehicle cannot travel normally within the driving range; In the case where it is detected that the vehicle is not unable to drive normally, the shift element is allowed to switch the current gear to the target gear.

2. The vehicle control method according to claim 1, characterized in that: The obstacle position information includes first static position information and second static position information; the detecting whether the vehicle cannot travel normally within the driving range based on the obstacle position information and the road information includes: Determine a first obstacle and a second obstacle that are closest to each other based on the obstacle position information; Acquire first static position information of the first obstacle and second static position information of the second obstacle; Calculating a static distance between the first static position information and the second static position information; Determine road surface deviation data based on the road information, wherein the road surface deviation data is a deviation value of a longitudinal concavity and convexity amount of the road where the vehicle is located; Based on the static distance and the road surface deviation data, it is detected whether the vehicle cannot travel normally within the driving range.

3. The vehicle control method according to claim 2, characterized in that: The detecting whether the vehicle cannot travel normally within the driving range includes at least one of the following: Detect whether the road surface deviation data is greater than the ground distance: Detecting whether the static distance is greater than the body width of the vehicle; When both the first obstacle and the second obstacle are within the turning area, detecting whether the static distance is greater than a turning radius of the vehicle body; Among them, the ground clearance is the vertical distance between the chassis of the vehicle and the convex or concave points of the road, the turning area is the spatial range covered by the body motion trajectory of the vehicle when the vehicle turns, and the body turning radius is the radius of the circular motion trajectory formed by the outermost point of the body of the vehicle with the geometric center of the vehicle as the center of the circle during the turning process.

4. The vehicle control method according to claim 3, characterized in that: The step of allowing the shift element to switch the current gear to the target gear when it is detected that the vehicle is not unable to drive normally comprises: When the road surface deviation data is smaller than the ground distance, the static distance is larger than the vehicle body width, and the static distance is larger than the vehicle body turning radius, the shift element is allowed to shift the current gear to the target gear.

5. The vehicle control method according to claim 3, characterized in that: The vehicle is provided with a liftable suspension, and the liftable suspension is used to adjust the height between the chassis and the road; After detecting whether the vehicle cannot travel normally within the driving range based on the static distance and the road surface deviation data, the method further includes: When the road surface deviation data is not less than the ground clearance, the static distance is greater than the vehicle body width, and the static distance is greater than the vehicle body turning radius, calculating a data difference between the road surface deviation data and the ground clearance; Acquiring an adjusted height, wherein the adjusted height is obtained by controlling the elevating suspension to adjust a distance difference between the chassis and the road; When the adjusted height is greater than the data difference, the liftable suspension is controlled to raise the chassis away from the road, and when the road surface deviation data is less than the new ground clearance, the shift element is allowed to switch the current gear to the target gear.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: The vehicle comprises an air conditioning system, a display device and a lighting element, wherein the air conditioning system is provided with a plurality of air outlets located at different positions of the vehicle, the display device is arranged on the inner side of the vehicle, and the lighting element is arranged on the inner side of the vehicle in a surrounding manner; After allowing the shift element to switch the current gear to the target gear, the method further includes: Adjust the display parameters of the lighting element in the warning area, and / or adjust the air volume of the air outlet in the warning area, and / or control the display device to display the target gear position, wherein the warning area is the inner area of ​​the vehicle that matches the target gear position.

7. The vehicle control method according to any one of claims 1 to 5, characterized in that: The environmental information also includes movement data of dynamic obstacles. The vehicle includes an air conditioning system, a seat, and a lighting element. The air conditioning system is provided with a plurality of air outlets located at different positions of the vehicle. The seat is provided with a plurality of vibration devices, each of which corresponds to a position of the vehicle. The lighting element is arranged around the inner side of the vehicle. After allowing the shift element to switch the current gear to the target gear, the method further includes: Based on the movement data, determining the position data of the dynamic obstacle relative to the vehicle in front of the driving direction of the vehicle; Controlling the vibration of the vibration device matching the orientation data, and / or adjusting the display parameters of the lighting element in the target area, and / or increasing the air volume of the air outlet matching the orientation data, wherein the target area is the inner area of ​​the vehicle matching the orientation data.

8. The vehicle control method according to any one of claims 1 to 5, characterized in that: After allowing the shift element to switch the current gear to the target gear, the method further includes: Acquiring environmental information within a preset range ahead of the vehicle in a driving direction; Based on the environmental information, detecting whether there is an obstructed road within the preset range, wherein the obstructed road is a road on which vehicles cannot pass normally; When the blocked road is detected within the preset range, the vehicle braking is triggered.

9. The vehicle control method according to any one of claims 1 to 5, characterized in that: The environmental information also includes movement data of dynamic obstacles; After allowing the shift element to switch the current gear to the target gear, the method further includes: During the driving of the vehicle, obtaining a travel route of the vehicle; Based on the movement data, predicting a movement route of the dynamic obstacle; Based on the travel route and the movement route, a travel speed of the vehicle is controlled.

10. The vehicle control method according to any one of claims 1 to 5, characterized in that: The environmental information also includes movement data of dynamic obstacles; After allowing the shift element to switch the current gear to the target gear, the method further includes: During the driving of the vehicle, obtaining a steering wheel angle of the vehicle; Calculating a target turning angle, where the target turning angle is an angle at which the steering wheel of the vehicle needs to be turned when it is predicted that there is no risk of collision between the vehicle and the dynamic obstacle; Calculating the angle difference between the steering wheel angle and the target angle; When the angle difference is greater than a preset angle difference, the steering wheel is controlled to rotate to the target angle.

11. A vehicle, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the vehicle control method according to any one of claims 1 to 10.

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