Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: determining whether a speed reduction device exists on a driving path of the vehicle according to a road image on the driving path of the vehicle, and if the speed reduction device exists on the driving path of the vehicle, adjusting an initial wheel speed change threshold value to a target wheel speed change threshold value, according to the real-time wheel speed of the to-be-controlled wheel of the vehicle and the target wheel speed change threshold value, whether the vehicle is passing through the speed reduction device or not is determined, and if it is determined that the vehicle is passing through the speed reduction device, the to-be-controlled wheel is controlled to conduct torque revocation and torque recovery in sequence. According to the invention, the recognition accuracy of the speed reducer is improved, and the stable and accurate control when the vehicle passes through the speed reducer is realized on the premise that the driving experience is not influenced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and more particularly, to a vehicle control method, device, vehicle, and storage medium. Background Art

[0002] When a vehicle passes over a speed bump, the wheels will leave the ground. Since there is no ground resistance and there is motor torque when the vehicle is in the air, there will be a speed difference between the change in wheel speed and the change in vehicle speed of the whole vehicle. When the wheels land, it will cause an impact on the whole vehicle. In order to reduce the impact caused when the vehicle passes over a speed bump, it is necessary to accurately identify the speed bump and control the vehicle.

[0003] In the prior art, the adopted method is to identify the distance of the speed bump through vision technology and select an appropriate deceleration strategy to control the vehicle to decelerate, or to control the torque of the front and rear motors of the vehicle when the vehicle passes over the speed bump, so as to reduce the speed difference between the change in wheel speed and the change in vehicle speed of the whole vehicle.

[0004] However, the method of controlling the vehicle to decelerate will actively intervene in the driving speed and affect the driving experience of the user. At present, the method of controlling the torque of the front and rear motors when the vehicle passes over the speed bump still has the problem of inaccurate control, and is limited to four-wheel drive vehicles, with a small scope of application. Summary of the Invention

[0005] The purpose of the present application is to provide a vehicle control method, device, vehicle, and storage medium to solve the problem of inaccurate control and affecting the driving experience of the user when the vehicle passes over a speed bump in the prior art, aiming at the deficiencies in the above-mentioned prior art.

[0006] To achieve the above purpose, the technical solution adopted in the present application is as follows: In a first aspect, the present application provides a vehicle control method, and the method includes: Determine whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the road image on the driving path of the vehicle; If there is a deceleration device within the preset distance on the driving path of the vehicle, adjust the initial wheel speed change threshold to the target wheel speed change threshold; Determine whether the vehicle is passing over a deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold; If it is determined that the vehicle is passing over a deceleration device, control the wheel to be controlled to perform torque cancellation and torque restoration in sequence.

[0007] Optionally, the determining whether the vehicle is passing over a deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold includes: Determine whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact stage, determine whether the vehicle enters the contact driving stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact driving stage, it is determined that the vehicle is passing through a deceleration device.

[0008] Optionally, the determining whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold includes: Determine the first wheel speed change amount in the first current period according to the real-time wheel speed, where the duration of the first current period is less than the first duration threshold; If the first wheel speed change amount is negative and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle enters the contact stage.

[0009] Optionally, the determining whether the vehicle enters the contact driving stage according to the real-time wheel speed and the target wheel speed change threshold includes: Determine the second wheel speed change amount in the second current period according to the real-time wheel speed, where the duration of the second current period is less than the second duration threshold; If the second wheel speed change amount is positive and the absolute value of the second wheel speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle enters the contact driving stage.

[0010] Optionally, the controlling the wheel to be controlled to perform torque cancellation and torque recovery in sequence includes: Control the wheel to be controlled to perform torque cancellation and torque recovery in sequence according to the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold.

[0011] Optionally, the controlling the wheel to be controlled to perform torque cancellation and torque recovery in sequence according to the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold includes: Determine whether the vehicle enters the airborne stage according to the real-time wheel speed and the first wheel speed control threshold; If it is determined that the vehicle enters the airborne stage, control the wheel to be controlled to perform torque cancellation; Determine whether the vehicle enters the landing stage according to the real-time wheel speed and the second wheel speed control threshold; If it is determined that the vehicle enters the landing stage, control the wheel to be controlled to perform torque recovery.

[0012] Optionally, the determining whether the vehicle enters the airborne stage according to the real-time wheel speed and the first wheel speed control threshold includes: Determine the third wheel speed change amount in the third current period according to the real-time wheel speed, where the duration of the third current period is less than the third duration threshold; If the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, it is determined that the vehicle enters the airborne stage.

[0013] Optionally, determining whether the vehicle enters the landing stage according to the real-time wheel speed and the second wheel speed control threshold includes: Determine the fourth wheel speed change amount in the fourth current period according to the real-time wheel speed, where the duration of the fourth current period is less than the fourth duration threshold; If the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it is determined that the vehicle enters the landing stage.

[0014] Optionally, adjusting the initial wheel speed change threshold to obtain the target wheel speed change threshold includes: Reducing the initial wheel speed change threshold to the target wheel speed change threshold.

[0015] Optionally, determining whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the road image on the driving path of the vehicle includes: Perform image recognition on the road image to obtain the deceleration device recognition result in the road image; If the confidence level of the deceleration device recognition result is greater than the preset confidence level threshold, it is determined that there is a deceleration device within a preset distance on the driving path of the vehicle.

[0016] In a second aspect, the present application provides a vehicle control device, including: A first determination module, configured to determine whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the acquisition information on the driving path of the vehicle; An adjustment module, configured to adjust the initial wheel speed change threshold to the target wheel speed change threshold if there is a deceleration device within a preset distance on the driving path of the vehicle; A second determination module, configured to determine whether the vehicle is passing through a deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold; A control module, configured to control the wheel to be controlled to perform torque cancellation and torque recovery in sequence if it is determined that the vehicle is passing through a deceleration device.

[0017] Optionally, the second determination module is used for: Determine whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact stage, determine whether the vehicle enters the contact driving stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact driving stage, it is determined that the vehicle is passing through the deceleration device.

[0018] Optionally, the second determination module is configured to: Determine a first wheel speed change amount in a first current period according to the real-time wheel speed, where the duration of the first current period is less than a first duration threshold; If the first wheel speed change amount is negative and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, determine that the vehicle enters the contact stage.

[0019] Optionally, the second determination module is configured to: Determine a second wheel speed change amount in a second current period according to the real-time wheel speed, where the duration of the second current period is less than a second duration threshold; If the second wheel speed change amount is positive and the absolute value of the second wheel speed change amount is greater than the target wheel speed change threshold, determine that the vehicle enters the contact driving stage.

[0020] Optionally, the control module is configured to: Control the wheel to be controlled to perform torque cancellation and torque recovery in sequence according to the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold.

