Vehicle control method, electronic equipment, vehicle, storage medium and computer product

Abstract

The invention discloses a vehicle control method, electronic equipment, a vehicle, a storage medium and a computer product, and relates to the technical field of vehicles, and the vehicle control method comprises the steps that chassis data of the vehicle is acquired, and the driving state of the vehicle is determined in combination with the chassis data; when it is detected that the driving state is the slipping state, determining a slipping early warning level corresponding to the slipping state; and determining a matched first speed regulation ratio according to the slip early warning grade, and regulating the current vehicle speed of the vehicle to a first target vehicle speed matched with the slip early warning grade according to the first speed regulation ratio. By the adoption of the method and device, the electronic equipment can accurately detect whether the vehicle has the slipping risk or not, and when it is detected that the vehicle has the slipping risk, the vehicle is controlled according to the speed regulation proportion matched with the slipping degree of the vehicle, so that the driving safety risk in the vehicle driving process is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, electronic equipment, vehicle, storage medium, and computer program product. Background Art

[0002] With the continuous development of the automobile industry, vehicles have become the preferred means of transportation for more and more users in their daily travel.

[0003] In related technologies, vehicles usually rely on their own cameras to detect the surrounding environment. When the system detects that the vehicle is at risk of slipping during driving, it will issue a corresponding reminder to the user to ensure the safety of the vehicle.

[0004] However, when a vehicle relies solely on cameras to detect whether it is at risk of skidding, the camera is easily interfered with by changes in ambient light, which may cause deviations in the recognition results obtained by the vehicle, directly leading to a lag in the vehicle's safety control strategy and significantly increasing driving safety risks. Summary of the Invention

[0005] The main purpose of this application is to provide a vehicle control method, electronic equipment, vehicle, storage medium and computer program product, aiming to solve the technical problem in related technologies that the risk of driving safety is increased due to deviations in the obtained recognition results.

[0006] To achieve the above objectives, the present application proposes a vehicle control method, the method comprising:

[0007] Acquiring chassis data of a vehicle, and determining a driving state of the vehicle in combination with the chassis data;

[0008] When detecting that the driving state is a slipping state, determining a slip warning level corresponding to the slipping state;

[0009] A matching first speed adjustment ratio is determined according to the slip warning level, and the current vehicle speed is adjusted to a first target vehicle speed matching the slip warning level according to the first speed adjustment ratio.

[0010] In one embodiment, the chassis data includes vehicle wheel-end torque, and the step of determining the driving state of the vehicle in combination with the chassis data includes at least one of the following:

[0011] determining a first target torque parameter among the plurality of wheel end torque parameters, and determining that the driving state of the vehicle is the slipping state when it is detected that the first target torque parameter reaches a preset first torque threshold, wherein the first target torque parameter is the wheel end torque parameter with the largest value;

[0012] dividing the plurality of wheel-end torque parameters into a plurality of torque parameter groups, and determining that the driving state is the slipping state when detecting that at least one torque parameter group reaches a preset second torque threshold, wherein the second torque threshold is greater than the first torque threshold;

[0013] When a second target torque parameter is detected among the plurality of wheel end torque parameters, the driving state is determined to be the slip state, wherein a torque direction of the second target torque parameter is opposite to a torque direction of the other wheel end torque parameters.

[0014] In one embodiment, the step of determining a slip warning level corresponding to the slip state includes:

[0015] Determining a target number of wheels, wherein the target number of wheels is the number of wheels whose wheel-end torque parameter reaches the first torque threshold;

[0016] When it is detected that the number of target wheels is greater than one, determining that the skid warning level corresponding to the skid state is a first warning level;

[0017] When it is detected that the target wheel number is equal to one, the slip warning level corresponding to the slip state is determined to be a second warning level, wherein the second warning level is lower than the first warning level.

[0018] In one embodiment, the chassis data further includes wheel end speed, and the step of determining the driving state of the vehicle in combination with the chassis data further includes:

[0019] Determining a target wheel speed parameter and calculating each first wheel speed difference corresponding to the target wheel speed parameter, wherein the target wheel speed parameter is the wheel speed parameter with the largest value;

[0020] Determining a target wheel speed difference and obtaining a preset first wheel speed difference threshold, wherein the target wheel speed difference is the first wheel speed difference with the largest value;

[0021] When it is detected that the target wheel speed difference reaches the first wheel speed difference threshold, the driving state is determined to be the slipping state.

