Vehicle chassis height adjusting method, electronic equipment and storage medium

Abstract

The invention provides a vehicle chassis height adjusting method, electronic equipment and a storage medium, and the method comprises the steps: responding to the existence of a front obstacle corresponding to a current vehicle, and determining the predicted collision time, the obstacle type of the front obstacle and the height of a first bumper according to the detection information of a front sensor; determining a target adjustment height according to the first bumper height and a second bumper height of the current vehicle in response to the fact that the obstacle type is a target type and the predicted collision time is less than first preset time; and according to the target adjustment height, the height of the vehicle chassis of the current vehicle is adjusted. According to the technical scheme, the effects that the height of the chassis is automatically adjusted before the vehicle collides, the collision area is increased, and collision damage is reduced are achieved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a method for adjusting the height of a vehicle chassis, an electronic device, and a storage medium. Background Art

[0002] To a certain extent, intelligent driving can reduce the degree of driver injury or vehicle damage. However, when the vehicle in front is a large vehicle and a collision is unavoidable, the front part of the body of the rear vehicle will directly hit the rear part of the bumper of the vehicle in front, making it easier for the rear vehicle to suffer obvious damage. Moreover, due to the too low chassis height of the rear vehicle, the rear vehicle may experience a slight or obvious drilling-in phenomenon, resulting in serious injuries. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide a method for adjusting the height of a vehicle chassis, an electronic device, and a storage medium, so as to automatically adjust the chassis height before a vehicle collision, increase the collision area, and reduce the collision damage effect.

[0004] An embodiment of this application provides a method for adjusting the height of a vehicle chassis, including: In response to the existence of a front obstacle corresponding to the current vehicle, determine the estimated collision time, the type of the front obstacle, and the height of the first bumper according to the detection information of the front sensor; In response to the type of the obstacle being the target type and the estimated collision time being less than the first preset time, determine the target adjustment height according to the height of the first bumper and the height of the second bumper of the current vehicle; Adjust the height of the vehicle chassis of the current vehicle according to the target adjustment height.

[0005] According to the technical solution provided by the embodiment of this application, optionally, the determining the estimated collision time, the type of the front obstacle, and the height of the first bumper according to the detection information of the front sensor includes: Determine the type of the front obstacle, the speed of the obstacle, and the distance of the obstacle according to the detection information of the front sensor; Determine the speed difference according to the current speed of the current vehicle and the speed of the obstacle; Determine the estimated collision time according to the speed difference and the distance of the obstacle; Determine the height of the first bumper of the front obstacle according to the type of the obstacle and the detection information of the front sensor.

[0006] According to the technical solution provided by the embodiment of the present application, optionally, after determining the vehicle speed difference according to the current vehicle speed of the current vehicle and the obstacle vehicle speed, and determining the predicted collision time according to the vehicle speed difference and the obstacle distance, the method further includes: Determine a first preset time, a second preset time, and a third preset time according to the vehicle speed difference; wherein, the third preset time is greater than the second preset time, and the second preset time is greater than the first preset time; In response to the predicted collision time being less than the third preset time, control the current vehicle to activate the forward collision warning system; In response to the predicted collision time being less than the second preset time, control the current vehicle to activate the automatic emergency braking system.

[0007] According to the technical solution provided by the embodiment of the present application, optionally, the forward sensor detection information includes camera image information and radar point cloud information. Determining the first bumper height of the forward obstacle according to the obstacle type and the forward sensor detection information includes: Determine the obstacle image of the forward obstacle according to the camera image information; Determine the bumper point cloud of the forward obstacle according to the obstacle type, the obstacle image, and the radar point cloud information; Determine the relative height of the bumper according to the laser beam angle corresponding to the bumper point cloud and the obstacle distance; Determine the first bumper height of the forward obstacle according to the relative height of the bumper and the lidar installation height.

[0008] According to the technical solution provided by the embodiment of the present application, optionally, determining the bumper point cloud of the forward obstacle according to the obstacle type, the obstacle image, and the radar point cloud information includes: Determine the calibrated bumper height corresponding to the obstacle type according to the obstacle type and the obstacle image of the forward obstacle; Determine the bumper image of the forward obstacle according to the calibrated bumper height and the obstacle image; Determine the bumper point cloud of the forward obstacle according to the bumper image and the radar point cloud information.