[0021] Optionally, the control module is configured to: Determine whether the vehicle enters the airborne stage according to the real-time wheel speed and a first wheel speed control threshold; If it is determined that the vehicle enters the airborne stage, control the wheel to be controlled to perform torque cancellation; Determine whether the vehicle enters the landing stage according to the real-time wheel speed and a second wheel speed control threshold; If it is determined that the vehicle enters the landing stage, control the wheel to be controlled to perform torque recovery.

[0022] Optionally, the second determination module is configured to: Determine a third wheel speed change amount in a third current period according to the real-time wheel speed, where the duration of the third current period is less than a third duration threshold; If the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, determine that the vehicle enters the airborne stage.

[0023] Optionally, the second determination module is configured to: Determine the fourth wheel speed change amount in the fourth current period according to the real-time wheel speed, where the duration of the fourth current period is less than the fourth duration threshold; If the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it is determined that the vehicle enters the landing stage.

[0024] Optionally, the adjustment module is configured to: Reduce the initial wheel speed change threshold to the target wheel speed change threshold.

[0025] Optionally, determining whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the road image on the driving path of the vehicle includes: Perform image recognition on the road image to obtain a deceleration device recognition result in the road image; If the confidence of the deceleration device recognition result is greater than a preset confidence threshold, it is determined that there is a deceleration device within a preset distance on the driving path of the vehicle.

[0026] In a third aspect, the present application provides a vehicle, and the vehicle is used to execute the steps of the vehicle control method described in the first aspect.

[0027] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the vehicle control method described in the first aspect.

[0028] The beneficial effects of the present application are as follows: By pre-perceiving the speed bump ahead based on the road image, it can prepare for the subsequent torque control strategy and improve the accuracy of the subsequent torque control. By adjusting the wheel speed change threshold to the target wheel speed change threshold when the speed bump is visually recognized, and sequentially performing torque cancellation and torque recovery of the wheels based on the target wheel speed change threshold, the accuracy and sensitivity of the vehicle's recognition of the speed bump can be improved, and the vehicle can be more stable when passing through the speed bump, reducing the impact on components such as the vehicle suspension system and tires, improving driving comfort and the service life of the vehicle. At the same time, it can also ensure that the vehicle can quickly restore power after passing through the speed bump without affecting normal driving, thereby enhancing the user's driving experience.

[0029] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and are described in detail as follows. Description of the Drawings

[0030] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0031] Figure 1 Shows a flowchart of a vehicle control method provided by an embodiment of the present application; Figure 2 Shows a schematic diagram of the wheel position and wheel speed changes when a vehicle passes through a deceleration device in four stages provided by an embodiment of the present application; Figure 3 Shows a flowchart of determining that a vehicle is passing through a deceleration device provided by an embodiment of the present application; Figure 4 Shows a flowchart of determining that a vehicle enters the contact stage provided by an embodiment of the present application; Figure 5 Shows a flowchart of determining that a vehicle enters the contact driving stage provided by an embodiment of the present application; Figure 6 Shows a flowchart of performing torque cancellation and torque recovery provided by an embodiment of the present application; Figure 7 Shows a flowchart of determining that a vehicle enters the airborne stage provided by an embodiment of the present application; Figure 8 Shows a flowchart of determining that a vehicle enters the landing stage provided by an embodiment of the present application; Figure 9 Shows a flowchart of identifying a deceleration device based on a road image provided by an embodiment of the present application; Figure 10 Shows a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. Detailed implementation manners

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are only some, but not all, of the embodiments of this application. Components of the embodiments of this application generally described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0033] It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the subsequently stated features, but does not exclude adding other features.

[0034] In the prior art, to achieve smooth control when a vehicle passes over a speed bump, the first method is to identify the distance between the vehicle and the speed bump through vision technology and select an appropriate deceleration strategy to control the vehicle to decelerate.

[0035] However, this method is generally applied to the scenario of assisted driving and has the problem of limited applicable range. Moreover, actively intervening in the vehicle speed during vehicle driving will also affect the driving experience of users.

[0036] The second method is to control the torques of the front and rear motors of the vehicle when the vehicle passes over the speed bump to reduce the speed difference between the wheel speed change amount and the vehicle speed change amount of the whole vehicle. During this process, the torque of the vehicle's motor can be controlled by judging the fluctuation amount of the vehicle's wheel speed, so as to achieve smooth control when the vehicle passes over the speed bump.

[0037] However, currently, the method of controlling the torques of the front and rear motors when the vehicle passes over the speed bump still has the problem of inaccurate control, and the applicable range is limited to four-wheel drive vehicles, with poor universality.

[0038] Based on this, this application proposes a vehicle control method, which uses the image in front of the vehicle to identify whether there is a speed bump, and on this basis, uses a reasonable wheel speed change threshold to cancel and restore the wheel torque, improving the accuracy of speed bump recognition. During the process of the vehicle passing over the speed bump, it is determined which stage of passing over the speed bump the vehicle is in according to the change amount of the vehicle's wheel speed, and the motor torque is controlled, further realizing precise control of the torque and improving the smoothness of the vehicle passing over the speed bump.

[0039] Next, in combination with Figure 1, the vehicle control method of the present application will be described. This method can be applied to vehicles, such as two-wheel drive vehicles or four-wheel drive vehicles. Two-wheel drive vehicles can be front-wheel drive vehicles or rear-wheel drive vehicles. Refer to Figure 1 , the method of the present application includes: S101. Determine whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the acquisition information on the driving path of the vehicle.

[0040] Optionally, the acquisition information can be radar information, camera information, positioning information, navigation information, etc. within a preset distance of the driving path of the vehicle collected by the sensing device or acquisition device of the vehicle, which can represent the visual information on the driving path of the vehicle. Taking the acquisition information as the real-time road condition image as an example, for example, when the driving path of the vehicle is moving forward along the rightmost lane, the acquisition information can be the real-time road condition image of the rightmost lane in front collected by the camera in front of the vehicle. When the driving path of the vehicle is reversing along the rightmost lane, the road image can be the real-time road condition image of the rightmost lane behind collected by the camera behind the vehicle.

[0041] It should be noted that the deceleration devices in the present application are not limited to traffic facilities such as speed bumps installed on the road to decelerate passing vehicles, but also include raised areas or sunken areas on the road that have the same decelerating effect as speed bumps in a broad sense. For example, an obstacle or sunken area with a height difference from the ground greater than a preset threshold can also be considered a deceleration device.

[0042] As a possible implementation, by performing image recognition on the road image, if the road image includes an obstacle and a sunken area with a height difference from the ground greater than a preset threshold, the obstacle and the sunken area are identified as deceleration devices.

[0043] Optionally, when identifying the deceleration device based on the road image, the relationship between the position of the identified deceleration device and the driving path of the vehicle can also be analyzed. If the position of the deceleration device is on the driving path of the vehicle, it can be determined that there is a deceleration device.