[0022] In one embodiment, the step of determining a slip warning level corresponding to the slip state further includes:

[0023] determining a preset second wheel speed difference threshold, wherein the second wheel speed difference is greater than the first wheel speed difference threshold;

[0024] When it is detected that the target wheel speed difference reaches the second wheel speed difference threshold, determining that the slip warning level corresponding to the slip state is a first warning level;

[0025] When it is detected that the target wheel speed difference does not reach the second wheel speed difference threshold, the slip warning level corresponding to the slip state is determined to be the second warning level.

[0026] In one embodiment, the step of determining the driving state of the vehicle based on the chassis data further includes:

[0027] determining a plurality of second wheel speed differences based on the plurality of wheel speed parameters, and determining a preset third wheel speed difference threshold, wherein the second wheel speed difference is a difference between any two wheel speed parameters, and the third wheel speed difference threshold is greater than the second wheel speed difference threshold;

[0028] When it is detected that at least one second wheel speed difference reaches the third wheel speed difference threshold, the driving state is determined to be the slipping state.

[0029] In one embodiment, the step of determining a slip warning level corresponding to the slip state further includes:

[0030] capturing target image data including the road ahead of the vehicle;

[0031] When a highlight reflective area is detected in the target image data, determining a first area ratio of the highlight reflective area;

[0032] The slip warning level corresponding to the slip state is determined in combination with the first area proportion.

[0033] In one embodiment, the step of determining a slip warning level corresponding to the slip state further includes:

[0034] Acquire a radar point cloud set containing a road ahead of the vehicle, and determine a road surface area based on the radar point cloud set;

[0035] Determining point cloud distribution characteristics corresponding to the road surface area, and segmenting the road surface area to obtain a plurality of sub-grid areas;

[0036] Screening the plurality of sub-grid areas based on the point cloud distribution characteristics to determine a point cloud loss area, and determining a proportion of the second area corresponding to the point cloud loss area;

[0037] The slip warning level corresponding to the slip state is determined in combination with the second area proportion.

[0038] In one embodiment, after the step of adjusting the current vehicle speed to a first target vehicle speed matching the skid warning level according to the first speed adjustment ratio, the method further includes:

[0039] Obtaining location information corresponding to the vehicle, and determining a current road grade corresponding to the vehicle based on the location information;

[0040] Determine a second speed regulation ratio corresponding to the current road grade, and superimpose the second speed regulation ratio and the first speed regulation ratio to obtain a third speed regulation ratio;

[0041] A second target vehicle speed is determined according to the third speed adjustment ratio and the first target vehicle speed, and a vehicle speed adjustment operation is performed on the vehicle according to the second target vehicle speed.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes an electronic device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method as described above.

[0043] In addition, to achieve the above objectives, the present application also proposes a vehicle, which includes the electronic device as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the vehicle control method described above are implemented.

[0045] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle control method described above.

[0046] The present application provides a vehicle control method, which obtains chassis data of a vehicle and determines the driving state of the vehicle in combination with the chassis data; when it is detected that the driving state is a slipping state, determines a slip warning level corresponding to the slipping state; determines a matching first speed regulation ratio according to the slip warning level, and adjusts the current speed of the vehicle to a first target speed matching the slip warning level according to the first speed regulation ratio.

[0047] In this embodiment, the electronic device first obtains the chassis data of the vehicle, and determines whether the vehicle slips during driving based on the chassis data, thereby determining whether the driving state of the vehicle is a slipping state or a normal state. Afterwards, when the electronic device detects that the driving state of the vehicle is a slipping state, it further determines the slip warning level corresponding to the slip state. Finally, the electronic device queries the matching first speed regulation ratio based on the slip warning level, and calculates the first target speed based on the first speed regulation ratio and the current speed of the vehicle, and then adjusts the current speed of the vehicle to the first target speed.