[0009] According to the technical solution provided by the embodiment of the present application, optionally, determining the bumper point cloud of the forward obstacle according to the bumper image and the radar point cloud information includes: Determine the point cloud to be recognized corresponding to the bumper image according to the bumper image and the radar point cloud information; Process the to-be-identified point cloud according to a preset verification model to determine the authenticity of the to-be-identified point cloud; In response to the authenticity being true, use the to-be-identified point cloud as the bumper point cloud of the front obstacle; In response to the authenticity being false, determine the obstacle point cloud of the front obstacle according to the obstacle image and the radar point cloud information, and process the obstacle image and the obstacle point cloud according to a bumper recognition model to determine the bumper point cloud of the front obstacle.

[0010] According to the technical solution provided by the embodiment of the present application, optionally, it further includes: Based on the height sensor installed on the current vehicle, obtain the height of the sensor from the ground; According to the vertical distance between the bumper of the current vehicle and the height sensor and the height of the sensor from the ground, determine the second bumper height of the current vehicle.

[0011] According to the technical solution provided by the embodiment of the present application, optionally, the determining the target adjustment height according to the first bumper height and the second bumper height of the current vehicle includes: Determine whether the first bumper height is greater than the maximum bumper height of the current vehicle; In response to the first bumper height being greater than the maximum bumper height, determine the difference between the maximum bumper height and the second bumper height of the current vehicle as the target adjustment height; In response to the first bumper height being less than or equal to the maximum bumper height, determine the difference between the first bumper height and the second bumper height of the current vehicle as the target adjustment height.

[0012] The embodiment of the present application further provides an electronic device, and the electronic device includes: A processor and a memory; The processor is configured to execute the steps of the vehicle chassis height adjustment method as described in any one of the embodiments by calling the program or instruction stored in the memory.

[0013] The embodiment of the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the vehicle chassis height adjustment method as described in any one of the embodiments.

[0014] In summary, the present application proposes a method for adjusting the vehicle chassis height. When it is determined that there is an obstacle in front of the current vehicle, the detection information of the front sensor is analyzed to obtain the predicted collision time, the type of the obstacle in front, and the height of the first bumper. Moreover, when the type of the obstacle is the target type and the predicted collision time is less than the first preset time, it is determined that the vehicle chassis needs to be raised. By combining the height of the first bumper and the height of the second bumper of the current vehicle for analysis, the target adjustment height to be raised is determined, and the height of the vehicle chassis of the current vehicle is adjusted according to the target adjustment height, achieving the effect of automatically adjusting the chassis height before the vehicle collision, increasing the collision area, and reducing the damage caused by the impact intrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flowchart of a method for adjusting the vehicle chassis height provided by an embodiment of the present application; Figure 2 is a flowchart of another method for adjusting the vehicle chassis height provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. In addition, it should be noted that only the parts related to the invention are shown in the drawings for the convenience of description.

[0017] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0018] As mentioned in the background art, in view of the problems in the prior art, the present application proposes a method for adjusting the vehicle chassis height, which is applicable to the situation where the vehicle is about to collide with a vehicle of the target type in front. The brake tail light control method provided by each embodiment of the present application can be executed by an electronic device.

[0019] Figure 1 is a flowchart of a method for adjusting the vehicle chassis height provided by an embodiment of the present application. Refer to Figure 1 and the method for adjusting the vehicle chassis height specifically includes: S110. In response to the presence of an obstacle in front of the current vehicle, the predicted collision time, the type of the obstacle in front, and the height of the first bumper are determined according to the detection information of the front sensor.

[0020] Among them, the front obstacle is an obstacle within the front field of vision of the current vehicle, which can be various types of vehicles, or pedestrians, trees, etc. The time to collision is the time required for the current vehicle to collide with the front obstacle. The front sensor detection information is the information detected by sensors used to detect various situations in front of the current vehicle, such as the image captured by the front view camera installed on the current vehicle, the point cloud obtained by the lidar installed on the current vehicle, etc. The obstacle type is used to describe different types of obstacles, such as: large vehicles, medium-sized vehicles, small vehicles, non-motor vehicles, pedestrians, trees, etc. The first bumper height is the ground clearance of the bumper of the front obstacle when the front obstacle is a large vehicle or a medium-sized vehicle.