[0044] It should be noted that for the scenario where a rear-wheel drive vehicle drives forward through a deceleration device towards the front of the vehicle, it is not only possible to determine whether there is a deceleration device based on the recognition result of the deceleration device in the road image, but also possible to determine whether there is a deceleration device according to the wheel speed fluctuation condition of the front wheels. If the wheel speed fluctuation condition of the front wheels is consistent with the preset wheel speed fluctuation condition when the vehicle passes through the deceleration device, it can be determined that there is a deceleration device on the driving path of the vehicle. For example, when the vehicle slides through the deceleration device, the wheel speed fluctuation condition of the front wheels is the same as Figure 2If the wheel speed fluctuations in stage ①, stage ②, stage ③, and stage ④ are the same, it can be determined that the front wheels pass through the deceleration device. At this time, it can be determined that there is a deceleration device on the driving path of the vehicle, and the rear wheel set of the vehicle can be controlled. Similarly, for the scenario where a front-wheel drive vehicle drives towards the rear of the vehicle and passes through the deceleration device, it can also be determined whether there is a deceleration device on the driving path of the vehicle based on the wheel speed fluctuations of the rear wheels.

[0045] S102. If there is a deceleration device within a preset distance on the driving path of the vehicle, adjust the initial wheel speed change threshold to the target wheel speed change threshold.

[0046] It should be understood that when the distance between the deceleration device and the vehicle is relatively close, by adjusting the initial wheel speed change threshold, more sensitive recognition can be achieved when the vehicle passes through the speed bump. When there is a certain distance between the deceleration device and the vehicle, there may be misrecognition. Therefore, by recognizing the speed bumps within the preset distance, the accuracy of subsequent recognition based on the initial wheel speed change threshold can be greatly improved.

[0047] Among them, the initial wheel speed change threshold can be the reference value used to determine whether the wheel speed change is abnormal during the normal driving of the vehicle, and is used to determine whether the wheels of the vehicle are passing through the deceleration device. The initial wheel speed change threshold can be set according to factors such as the normal driving state of the vehicle and the tire characteristics, and is used to monitor the movement of the wheels. Among them, the initial wheel speed change threshold can be the wheel speed change amount threshold or the wheel speed change rate threshold.

[0048] During the normal driving process of the vehicle, the movement of the vehicle can also be continuously monitored based on the initial wheel speed change threshold. When the wheel speed change amount of the vehicle's wheels and the initial wheel speed change threshold meet the preset conditions, it indicates that the vehicle is currently passing through a deceleration device not recognized by the vision technology. At this time, the torque of the vehicle can also be controlled so that the wheels can pass through the deceleration device smoothly.

[0049] It is worth noting that if the deceleration device is always recognized and the torque is controlled based on the initial wheel speed change threshold, when passing through some relatively gentle deceleration devices, it is very likely that the actual wheel speed fluctuation amount is less than the target wheel speed change threshold. At this time, the torque control of the wheels cannot be triggered. However, by adjusting the initial wheel speed change threshold according to the result of visual recognition in the present application, the recognition sensitivity for this type of gentle deceleration device can be improved in the future.

[0050] The target wheel speed change threshold can be a new wheel speed change judgment criterion determined based on the initial wheel speed change threshold when the vehicle is about to pass through the deceleration device, and is used to determine the timing of vehicle torque control when the wheels of the vehicle pass through the deceleration device. Among them, the target wheel speed change threshold can be the wheel speed change amount threshold or the wheel speed change rate threshold.

[0051] Exemplarily, when it is determined that there is a deceleration device on the driving path of the vehicle, the initial wheel speed change threshold can be reduced, thereby improving the recognition sensitivity when the vehicle passes through the deceleration device, and more accurately determining whether the vehicle is passing through the deceleration device based on the wheel speed of the vehicle.

[0052] As another possible implementation, when the vehicle is about to pass through the deceleration device, a new target wheel speed change threshold can be recalculated according to parameters such as the current speed of the vehicle and the adhesion coefficient between the tire and the ground, and the initial wheel speed change threshold can be adjusted to the target wheel speed change threshold. Based on the target wheel speed change threshold, the change in the wheel speed can be captured more sensitively.

[0053] S103. Determine whether the vehicle is passing through the deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold.

[0054] Among them, the wheel to be controlled can be the wheel that needs to perform motor torque control and is also the wheel that will pass through the deceleration device. Exemplarily, assuming the vehicle is a front-wheel drive vehicle, the wheel to be controlled can be the front wheel group of the vehicle. Assuming the vehicle is a rear-wheel drive vehicle, the wheel to be controlled can be the rear wheel group of the vehicle. Assuming the vehicle is a four-wheel drive vehicle, the wheel to be controlled can be the front wheel group that is about to pass through the deceleration device or the rear wheel group that is about to pass through the deceleration device.

[0055] Optionally, the real-time wheel speed can be the wheel speed data that is monitored by the system in real time during the driving process of the vehicle. The rotation speed information of the wheel is collected through the wheel speed sensor, which can reflect the current motion state of the wheel.

[0056] As a possible implementation, the current wheel speed change rate or the current wheel speed change amount can be obtained according to the real-time wheel speed of the wheel to be controlled of the vehicle, and the current wheel speed change rate or the wheel speed change amount is compared with the target wheel speed change threshold to determine whether the vehicle is passing through the deceleration device.

[0057] Exemplarily, the real-time monitored wheel speed change rate can be compared with the target wheel speed change threshold. If the wheel speed change rate exceeds the target threshold and the wheel speed fluctuation condition of the wheel is consistent with the fluctuation characteristics when the vehicle passes through the deceleration device, it can be said that the vehicle is passing through the deceleration device.

[0058] S104. If it is determined that the vehicle is passing through the deceleration device, control the wheel to be controlled to perform torque cancellation and torque recovery in sequence.

[0059] Optionally, if the vehicle is passing through the deceleration device, it can be determined whether to perform torque cancellation processing and torque recovery processing according to the real-time wheel speed of the wheel to be controlled to control the torque of the vehicle.

[0060] Among them, torque cancellation means that when the vehicle is in a suspended state, in order to reduce the impact force between the wheels and the deceleration device and reduce the jolting of the vehicle, the system temporarily reduces or cancels the torque output to the wheels. Torque restoration means that when the wheels land, in order to restore the normal driving power of the vehicle, the system resumes the torque output to the wheels so that the vehicle can continue to travel according to the driver's intention.

[0061] Exemplarily, if the user is stepping on the accelerator when the vehicle passes through the deceleration device, and at this time the torque of the wheel to be controlled is a positive value, when performing torque cancellation, the torque of the wheel to be controlled can be reduced to zero, and when the wheel to be controlled lands, the torque of the wheel to be controlled is restored to the positive value before the reduction.