[0048] In this way, the present application solves the technical problem in the related art that the risk of driving safety is increased due to the deviation of the identification results obtained. That is, the present application determines whether the vehicle is slipping during driving based on the vehicle's chassis data, and when it is determined that the vehicle is slipping, further determines a matching speed regulation ratio based on the degree of slippage of the vehicle, so as to adjust the vehicle speed according to the speed regulation ratio, thereby enabling the electronic device to accurately detect whether the vehicle has a risk of slipping, and when it is detected that the vehicle has a risk of slipping, controls the vehicle according to the speed regulation ratio that matches the degree of slippage of the vehicle, so as to reduce the risk of driving safety during the vehicle's driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1 A flow chart of the first embodiment of the vehicle control method of the present application is provided;

[0052] Figure 2 This is a first schematic flow chart of the vehicle control method of the present application;

[0053] Figure 3 This is a second schematic flow chart of the vehicle control method of the present application;

[0054] Figure 4 This is a schematic diagram of the module structure of the vehicle control device according to an embodiment of the present application;

[0055] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further explained with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] In this embodiment, for ease of description, the following description will be made using an electronic device that is configured in a vehicle and has an image processing module inside, or a mobile terminal, data storage control terminal, PC or other terminal connected to an electronic control unit that is compatible with the electronic device as the execution subject.

[0060] Based on the above electronic equipment, the overall concept of the vehicle control method of the present application is proposed here.

[0061] With the continuous development of the automotive industry, vehicles have become the preferred means of transportation for an increasing number of users. In related technologies, vehicles typically rely on their own cameras to detect the surrounding environment. When the system detects the risk of the vehicle slipping while driving, it will issue a corresponding reminder to the user to ensure the vehicle's driving safety. However, when a vehicle relies solely on cameras to detect whether it is at risk of slipping, the camera is easily interfered with by changes in ambient light. This may cause deviations in the recognition results obtained by the vehicle, which in turn directly leads to a lag in the vehicle's safety control strategy, significantly increasing driving safety risks.

[0062] In response to the above phenomenon, the present application provides a vehicle control method, which includes: obtaining chassis data of the vehicle, and determining the driving state of the vehicle in combination with the chassis data; when it is detected that the driving state is a slipping state, determining the slip warning level corresponding to the slipping state; determining a matching first speed regulation ratio according to the slip warning level, and adjusting the current speed of the vehicle to a first target speed matching the slip warning level according to the first speed regulation ratio.

[0063] In this way, the present application solves the technical problem in the related art that the risk of driving safety is increased due to the deviation of the identification results obtained. That is, the present application determines whether the vehicle is slipping during driving based on the vehicle's chassis data, and when it is determined that the vehicle is slipping, further determines a matching speed regulation ratio based on the degree of slippage of the vehicle, so as to adjust the vehicle speed according to the speed regulation ratio, thereby enabling the electronic device to accurately detect whether the vehicle has a risk of slipping, and when it is detected that the vehicle has a risk of slipping, controls the vehicle according to the speed regulation ratio that matches the degree of slippage of the vehicle, so as to reduce the risk of driving safety during the vehicle's driving process.

[0064] Based on the overall concept of the vehicle control method of the present application, the embodiment of the present application provides a vehicle control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application. In this embodiment, the vehicle control method includes steps S10 to S40:

[0065] Step S10: Acquire chassis data of the vehicle, and determine the driving state of the vehicle in combination with the chassis data;

[0066] It should be noted that the driving state indicates whether the vehicle is at risk of slipping during driving. This includes both slipping and non-slipping states. A slipping state occurs when the friction between the vehicle's tires and the road surface is insufficient, resulting in a significant difference between the wheel speed and the actual vehicle speed. Understandably, in a slipping state, the vehicle carries a higher risk of loss of control. Furthermore, chassis data, including wheel-end torque parameters and wheel speed parameters, characterizes the contact characteristics between the tires and the road surface during driving.

[0067] In this embodiment, when the vehicle is driving, the electronic equipment configured on the vehicle first obtains the chassis data of the vehicle, and reads multiple wheel-end torque parameters and / or multiple wheel speed parameters contained in the chassis data, and determines whether the corresponding driving state of the vehicle is a slipping state or a non-slipping state based on the multiple wheel-end torque parameters and / or multiple wheel speed parameters.