[0021] Specifically, when it is detected that there is a front obstacle corresponding to the current vehicle, the front sensor detection information can be collected through the sensors installed on the current vehicle for detecting the front situation, and the obstacle type, driving speed, relative distance from the current vehicle, and the bumper position of the front obstacle of the front obstacle can be identified by combining the front sensor detection information, and further the time to collision and the first bumper height of the front obstacle can be calculated.

[0022] S120. In response to the obstacle type being the target type and the time to collision being less than the first preset time, determine the target adjustment height according to the first bumper height and the second bumper height of the current vehicle.

[0023] Among them, the target type is the obstacle type that is likely to cause great damage to the current vehicle during a collision, such as large vehicles and medium-sized vehicles. The first preset time is the time reserved for adjusting the chassis height. The second bumper height is the ground clearance of the bumper of the current vehicle. The target adjustment height is the height that the chassis of the current vehicle needs to be adjusted so that the bumper of the current vehicle can collide head-on with the bumper of the front obstacle.

[0024] Specifically, if the obstacle type is the target type, a large impact will be caused to the current vehicle during the collision, and if the time to collision is less than the first preset time, it means that a collision is about to occur, and it is necessary to immediately adjust the height of the vehicle chassis of the current vehicle so that the bumper of the current vehicle and the bumper of the front obstacle collide head-on to reduce the damage. Therefore, the difference between the first bumper height and the second bumper height of the current vehicle is used as the target adjustment height of the vehicle chassis of the current vehicle.

[0025] On the basis of the above example, the second bumper height of the current vehicle can also be determined in advance. Specifically, it can be: Based on the height sensor installed on the current vehicle, obtain the ground clearance of the sensor; Determine the second bumper height of the current vehicle based on the vertical distance between the bumper of the current vehicle and the height sensor and the height of the sensor from the ground.

[0026] Among them, the height sensor can be a sensor installed on any component of the vehicle body for measuring the height from the ground, such as a height sensor installed on the vehicle chassis. The height of the sensor from the ground is the measured value of the high-speed sensor. The vertical distance is the distance between the bumper of the current vehicle and the height sensor in the direction perpendicular to the ground.

[0027] Specifically, collect the current height of the sensor from the ground through the height sensor installed on the current vehicle. After the bumper and the height sensor are installed on the current vehicle, the vertical distance between the bumper and the height sensor can be obtained, and the sum of the vertical distance and the height of the sensor from the ground is determined as the second bumper height of the current vehicle.

[0028] Optionally, a height sensor can also be directly installed on the bumper, and the measured value of the height sensor is used as the second bumper height of the current vehicle.

[0029] Based on the above example, the target adjustment height can be determined in the following manner according to the first bumper height and the second bumper height of the current vehicle: Determine whether the first bumper height is greater than the maximum bumper height of the current vehicle; In response to the first bumper height being greater than the maximum bumper height, the difference between the maximum bumper height and the second bumper height of the current vehicle is determined as the target adjustment height; In response to the first bumper height being less than or equal to the maximum bumper height, the difference between the first bumper height and the second bumper height of the current vehicle is determined as the target adjustment height.

[0030] Among them, the maximum bumper height is the height of the bumper from the ground when the vehicle chassis of the current vehicle is adjusted to the highest, that is, the sum of the highest vehicle chassis height and the height difference between the vehicle chassis and the bumper.

[0031] Specifically, if the height of the first bumper is greater than the maximum bumper height, it indicates that even if the vehicle chassis of the current vehicle is adjusted to the highest level, it is impossible to make the front of the bumper of the current vehicle collide with the bumper of the obstacle ahead. However, in order to avoid risks such as getting under the vehicle caused by the vehicle chassis of the current vehicle being too low, it is also necessary to raise the vehicle chassis as much as possible. Therefore, the difference between the maximum bumper height and the height of the second bumper of the current vehicle is determined as the target adjustment height. If the height of the first bumper is less than or equal to the maximum bumper height, it indicates that the vehicle chassis can be adjusted so that the bumper of the current vehicle and the bumper of the obstacle ahead are at the same height, and a frontal collision during the collision can reduce the collision damage. Therefore, with the goal of adjusting to the same height, the difference between the height of the first bumper and the height of the second bumper of the current vehicle is determined as the target adjustment height.