[0062] In another example, if the user is stepping on the brake when the vehicle passes through the deceleration device, and at this time the torque of the wheel to be controlled is a negative value, when performing torque cancellation, the torque of the wheel to be controlled can be increased to zero, and when the wheel to be controlled lands, the torque of the wheel to be controlled is restored to the negative value before the increase.

[0063] In the embodiments of the present application, by pre-sensing the deceleration device ahead based on the road image, it can prepare for the subsequent torque control strategy and improve the accuracy of the subsequent torque control. By adjusting the wheel speed change threshold to the target wheel speed change threshold when the deceleration device is visually recognized, and sequentially performing torque cancellation and torque restoration of the wheels based on the target wheel speed change threshold, the accuracy and sensitivity of the vehicle's recognition of the deceleration device can be improved, and the vehicle can be more stable when passing through the deceleration device, reducing the impact on components such as the vehicle suspension system and tires, improving driving comfort and the service life of the vehicle. At the same time, it can also ensure that the vehicle can quickly restore power after passing through the deceleration device without affecting normal driving, thereby enhancing the user's driving experience.

[0064] Next, the four stages of the vehicle passing through the deceleration device will be described first. Figure 2 It is an example diagram of the wheel speed change and wheel position in four stages during the process of a vehicle sliding through a deceleration device.

[0065] Refer to Figure 2, in the figure, the stages when the vehicle passes through the deceleration device are represented by numerical serial numbers. Among them, the first stage is the stage when the wheel contacts the deceleration device, at this time the wheel speed will decrease rapidly. When the wheel passes over the deceleration device, it enters the second stage. The second stage is the contact driving stage, which refers to the stage after the wheel contacts the deceleration device and before it stops contacting the deceleration device. At this time, the wheel speed gradually recovers. When the wheel leaves the deceleration device and is in the air, it enters the third stage. At this time, the change amount of the wheel speed will be very large. In order to ensure the vehicle is in a stable state, it is necessary to control the torque of the wheel to control the rotation speed of the vehicle. When the wheel lands, it enters the fourth stage, at which time the torque of the wheel can be restored to make the rotation speed of the wheel recover.

[0066] The following is in combination with Figure 2 , a further description of determining whether the vehicle is passing through the deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold, as Figure 3 shown, the above step S103 includes: S301. Determine whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold.

[0067] Among them, the contact stage refers to the stage when the wheel to be controlled collides with the deceleration device and starts to decelerate.

[0068] Optionally, by analyzing the real-time wheel speeds at adjacent moments or the real-time wheel speeds within a period of time, the change situation of the rotation speed of the wheel to be controlled can be obtained, and then it can be determined whether the wheel to be controlled collides with the deceleration device.

[0069] It should be noted that based on different road conditions, in some cases, when the wheel contacts a depression or a raised ground on the road, it may also cause a change in the wheel speed. Based on this, the change situation of the real-time wheel speed can be compared with the target wheel speed change threshold. When the change situation of the real-time wheel speed of the wheel meets the preset conditions, it is considered that the vehicle enters the contact stage. Thus, it is possible to avoid misidentifying the situation where the wheel speed decreases during the normal driving of the vehicle, and further improve the recognition accuracy of the vehicle entering the contact stage.

[0070] Among them, the change situation of the real-time wheel speed of the wheel meeting the preset conditions with the target wheel speed change threshold can be that the difference between the two is less than the preset value, or the change situation of the real-time wheel speed exceeds the target wheel speed change threshold, etc. The specific judgment method is not limited in this application.

[0071] S302. If it is determined that the vehicle enters the contact stage, determine whether the vehicle enters the contact driving stage according to the real-time wheel speed and the target wheel speed change threshold.

[0072] Among them, the contact driving stage can be the stage when the to-be-controlled wheel of the vehicle contacts the deceleration device and then drives in contact with the deceleration device. Exemplarily, assuming that the deceleration device is Figure 2 a speed bump with a trapezoidal cross-section in the middle. After the wheel contacts the left waist of the trapezoid, the wheel will drive along the left waist of the trapezoid. After reaching the left vertex of the upper base of the trapezoid, the wheel will leave the trapezoid and enter the airborne stage. The contact driving stage can be the stage after the wheel contacts the left waist of the trapezoid, drives along the left waist of the trapezoid, and before stopping contacting the trapezoid.

[0073] After the vehicle enters the contact stage, it can continue to determine the wheel speed change of the to-be-controlled wheel based on the real-time wheel speed of the to-be-controlled wheel of the vehicle. If the wheel speed change of the to-be-controlled wheel meets the preset condition with the target wheel speed change threshold, it is determined that the vehicle enters the contact driving stage.

[0074] It should be understood that the above steps S301-S302 are progressive judgment steps, and the two are indispensable. Only after the to-be-controlled wheel of the vehicle has entered the contact stage will it be judged whether the to-be-controlled wheel enters the contact driving stage. If the to-be-controlled wheel does not experience the contact stage at the beginning, even if the wheel speed change of the to-be-controlled wheel meets the preset condition with the target wheel speed change threshold, it is not possible to judge whether the to-be-controlled wheel enters the contact driving stage.

[0075] S303. If it is determined that the vehicle enters the contact driving stage, it is determined that the vehicle is passing through the deceleration device.

[0076] Optionally, if the vehicle enters the contact driving stage, it means that the to-be-controlled wheel of the vehicle is passing through the deceleration device. Refer to Figure 2 Next, the to-be-controlled wheel will successively experience the airborne stage and the landing stage. Based on this, the wheel torque in the airborne stage and the landing stage can be controlled to achieve the smooth landing of the vehicle.

[0077] In the embodiment of the present application, by successively judging whether the vehicle enters the contact stage and the contact driving stage according to the real-time wheel speed of the to-be-controlled wheel of the vehicle and the target wheel speed change threshold, the recognition accuracy of the vehicle passing through the deceleration device can be improved, and further the accuracy of subsequent vehicle control can be enhanced.

[0078] Next, in combination with Figure 4 the process of determining whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold is described as follows. As Figure 4 shown, the above step S201 includes: S401. Determine the first wheel speed change amount in the first current time period according to the real-time wheel speed, where the duration of the first current time period is less than the first duration threshold.

[0079] Optionally, the first current period may be a time period composed of consecutive T1 moments including the current moment within the past time. Among them, the end moment of the first current moment is the current moment.

[0080] In the first implementation manner, the real-time wheel speed at the start moment of the first current period may be used as the minuend, the real-time wheel speed at the end moment may be used as the subtrahend, and the difference between the two may be used as the first wheel speed change amount.

[0081] In the second implementation manner, the difference between the highest real-time wheel speed and the lowest real-time wheel speed in the first current period may also be used as the first wheel speed change amount.