[0032] S130. According to the target adjustment height, adjust the height of the vehicle chassis of the current vehicle.

[0033] Specifically, control the vehicle chassis of the current vehicle to be adjusted according to the target adjustment height, so that after raising the vehicle chassis, the front bumper of the current vehicle forms a frontal collision with the bumper of the obstacle ahead, achieving the largest collision area, making full use of the energy absorption area at the front of the vehicle body, and reducing the direct impact of the energy transfer path on the passenger compartment.

[0034] The vehicle chassis height adjustment method provided by the embodiment of the present application analyzes the detection information of the front sensor when it is determined that there is an obstacle ahead corresponding to the current vehicle, and obtains the predicted collision time, the type of the obstacle of the obstacle ahead, and the height of the first bumper. Moreover, when the type of the obstacle is the target type and the predicted collision time is less than the first preset time, it is determined that the vehicle chassis needs to be raised. By combining the height of the first bumper and the height of the second bumper of the current vehicle for analysis, the target adjustment height to be raised is determined, and according to the target adjustment height, the height of the vehicle chassis of the current vehicle is adjusted, achieving the effect of automatically adjusting the chassis height before the vehicle collision, increasing the collision area, and reducing the damage caused by the impact intrusion.

[0035] Figure 2 It is a flowchart of another vehicle chassis height adjustment method provided by the embodiment of the present application. On the basis of the above embodiments, an exemplary description is made of the process of determining the predicted collision time, the type of the obstacle of the obstacle ahead, and the height of the first bumper. Refer to Figure 2 and the vehicle chassis height adjustment method specifically includes: S210. In response to the existence of an obstacle ahead corresponding to the current vehicle, according to the detection information of the front sensor, determine the type of the obstacle of the obstacle ahead, the vehicle speed of the obstacle, and the distance of the obstacle.

[0036] Among them, the obstacle vehicle speed is the driving speed of the obstacle ahead. The obstacle distance is the distance between the current vehicle and the obstacle ahead.

[0037] Specifically, the information related to the millimeter-wave radar in the detection information of the front sensor can be used to detect the speed of the obstacle ahead, that is, the obstacle vehicle speed, and can also detect the obstacle distance. Through the images captured by the camera in the detection information of the front sensor, image recognition can be performed, which can be the recognition and classification of features such as color, shape, and texture to determine the type of the obstacle ahead.

[0038] S220. Determine the vehicle speed difference according to the current vehicle speed of the current vehicle and the obstacle vehicle speed, and determine the predicted time to collision according to the vehicle speed difference and the obstacle distance.

[0039] Among them, the current vehicle speed is the driving speed of the current vehicle. The vehicle speed difference is the difference between the current vehicle speed and the obstacle vehicle speed.

[0040] Specifically, the current vehicle speed of the current vehicle can be given by the speed sensor installed on the current vehicle. The difference between the current vehicle speed and the obstacle vehicle speed is used as the vehicle speed difference, and the quotient of the obstacle distance and the vehicle speed difference is used as the predicted time to collision.

[0041] Exemplarily, the predicted time to collision can be determined by the following formula:

[0042] Among them, TTC is the predicted time to collision, D is the obstacle distance, is the current vehicle speed of the current vehicle, is the obstacle vehicle speed.

[0043] On the basis of the above example, after determining the vehicle speed difference according to the current vehicle speed of the current vehicle and the obstacle vehicle speed, and determining the predicted time to collision according to the vehicle speed difference and the obstacle distance, various preset times can also be determined, and different measures can be taken at different preset times to improve driving safety. Specifically, it can be: Determine the first preset time, the second preset time, and the third preset time according to the vehicle speed difference; In response to the predicted time to collision being less than the third preset time, control the current vehicle to activate the forward collision warning system; In response to the predicted time to collision being less than the second preset time, control the current vehicle to activate the automatic emergency braking system.

[0044] Among them, the third preset time is a pre-determined time for triggering the Forward Collision Warning (FCW) system. The forward collision warning system monitors the obstacles ahead at all times through a radar system and warns the driver when there is a potential collision risk. The second preset time is a pre-determined time for triggering the Autonomous Emergency Braking (AEB) system. The autonomous emergency braking system automatically activates braking to help the driver avoid collisions. The third preset time is greater than the second preset time, and the second preset time is greater than the first preset time.

[0045] Specifically, according to the vehicle speed difference, the corresponding first preset time, second preset time, and third preset time can be obtained by looking up a table. It can be understood that the first preset time, second preset time, and third preset time increase as the vehicle speed difference increases. The smaller the predicted collision time, the greater the collision possibility. If the predicted collision time is less than the third preset time, the current vehicle is controlled to activate the forward collision warning system. If the predicted collision time is less than the second preset time, the current vehicle is controlled to activate the autonomous emergency braking system.

[0046] S230. Determine the first bumper height of the obstacle ahead according to the obstacle type and the detection information of the front sensor.

[0047] Specifically, the bumper position of the obstacle ahead can be identified by combining the obstacle type and the detection information of the front sensor, and the first bumper height of the obstacle ahead can be calculated by trigonometric functions in combination with the detection information of the lidar.

[0048] Based on the above example, if the detection information of the front sensor includes camera image information and radar point cloud information, the first bumper height of the obstacle ahead can be determined according to the obstacle type and the detection information of the front sensor in the following way: Determine the obstacle image of the obstacle ahead according to the camera image information; Determine the bumper point cloud of the obstacle ahead according to the obstacle type, the obstacle image, and the radar point cloud information; Determine the relative height of the bumper according to the laser beam angle corresponding to the bumper point cloud and the obstacle distance; Determine the first bumper height of the obstacle ahead according to the relative height of the bumper and the installation height of the lidar.

[0049] Among them, the camera image information is the image in front of the vehicle captured by the camera of the current vehicle. The radar point cloud information is the point cloud in front of the vehicle obtained by the lidar of the current vehicle. The obstacle image is the partial image corresponding to the front obstacle in the camera image information. The bumper point cloud is the point cloud corresponding to the bumper of the front obstacle. The laser beam angle is the angle between the laser emitted by the lidar and the horizontal plane. When the lidar emits a laser beam, its laser beam angle is known and is achieved through components such as its own angle sensor. The relative height of the bumper is the vertical distance between the bumper of the front obstacle and the lidar of the current vehicle. The lidar installation height is the height between the lidar of the current vehicle and the ground.

[0050] Specifically, by performing image recognition on the camera image information, the obstacle image of the front obstacle can be obtained. Furthermore, by combining the obstacle type and the obstacle image, the image corresponding to the bumper of the front obstacle is identified and determined, and the image corresponding to the bumper is matched in the radar point cloud information to obtain the bumper point cloud of the front obstacle. By combining the laser beam angle corresponding to the bumper point cloud and the obstacle distance, the relative height of the bumper is calculated through trigonometric functions. Furthermore, the sum of the relative height of the bumper and the lidar installation height is used as the first bumper height of the front obstacle.

[0051] Optionally, the relative height of the bumper can also be calculated through trigonometric functions based on the straight-line distance from the lidar to the bumper and the laser beam angle.

[0052] Based on the above example, the following method can be used to determine the bumper point cloud of the front obstacle according to the obstacle type, the obstacle image, and the radar point cloud information: Determine the calibrated bumper height according to the obstacle type and the obstacle image of the front obstacle; Determine the bumper image of the front obstacle according to the calibrated bumper height and the obstacle image; Determine the bumper point cloud of the front obstacle according to the bumper image and the radar point cloud information.

[0053] Among them, the calibrated bumper height is the bumper height matched according to the specific vehicle model.

[0054] Specifically, by combining the obstacle type to perform vehicle type recognition on the obstacle image, after determining the vehicle type, the calibrated bumper height corresponding to the vehicle type can be determined. According to the calibrated bumper height, the position of the bumper in the obstacle image can be determined, and the bumper image of the front obstacle can be extracted. Furthermore, the point cloud corresponding to the bumper image in the radar point cloud information is used as the bumper point cloud of the front obstacle.