[0082] Optionally, the first duration threshold may be a trigger duration threshold for the wheel to be controlled of the vehicle to enter the contact stage. It should be understood that if the wheel decelerates within a long time period, it is very likely that the deceleration is not caused by hitting a deceleration device, but by factors such as road slope. The deceleration caused by hitting a deceleration device generally occurs within a short time. Therefore, by setting the first duration threshold and judging the wheel speed change situation based on the real-time wheel speed of the first current period less than the first duration threshold, it is possible to accurately identify the situation where the wheel to be controlled decelerates within a short time, thereby improving the recognition accuracy of the wheel to be controlled hitting the deceleration device.

[0083] S402. If the first wheel speed change amount is negative and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle enters the contact stage.

[0084] Continuing with the first implementation manner in the above S401, if the first wheel speed change amount is negative, it means that the rotational speed of the wheel to be controlled is in a downward trend within the first current period. If the absolute value of the first wheel speed change amount is also greater than the target wheel speed change threshold, it means that the wheel speed decline rate of the wheel to be controlled within the first current period exceeds the target wheel speed change threshold. At this time, it can be determined that the vehicle enters the contact stage.

[0085] Exemplarily, assume that the first wheel speed change amount of the wheel to be controlled within the first current period is -12 and the target wheel speed change threshold is 10. At this time, the first wheel speed change amount is negative, and the absolute value 12 of the first wheel speed change amount is greater than the target wheel speed change threshold, indicating that the wheel to be controlled of the vehicle touches the deceleration device and enters the contact stage.

[0086] Continuing with the second implementation manner in the above S401 steps, if the time of the highest real-time wheel speed is earlier than the time of the lowest real-time wheel speed and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, it can also be determined that the vehicle enters the contact stage.

[0087] It should be noted that the absolute value of the first-round speed change amount being greater than the target wheel speed change threshold is a possible implementation given in this application. It is also possible to calculate the exceeding rate of the absolute value of the first-round speed change amount exceeding the target wheel speed change threshold. If the exceeding rate reaches the preset exceeding rate value, it is also possible to determine that the vehicle has entered the contact stage.

[0088] Exemplarily, if the first-round speed change amount is negative and the first-round speed change amount exceeds the target wheel speed change threshold by 10% to reach the preset exceeding rate value, it can be determined that the vehicle has entered the contact stage.

[0089] In the embodiments of this application, by judging the wheel speed change amount in the first current period and the target wheel speed change threshold, it is possible to determine whether the vehicle has entered the contact stage, and accurate identification of the vehicle contact deceleration device can be achieved based on the mechanical vibration data of the vehicle.

[0090] The following is a further description of determining whether the vehicle has entered the contact driving stage based on the target wheel speed change threshold according to the real-time wheel speed as follows Figure 5 As shown, the above step S302 includes: S501. Determine the second-round speed change amount in the second current period according to the real-time wheel speed, where the duration of the second current period is less than the second duration threshold.

[0091] Among them, the second duration threshold may be the trigger duration threshold for the vehicle's wheels to be controlled to enter the contact driving stage. The value of the second duration threshold and the first duration threshold may be the same or may be set to different values, and this application does not limit this here.

[0092] Exemplarily, the first duration threshold and the second duration threshold can both be set to 0.1 s. If the first-round speed change amount and the second-round speed change amount within 0.1 s meet the judgment conditions of the above step S402 and the following step S502, it is determined that the wheels to be controlled of the vehicle have entered the contact stage and the contact driving stage.

[0093] Optionally, the second current period may be a time period composed of consecutive T2 moments including the current moment in the past time. Among them, the end moment of the second current moment is the current moment.

[0094] S502. If the second-round speed change amount is positive and the absolute value of the second-round speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle has entered the contact driving stage.

[0095] Optionally, the real-time wheel speed at the start time of the second current period can be used as the minuend, and the real-time wheel speed at the end time of the second current period can be used as the subtrahend. The difference obtained by subtracting the two is used as the second wheel speed change amount. If the second wheel speed change amount is positive and the absolute value of the second wheel speed change amount is greater than the target wheel speed change threshold, it indicates that the vehicle is driving in contact with the deceleration device.

[0096] Referring to Figure 3 , when the wheel to be controlled collides with the deceleration device, the wheel speed will drop briefly, and during the process of driving in contact with the deceleration device ( Figure 2 the process of driving on the contact surface of the left waist of the trapezoid), the wheel speed will recover to the speed before deceleration within a short time. Based on this, the real-time wheel speed change of the second current period and the target wheel speed change threshold can be used to determine whether the vehicle enters the contact driving stage.

[0097] Among them, the principle of determining whether the vehicle enters the contact driving stage based on the second wheel speed change amount and the target wheel speed change threshold is the same as the principle of determining whether the vehicle enters the contact stage based on the first wheel speed change amount and the target wheel speed change threshold, which will not be elaborated in this application.

[0098] In the embodiments of the present application, after determining that the vehicle enters the contact stage, based on the target wheel speed change threshold and the real-time wheel speed of the vehicle, it is judged whether the vehicle enters the contact driving stage, so as to accurately identify that the wheel to be controlled of the vehicle is passing through the deceleration device when the vehicle continuously enters the contact stage and the contact driving stage, improving the accuracy of the vehicle's recognition of the deceleration device.

[0099] The above process of controlling the wheel to be controlled to perform torque cancellation and torque recovery in sequence includes: According to the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold, control the wheel to be controlled to perform torque cancellation and torque recovery in sequence.

[0100] Among them, the wheel speed control threshold is used to represent the wheel speed change amount threshold or the wheel speed change rate threshold when the wheel speed of the wheel to be controlled needs to be controlled. Exemplarily, assuming that the real-time wheel speed change amount of the wheel and the wheel speed control threshold meet the preset torque cancellation condition, it can be determined that the torque cancellation process needs to be performed on the wheel to be controlled at this time. During the process of the vehicle passing through the deceleration device, continue to judge the real-time wheel speed of the wheel to be controlled of the vehicle. If the real-time wheel speed change amount of the wheel and the wheel speed control threshold meet the preset torque recovery condition, it can be determined that the torque recovery process needs to be performed on the wheel to be controlled at this time.

[0101] Referring to Figure 2, at the end of the contact driving stage, the vehicle is in a floating state. At this time, torque cancellation processing can be performed on the wheels to be controlled of the vehicle. When the vehicle lands, torque restoration processing can be performed on the wheels to be controlled of the vehicle.

[0102] Optionally, the wheel speed control threshold includes a first wheel speed control threshold and a second wheel speed control threshold. The first wheel speed control threshold is used to determine whether the wheel to be controlled enters the floating stage, and the second wheel speed control threshold is used to determine whether the wheel to be controlled enters the landing stage. Among them, the first wheel speed control threshold and the second wheel speed control threshold can be the same value, or can be set to different values based on actual needs. This application does not limit this here.