[0055] Based on the above examples, the bumper point cloud of the front obstacle can be determined according to the bumper image and the radar point cloud information in the following manner: Determine the point cloud to be recognized corresponding to the bumper image according to the bumper image and the radar point cloud information; Process the point cloud to be recognized according to a preset verification model to determine the authenticity of the point cloud to be recognized; In response to the authenticity being true, use the point cloud to be recognized as the bumper point cloud of the front obstacle; In response to the authenticity being false, determine the obstacle point cloud of the front obstacle according to the obstacle image and the radar point cloud information, and process the obstacle image and the obstacle point cloud according to the bumper recognition model to determine the bumper point cloud of the front obstacle.

[0056] Among them, the point cloud to be recognized is the partial point cloud corresponding to the bumper image in the radar point cloud information. The preset verification model is a model used to verify whether the point cloud to be recognized is the point cloud corresponding to the bumper. The authenticity includes true and false. The bumper recognition model is a model used to combine the image and the point cloud to recognize the partial part corresponding to the bumper in the point cloud.

[0057] Specifically, determine the partial point cloud corresponding to the bumper image in the radar point cloud information as the point cloud to be recognized. Input the point cloud to be recognized into the preset verification model, perform recognition processing on the point cloud to be recognized, determine whether the point cloud to be recognized corresponds to the bumper, and obtain the authenticity of the point cloud to be recognized. If the authenticity is true, use the point cloud to be recognized as the bumper point cloud of the front obstacle. If the authenticity is false, it means that the point cloud to be recognized is inaccurate, which may be due to incorrect vehicle type recognition or the bumper height of the front obstacle being adjusted. Therefore, only real-time recognition can be performed. Use the partial point cloud corresponding to the obstacle image in the radar point cloud information as the obstacle point cloud, and input the obstacle image and the obstacle point cloud into the bumper recognition model for feature extraction and recognition processing, and output the bumper point cloud of the front obstacle.

[0058] Exemplarily, image-based bumper feature extraction may include: Texture features: Bumpers often have specific textures. Methods such as the gray-level co-occurrence matrix can be used to extract their texture features, such as texture roughness, directionality, etc., to distinguish different types or styles of bumpers; Shape features: The edge contour of the bumper is obtained through edge detection algorithms, and then shape features such as perimeter, area, aspect ratio, rectangularity, etc. are extracted for identification and positioning; Color features: According to the color distribution of the bumper in the image, features such as its color histogram are extracted to assist in judging information such as the category of the bumper. Lidar point cloud-based feature extraction can be geometric features: Three-dimensional geometric features of the bumper are calculated from the point cloud, such as curvature features (which can reflect the degree of surface curvature, and the curvature of different parts of the bumper is different), flatness (for some relatively flat bumper surfaces), etc., to describe and identify it.

[0059] S240. In response to the obstacle type being the target type and the predicted collision time being less than the first preset time, determine the target adjustment height according to the first bumper height and the second bumper height of the current vehicle.

[0060] S250. Adjust the height of the vehicle chassis of the current vehicle according to the target adjustment height.

[0061] Exemplarily, the current vehicle is cruising at 100 km / h, and the obstacle ahead is a truck (large vehicle) that has come to a complete stop due to a breakdown, with an obstacle speed of 0 km / h. The distance to the obstacle D = 150 m is determined through the detection information of the front sensor, the current speed V1 of the current vehicle is 100 km / h, and the obstacle speed V2 is 0 km / h. Combining the obstacle type of the front obstacle and the obstacle image, determine the height H of the rear bumper of the truck 货 = 1.2 m (standard truck height). Calculate the predicted collision time TTC = 150 / (27.78 - 0) = 5.4 seconds through the calculation formula. Since the current vehicle does not decelerate in time and the TTC continues to drop below the first threshold, it will trigger the adjustment of the vehicle chassis height. According to the vehicle speed difference table, it is found that: the third preset time is 2.1 seconds, and the FCW can be used to warn the driver through the HUD (Head Up Display); the second preset time is 1.5 seconds, and the AEB can intervene for emergency braking; the first preset time is 1.2 seconds, and the collision adaptive chassis adjustment can be triggered. Through the radar point cloud information in the detection information of the front sensor, the three-dimensional contour of the scanned truck can be obtained, and the height of the cargo compartment and the metal reflection characteristics of the rear bumper can be identified. Through the camera image information in the detection information of the front sensor, the red body of the truck and the texture of the square cargo compartment can be identified. Through analysis, it can be determined that H 货= 1.2 m. The speed difference is ΔV = 100 km / h. The calculation of the height of the second bumper of the current vehicle: Obtain H1 (ground clearance of 0.15 m) through the air suspension height sensor + the vertical distance H2 (0.45 m) between the bumper and the height sensor, to get H 自 = 0.6 m. The height difference ΔH = H 货 - H 自 = 0.6 m. In this case, the bumper of the current vehicle will directly impact the bottom of the truck cargo box, resulting in a risk of intrusion into the passenger compartment. Since the height of the bumper of the current vehicle cannot reach 1.2 m and can at most be increased to 1.0 m, therefore, trigger the wire-controlled suspension to lift the vehicle chassis at the fastest response speed, so that H 自 increases to 1.0 m to approach the height of the truck bumper. By the above method, the collision contact point can be adjusted from the cargo box floor (rigid structure) to the rear bumper of the truck (energy-absorbing structure), reducing the direct impact of the energy transfer path on the passenger compartment. And, after raising the vehicle chassis, the front longitudinal beam of the current vehicle forms a frontal collision with the anti-collision beam of the truck, utilizing the energy-absorbing area at the front of the vehicle body.

[0062] The vehicle chassis height adjustment method provided by the embodiment of the present application determines the obstacle type, obstacle vehicle speed, and obstacle distance of the front obstacle according to the detection information of the front sensor, determines the speed difference according to the current vehicle speed of the current vehicle and the obstacle vehicle speed, and determines the predicted collision time according to the speed difference and the obstacle distance, so as to accurately judge whether the front obstacle will cause huge collision damage and whether the collision possibility is large enough in the subsequent process. Furthermore, according to the obstacle type and the detection information of the front sensor, determine the height of the first bumper of the front obstacle to improve the recognition accuracy of the bumper of the front obstacle, realize the accuracy of the chassis adjustment height when adjusting the vehicle chassis of the current vehicle, and effectively reduce the collision damage.

[0063] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 3 shown, the electronic device 300 includes one or more processors 301 and a memory 302.

[0064] The processor 301 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 300 to perform desired functions.

[0065] The memory 302 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 301 may run the program instructions to implement the vehicle chassis height adjustment method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage media.

[0066] In one example, the electronic device 300 may further include: an input device 303 and an output device 304, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 303 may include, for example, a keyboard, a mouse, etc. The output device 304 may output various information to the outside, including warning prompt information, braking force, etc. The output device 304 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0067] Of course, for simplicity, Figure 3 only some of the components related to the present application in the electronic device 300 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 300 may further include any other appropriate components.

[0068] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps of the vehicle chassis height adjustment method provided by any embodiment of the present application.

[0069] The computer program product may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0070] In addition, an embodiment of the present application may also be a computer-readable storage medium storing computer program instructions, which, when run by a processor, cause the processor to execute the steps of the vehicle chassis height adjustment method provided by any embodiment of the present application.

[0071] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0072] It should be noted that the terms used in the present application are only for describing specific embodiments and do not limit the scope of the present application. As shown in the specification and claims of the present application, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. The term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, or device including a series of elements not only includes those elements but also other elements not explicitly listed, or elements inherent to such a process, method, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, or device including the element.

[0073] It should also be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application. Unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0074] In this text, specific examples are used to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only for helping to understand the method and its core idea of the present application. The above is only the preferred implementation manner of the present application. It should be noted that due to the limited nature of literal expression and objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements, embellishments or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, embellishments, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all be regarded as the protection scope of the present application.

Claims

1. A method for adjusting the height of a vehicle chassis, characterized in that, Including: In response to the presence of a front obstacle corresponding to the current vehicle, based on the detection information of the front sensor, determine the predicted time to collision, the obstacle type of the front obstacle, and the first bumper height; In response to the obstacle type being the target type and the predicted time to collision being less than the first preset time, determine the target adjustment height according to the first bumper height and the second bumper height of the current vehicle; Adjust the height of the vehicle chassis of the current vehicle according to the target adjustment height.