[0103] The following is a further description of the above-mentioned control of the wheels to be controlled to perform torque cancellation and torque restoration in sequence according to the real-time wheel speed of the wheels to be controlled and the wheel speed control threshold, as Figure 6 shown, the above steps include: S601. Determine whether the vehicle enters the floating stage according to the real-time wheel speed and the first wheel speed control threshold.

[0104] Among them, the floating stage can be the stage when the wheels to be controlled of the vehicle leave the deceleration device and the ground and are in a floating state.

[0105] Optionally, when the wheel to be controlled passes through the deceleration device in a positive torque state and is in a floating state, due to the disappearance of the ground resistance and the existence of the motor torque, the rotational speed of the wheel to be controlled will increase significantly. Based on this, if the wheel speed increase amount of the wheel to be controlled within a short time and the wheel speed control threshold meet the preset conditions, it can be determined that the vehicle is in the floating stage.

[0106] In another possible implementation, when the wheel to be controlled passes through the deceleration device in a negative torque state and is in a floating state, due to the disappearance of the ground resistance and the existence of the motor negative torque, the rotational speed of the wheel to be controlled will decrease significantly. At this time, it can also be determined whether the vehicle is in the floating stage based on the wheel speed decrease amount of the wheel to be controlled within a short time and the wheel speed control threshold meeting the preset conditions.

[0107] S602. If it is determined that the vehicle enters the floating stage, control the wheel to be controlled to perform torque cancellation.

[0108] If the wheel to be controlled of the vehicle is in the floating stage, the wheel to be controlled can be controlled to perform torque cancellation to reduce the wheel speed change amount of the wheel to be controlled and reduce the impact feeling when the wheel lands.

[0109] If the torque of the wheel to be controlled is a positive value, the wheel to be controlled is controlled to cancel the torque, which may be to reduce the torque of the wheel to be controlled to a preset value. If the torque of the wheel to be controlled is a negative value, the wheel to be controlled is controlled to cancel the torque, which may be to increase the torque of the wheel to be controlled to a preset value. The preset value may be zero, for example.

[0110] S603: Determine whether the vehicle enters the landing phase according to the real-time wheel speed and the second wheel speed control threshold.

[0111] The landing stage may be a stage in which the to-be-controlled wheels of the vehicle re-contact the ground. The wheel speed change of the to-be-controlled wheels in a short period of time may be determined based on the real-time wheel speed, and whether the vehicle enters the landing stage may be determined based on the wheel speed change and the wheel speed control threshold.

[0112] It should be understood that the wheel speed may drop or rise suddenly within a short period of time when the vehicle lands. Based on this, the wheel speed change can be compared with the wheel speed control threshold. For example, if the wheel speed change is greater than the wheel speed control threshold, or the absolute value of the wheel speed change exceeds the wheel speed control threshold and reaches a certain value, it is determined that the vehicle has entered the landing stage.

[0113] S604: If it is determined that the vehicle has entered the landing phase, the wheels to be controlled are controlled to perform torque recovery.

[0114] If the to-be-controlled wheel of the vehicle is in the landing stage, the to-be-controlled wheel can be controlled to perform torque recovery to avoid driver panic caused by loss of wheel acceleration.

[0115] Exemplarily, the system may send a torque recovery signal to the motor of the wheel to be controlled, so that after receiving the torque recovery signal, the motor of the wheel to be controlled promptly recovers the torque of the wheel to be controlled to the state before the torque is canceled in step S602.

[0116] It is worth noting that when performing torque recovery, the trend of wheel speed recovery can be predicted, and torque recovery can be performed according to a preset gradient to achieve smooth torque recovery. When predicting the trend of wheel speed recovery, a prediction can be made based on the change in wheel speed passing through the deceleration device in historical data. For example, when performing torque recovery on the rear wheels of a rear-wheel drive vehicle, the wheel speed recovery speed when the wheel lands can be determined based on the wheel speed change when the front wheel passes through the deceleration device, and the torque of the rear wheel can be restored according to the preset gradient according to the wheel speed recovery speed of the front wheel.

[0117] In the embodiment of the present application, by actively canceling the torque when the vehicle enters the air phase, and actively restoring the torque when the vehicle enters the landing phase, the impact of the vehicle passing through the deceleration device can be reduced, and vehicle power interruption can be avoided. Without affecting the driver's driving experience, the stability of the vehicle passing through the deceleration device is improved.

[0118] The following is a further description of determining whether the vehicle enters the airborne stage based on the real-time wheel speed and the first wheel speed control threshold, as Figure 7 shown. The above step S601 includes: S701. Determine the third wheel speed change amount in the third current period according to the real-time wheel speed, where the duration of the third current period is less than the third duration threshold.

[0119] Wherein, the third current period may be a time period composed of consecutive T3 moments including the current moment within the past time. Wherein, the end moment of the third current moment is the current moment.

[0120] Optionally, the real-time wheel speed at the start moment of the third current period may be used as the minuend, the real-time wheel speed at the end moment may be used as the subtrahend, and the difference between the two may be used as the third wheel speed change amount.

[0121] The third duration threshold may be the trigger duration threshold for the wheels to be controlled of the vehicle to enter the airborne stage. By setting the third duration threshold and judging the change of the wheel speed based on the real-time wheel speed of the third current period less than the third duration threshold, the change of the wheels to be controlled within a short time can be accurately identified, thereby improving the recognition accuracy of the wheels to be controlled in the airborne state.

[0122] S702. If the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, it is determined that the vehicle enters the airborne stage.

[0123] In the first possible scenario, when the driver steps on the accelerator through the deceleration device, the wheel to be controlled has a positive torque when passing through the deceleration device. At this time, since the wheel to be controlled loses the ground resistance during the airborne stage, the speed of the wheel will increase within a short time. Based on this, the third wheel speed change amount can be compared with the first wheel speed control threshold. If the third wheel speed change amount is positive and the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, it can be determined that the vehicle enters the airborne stage.

[0124] In the second possible scenario, when the driver slides through the deceleration device, the wheel to be controlled has a negative torque. At this time, the wheel speed of the wheel to be controlled will decrease within a short time during the airborne stage. Based on this, if the third wheel speed change amount is negative and the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, it can be determined that the vehicle enters the airborne stage.

[0125] When the vehicle enters the airborne stage, the torque of the wheels to be controlled of the vehicle can be cancelled to reduce the wheel speed of the wheels to be controlled.

[0126] The following is a further description of determining whether the vehicle enters the landing stage based on the real-time wheel speed and the second wheel speed control threshold, asFigure 8 As shown in the figure, step S603 includes: S801. Determine the fourth wheel speed change amount in the fourth current period according to the real-time wheel speed, where the duration of the fourth current period is less than the fourth duration threshold.

[0127] The fourth current period may be a time period composed of consecutive T4 moments including the current moment within the past time. Among them, the end moment of the fourth current moment is the current moment.

[0128] Optionally, the real-time wheel speed at the start moment of the fourth current period may be used as the minuend, the real-time wheel speed at the end moment may be used as the subtrahend, and the difference between the two may be used as the fourth wheel speed change amount.

[0129] The fourth duration threshold may be the trigger duration threshold for the wheel to be controlled of the vehicle to enter the landing stage. By setting the fourth duration threshold and judging the change of the wheel speed based on the real-time wheel speed of the fourth current period less than the fourth duration threshold, the situation of the wheel to be controlled changing in a short time can be accurately identified, thereby improving the recognition accuracy of the wheel to be controlled landing.

[0130] S802. If the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it is determined that the vehicle enters the landing stage.

[0131] In the first scenario, when the wheel to be controlled passes through the deceleration device with positive torque, the wheel speed will increase rapidly during the take-off stage, and the wheel will collide with the ground and be subject to the ground resistance during the landing stage. Therefore, the wheel speed will decrease in a short time. Based on this, the fourth wheel speed change amount can be compared with the second wheel speed control threshold. If the fourth wheel speed change amount is negative and the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it can be determined that the vehicle enters the landing stage.

[0132] In the second scenario, when the wheel to be controlled passes through the deceleration device with negative torque, the wheel speed will decrease rapidly during the take-off stage, and the wheel speed will increase again during the landing stage. At this time, the fourth wheel speed change amount can be compared with the second wheel speed control threshold. If the fourth wheel speed change amount is positive and the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it can be determined that the vehicle enters the landing stage.

[0133] When the vehicle enters the landing stage, the torque of the wheel to be controlled of the vehicle can be restored to increase the wheel speed of the wheel to be controlled.

[0134] In the embodiments of the present application, by monitoring the real-time wheel speed of the wheel to be controlled of the vehicle and judging the change of the wheel speed based on the wheel speed control threshold, the recognition accuracy of the take-off stage and the landing stage of the vehicle can be improved, so that the subsequent timing of torque cancellation and torque restoration is also more accurate.

[0135] Optionally, the process of adjusting the initial wheel speed change threshold to obtain the target wheel speed change threshold includes: Reducing the initial wheel speed change threshold to the target wheel speed change threshold.

[0136] Optionally, the initial wheel speed change threshold can be a threshold of the wheel speed change amount. By reducing the initial wheel speed change amount threshold, accurate recognition of the contact stage and the contact driving stage can be achieved even when the vehicle passes through a relatively gentle deceleration device, thereby improving the recognition accuracy when the vehicle passes through the deceleration device.

[0137] The following is a further description of determining whether there is a deceleration device on the driving path of the vehicle according to the road image on the driving path of the vehicle as follows Figure 9 As shown, the above step S101 includes: S901. Perform image recognition on the road image to obtain the deceleration device recognition result in the road image.

[0138] Optionally, a pre-trained image recognition model can be used to perform image recognition on the road image, or image recognition can be performed based on a deep learning method to obtain the deceleration device recognition result on the road of the vehicle driving path.

[0139] Among them, the deceleration device recognition result can include the deceleration device in the road traffic facilities, and can also include the obstacles with a certain height horizontally in the road.

[0140] S902. If the confidence of the deceleration device recognition result is greater than the preset confidence threshold, it is determined that there is a deceleration device within the preset distance on the driving path of the vehicle.

[0141] Optionally, the confidence of each deceleration device recognition result can be calculated. The confidence is used to represent the possibility that the deceleration device recognition result is a deceleration device. If the confidence of the deceleration device recognition result is greater than the preset confidence threshold, it indicates that there is a deceleration device on the driving path of the vehicle.

[0142] In another possible implementation, the initial wheel speed change threshold can also be adjusted based on the confidence of the deceleration device recognition result. If the confidence of the deceleration device recognition result is high, the initial wheel speed change threshold can be reduced more to improve the recognition sensitivity. If the confidence of the deceleration device recognition result is low, the initial wheel speed change threshold can be reduced less.

[0143] In the embodiments of the present application, by combining vision technology to recognize the deceleration device on the driving path of the vehicle, the recognition accuracy of the deceleration device can be improved.

[0144] Based on the same inventive concept, the embodiments of the present application also provide a multi-person collaborative design processing method and apparatus corresponding to the vehicle control method. Since the principle of problem-solving of the apparatus in the embodiments of the present application is similar to the above-mentioned vehicle control method in the embodiments of the present application, the implementation of the apparatus can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0145] Refer to Figure 10 As shown, it is a schematic structural diagram of a vehicle control apparatus provided by an embodiment of the present application. The apparatus includes: a first determination module 1001, an adjustment module 1002, a second determination module 1003, and a control module 1004.

[0146] The first determination module 1001 is configured to determine whether there is a deceleration device within a preset distance on the vehicle driving path according to the acquisition information on the vehicle driving path; The adjustment module 1002 is configured to adjust the initial wheel speed change threshold to the target wheel speed change threshold if there is a deceleration device within the preset distance on the vehicle driving path; The second determination module 1003 is configured to determine whether the vehicle is passing through the deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold; The control module 1004 is configured to control the wheel to be controlled to perform torque cancellation and torque restoration in sequence if it is determined that the vehicle is passing through the deceleration device.

[0147] Optionally, the second determination module 1003 is configured to: Determine whether the vehicle enters the contact stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact stage, determine whether the vehicle enters the contact driving stage according to the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact driving stage, it is determined that the vehicle is passing through the deceleration device.

[0148] Optionally, the second determination module 1003 is configured to: Determine the first wheel speed change amount of the first current period according to the real-time wheel speed, where the duration of the first current period is less than the first duration threshold; If the first wheel speed change amount is negative and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle enters the contact stage.

[0149] Optionally, the second determination module 1003 is configured to: Determine the second wheel speed change amount of the second current period according to the real-time wheel speed, where the duration of the second current period is less than the second duration threshold; If the second wheel speed change amount is positive and the absolute value of the second wheel speed change amount is greater than the target wheel speed change threshold, it is determined that the vehicle enters the contact driving stage.

[0150] Optionally, the control module 1004 is configured to: Control the wheel to be controlled to perform torque cancellation and torque recovery in sequence according to the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold.

[0151] Optionally, the control module 1004 is configured to: Determine whether the vehicle enters the airborne stage according to the real-time wheel speed and the first wheel speed control threshold; If it is determined that the vehicle enters the airborne stage, control the wheel to be controlled to perform torque cancellation; Determine whether the vehicle enters the landing stage according to the real-time wheel speed and the second wheel speed control threshold; If it is determined that the vehicle enters the landing stage, control the wheel to be controlled to perform torque recovery.