2. The method according to claim 1, wherein The determining the predicted time to collision, the obstacle type of the front obstacle, and the first bumper height based on the detection information of the front sensor includes: Based on the detection information of the front sensor, determine the obstacle type, the obstacle vehicle speed, and the obstacle distance of the front obstacle; Based on the current vehicle speed of the current vehicle and the obstacle vehicle speed, determine the vehicle speed difference, and based on the vehicle speed difference and the obstacle distance, determine the predicted time to collision; Based on the obstacle type and the detection information of the front sensor, determine the first bumper height of the front obstacle.

3. The method according to claim 2, wherein After the determining the vehicle speed difference based on the current vehicle speed of the current vehicle and the obstacle vehicle speed, and determining the predicted time to collision based on the vehicle speed difference and the obstacle distance, further include: Based on the vehicle speed difference, determine the first preset time, the second preset time, and the third preset time; wherein, the third preset time is greater than the second preset time, and the second preset time is greater than the first preset time; In response to the predicted time to collision being less than the third preset time, control the current vehicle to activate the front collision warning system; In response to the predicted time to collision being less than the second preset time, control the current vehicle to activate the automatic emergency braking system.

4. The method according to claim 2, wherein The detection information of the front sensor includes camera image information and radar point cloud information. The determining the first bumper height of the front obstacle based on the obstacle type and the detection information of the front sensor includes: Based on the camera image information, determine the obstacle image of the front obstacle; Based on the obstacle type, the obstacle image, and the radar point cloud information, determine the bumper point cloud of the front obstacle; Based on the laser beam angle corresponding to the bumper point cloud and the obstacle distance, determine the relative bumper height; Based on the relative bumper height and the lidar installation height, determine the first bumper height of the front obstacle.

5. The method according to claim 4, characterized in that, The determining the bumper point cloud of the front obstacle based on the obstacle type, the obstacle image, and the radar point cloud information includes: Based on the obstacle type and the obstacle image of the front obstacle, determine the calibrated bumper height corresponding to the obstacle type; Based on the calibrated bumper height and the obstacle image, determine the bumper image of the front obstacle; Based on the bumper image and the radar point cloud information, determine the bumper point cloud of the front obstacle.

6. The method according to claim 5, wherein Determining the bumper point cloud of the front obstacle based on the bumper image and the radar point cloud information includes: Determining the point cloud to be recognized corresponding to the bumper image according to the bumper image and the radar point cloud information; Processing the point cloud to be recognized according to a preset verification model to determine the authenticity of the point cloud to be recognized; In response to the authenticity being true, using the point cloud to be recognized as the bumper point cloud of the front obstacle; In response to the authenticity being false, determining the obstacle point cloud of the front obstacle according to the obstacle image and the radar point cloud information, and processing the obstacle image and the obstacle point cloud according to a bumper recognition model to determine the bumper point cloud of the front obstacle.

7. The method according to claim 1, characterized in that, It further includes: Obtaining the height of the sensor from the ground based on the height sensor installed on the current vehicle; Determining the second bumper height of the current vehicle according to the vertical distance between the bumper of the current vehicle and the height sensor and the height of the sensor from the ground.

8. The method according to claim 1, wherein Determining the target adjustment height according to the first bumper height and the second bumper height of the current vehicle includes: Judging whether the first bumper height is greater than the maximum bumper height of the current vehicle; In response to the first bumper height being greater than the maximum bumper height, determining the difference between the maximum bumper height and the second bumper height of the current vehicle as the target adjustment height; In response to the first bumper height being less than or equal to the maximum bumper height, determining the difference between the first bumper height and the second bumper height of the current vehicle as the target adjustment height.

9. An electronic device, characterized in that, The electronic device includes: A processor and a memory; The processor is configured to execute the steps of the vehicle chassis height adjustment method according to any one of claims 1 to 8 by calling the program or instruction stored in the memory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the vehicle chassis height adjustment method according to any one of claims 1 to 8.

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