[0152] Optionally, the second determination module 1003 is configured to: Determine the third wheel speed change amount of the third current period according to the real-time wheel speed, where the duration of the third current period is less than the third duration threshold; If the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, determine that the vehicle enters the airborne stage.

[0153] Optionally, the second determination module 1003 is configured to: Determine the fourth wheel speed change amount of the fourth current period according to the real-time wheel speed, where the duration of the fourth current period is less than the fourth duration threshold; If the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, determine that the vehicle enters the landing stage.

[0154] Optionally, the adjustment module 1002 is configured to: Reduce the initial wheel speed change threshold to the target wheel speed change threshold.

[0155] Optionally, determining whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the road image on the driving path of the vehicle includes: Performing image recognition on the road image to obtain a deceleration device recognition result in the road image; If the confidence level of the deceleration device recognition result is greater than the preset confidence level threshold, determine that there is a deceleration device within the preset distance on the driving path of the vehicle.

[0156] An embodiment of the present application also provides a vehicle, which includes a processor capable of information processing, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the vehicle runs the vehicle control method as in the embodiment, the processor communicates with the storage medium through the bus. The processor executes the machine-readable instructions, and the preamble of the processor method item is used to execute the steps in the above vehicle control method.

[0157] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the processor executes to perform the steps in the above vehicle control method.

[0158] In an embodiment of the present application, when the computer program is run by a processor, it can also execute other machine-readable instructions to perform other methods as described in the embodiment. For the specific method steps and principles to be executed, refer to the description of the embodiment, and details are not elaborated herein.

[0159] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. The 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. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0160] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, each functional unit in the embodiments provided in the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0162] When the above-mentioned functions 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 this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0163] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0164] Finally, it should be noted that: the above-mentioned embodiments are only specific implementation manners of this application, used to illustrate the technical solution of this application, rather than limiting it. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed in this application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, Including: Determine whether there is a deceleration device within a preset distance on the vehicle's driving path based on the collected information on the vehicle's driving path; If there is a deceleration device within the preset distance on the vehicle's driving path, adjust the initial wheel speed change threshold to the target wheel speed change threshold; Determine whether the vehicle is passing through the deceleration device based on the real-time wheel speed of the vehicle's wheel to be controlled and the target wheel speed change threshold; If it is determined that the vehicle is passing through the deceleration device, control the wheel to be controlled to perform torque cancellation and torque recovery in sequence.

2. The method according to claim 1, wherein The determining whether the vehicle is passing through the deceleration device based on the real-time wheel speed of the vehicle's wheel to be controlled and the target wheel speed change threshold includes: Determine whether the vehicle enters the contact stage based on the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact stage, determine whether the vehicle enters the contact driving stage based on the real-time wheel speed and the target wheel speed change threshold; If it is determined that the vehicle enters the contact driving stage, it is determined that the vehicle is passing through the deceleration device.

3. The method according to claim 2, wherein The determining whether the vehicle enters the contact stage based on the real-time wheel speed and the target wheel speed change threshold includes: Determine the first wheel speed change amount in the first current period based on the real-time wheel speed, where the duration of the first current period is less than the first duration threshold; If the first wheel speed change amount is negative and the absolute value of the first wheel speed change amount is greater than the target wheel speed change threshold, determine that the vehicle enters the contact stage.

4. The method according to claim 2, wherein The determining whether the vehicle enters the contact driving stage based on the real-time wheel speed and the target wheel speed change threshold includes: Determine the second wheel speed change amount in the second current period based on the real-time wheel speed, where the duration of the second current period is less than the second duration threshold; If the second wheel speed change amount is positive and the absolute value of the second wheel speed change amount is greater than the target wheel speed change threshold, determine that the vehicle enters the contact driving stage.

5. The method according to claim 1, wherein The controlling the wheel to be controlled to perform torque cancellation and torque recovery in sequence includes: Control the wheel to be controlled to perform torque cancellation and torque recovery in sequence based on the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold.

6. The method according to claim 5, wherein The controlling the wheel to be controlled to perform torque cancellation and torque recovery in sequence based on the real-time wheel speed of the wheel to be controlled and the wheel speed control threshold includes: Determine whether the vehicle enters the airborne stage based on the real-time wheel speed and the first wheel speed control threshold; If it is determined that the vehicle enters the airborne stage, control the wheel to be controlled to perform torque cancellation; Determine whether the vehicle enters the landing stage based on the real-time wheel speed and the second wheel speed control threshold; If it is determined that the vehicle enters the landing stage, control the wheel to be controlled to perform torque recovery.

7. The method according to claim 6, wherein The determining whether the vehicle enters the airborne stage based on the real-time wheel speed and the first wheel speed control threshold includes: Determine the third wheel speed change amount in the third current period based on the real-time wheel speed, where the duration of the third current period is less than the third duration threshold; If the absolute value of the third wheel speed change amount is greater than the first wheel speed control threshold, it is determined that the vehicle enters the airborne stage.

8. The method according to claim 6, wherein The determining whether the vehicle enters the landing stage according to the real-time wheel speed and the second wheel speed control threshold includes: Determining a fourth wheel speed change amount in a fourth current period according to the real-time wheel speed, wherein the duration of the fourth current period is less than a fourth duration threshold; If the absolute value of the fourth wheel speed change amount is greater than the second wheel speed control threshold, it is determined that the vehicle enters the landing stage.

9. The method according to claim 1, characterized in that The adjusting the initial wheel speed change threshold to the target wheel speed change threshold includes: Reducing the initial wheel speed change threshold to the target wheel speed change threshold.

10. The method according to any one of claims 1-9, characterized in that, The determining whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the road image on the driving path of the vehicle includes: Performing image recognition on the road image to obtain a deceleration device recognition result in the road image; If the confidence level of the deceleration device recognition result is greater than a preset confidence level threshold, it is determined that there is a deceleration device within a preset distance on the driving path of the vehicle.

11. A vehicle control device, characterized in that, Including: A first determination module, configured to determine whether there is a deceleration device within a preset distance on the driving path of the vehicle according to the acquisition information on the driving path of the vehicle; An adjustment module, configured to adjust the initial wheel speed change threshold to the target wheel speed change threshold if there is a deceleration device within a preset distance on the driving path of the vehicle; A second determination module, configured to determine whether the vehicle is passing through a deceleration device according to the real-time wheel speed of the wheel to be controlled of the vehicle and the target wheel speed change threshold; A control module, configured to control the wheel to be controlled to perform torque cancellation and torque recovery in sequence if it is determined that the vehicle is passing through a deceleration device.

12. A vehicle, characterized in that, The vehicle is configured to execute the steps of the vehicle control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the vehicle control method according to any one of claims 1 to 10.

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