[0068] For example, when a vehicle is driving, the electronic equipment configured on the vehicle first accesses the wheel torque sensors and wheel speed sensors configured at each of the four wheels through the CAN (Controller Area Network) bus to obtain the chassis data collected by each wheel torque sensor and wheel speed sensor. The electronic equipment determines whether there is a torque abnormality based on the four wheel-end torque parameters, and thus determines that the vehicle is in a slipping state if it is determined that there is a torque abnormality, and determines that the vehicle is in a normal state if it is determined that there is no torque abnormality. Similarly, the electronic equipment can also read the four wheel speed parameters in the chassis data, and thus determine whether there is a wheel speed abnormality based on the four wheel speed parameters, and determine that the vehicle is in a slipping state if a wheel speed abnormality is detected, and determines that the vehicle is in a normal state if it is determined that there is no wheel speed abnormality.

[0069] In this way, the electronic equipment can perform a coordinated analysis based on the wheel-end torque parameters and wheel speed parameters of multiple wheels to identify whether the vehicle is slipping or has a decrease in adhesion, thereby ensuring that control can be engaged in the early stages of slipping to avoid the vehicle from losing control in a slipping state.

[0070] In addition, in this embodiment and another embodiment, before obtaining the chassis data of the vehicle, the electronic device can also control the temperature sensor configured on the vehicle to collect the current temperature data in the environment in which the vehicle is located. The electronic device reads the storage module configured by itself to obtain a preset target temperature threshold. The electronic device compares the current temperature data with the target temperature threshold to determine whether the vehicle is in a low-temperature environment where the current temperature data is less than the target temperature threshold. If the electronic device detects that the vehicle is in a low-temperature environment, it accesses the wheel torque sensor and wheel speed sensor configured at each of the four wheels through the CAN bus to obtain the chassis data collected by each wheel torque sensor and wheel speed sensor.

[0071] In this way, electronic equipment can determine whether the vehicle is in a low-temperature environment by detecting the surrounding environment, and then further obtain the vehicle's chassis data when it is determined that the vehicle is in a low-temperature environment, so as to quickly identify potential vehicle slippage or reduced wheel adhesion problems, and further improve the vehicle's driving safety.

[0072] In a feasible implementation, the chassis data includes wheel end torque parameters. The step of "determining the driving state of the vehicle in combination with the chassis data" in the above step S10 may specifically include at least one of steps S101 to S103:

[0073] Step S101: determining a first target torque parameter among the plurality of wheel-end torque parameters, and determining that the driving state of the vehicle is the slipping state when it is detected that the first target torque parameter reaches a preset first torque threshold, wherein the first target torque parameter is the wheel-end torque parameter with the largest value;

[0074] Step S102: Dividing the plurality of wheel-end torque parameters into a plurality of torque parameter groups, and determining that the driving state is the slipping state when detecting that at least one torque parameter group reaches a preset second torque threshold, wherein the second torque threshold is greater than the first torque threshold;

[0075] Step S103: when a second target torque parameter is detected among the plurality of wheel end torque parameters, determining that the driving state is the slipping state, wherein the torque direction of the second target torque parameter is opposite to the torque direction of the other wheel end torque parameters.

[0076] In this embodiment, after acquiring the chassis data of the vehicle, the electronic device may first read multiple wheel-end torque parameters contained in the chassis data and determine a first target torque parameter having the largest value among the multiple wheel-end torque parameters. Thereafter, when the electronic device detects that the first target torque parameter reaches a preset first torque threshold, the electronic device determines that the driving state of the vehicle is a slipping state.

[0077] or,

[0078] The electronic device may also read multiple wheel-end torque parameters included in the chassis data and divide the multiple wheel-end torque parameters according to the wheel position information, so as to divide the wheel-end torque parameters corresponding to wheels on the same side / level into a torque parameter group. Thereafter, the electronic device obtains a second torque threshold value greater than the first torque threshold value, and compares the multiple torque parameter groups with the second torque threshold value respectively. When it is detected that at least one torque parameter group reaches the second torque threshold value, it is determined that the driving state of the vehicle is a slipping state.

[0079] or,

[0080] The electronic device can also read multiple wheel-end torque parameters contained in the chassis data, and determine that the vehicle's driving state is a slipping state when it detects that among the multiple wheel-end torque parameters, there is a second target torque parameter whose torque direction is opposite to the torque direction of other wheel-end torque parameters.

[0081] For example, after acquiring the chassis data, the electronic device may first read the four wheel-end torque parameters contained in the chassis data, and determine a first target torque parameter having the largest value among the four wheel-end torque parameters. Thereafter, the electronic device reads the above-mentioned storage module to obtain a preset first torque threshold, and compares the first target torque parameter with the first torque threshold. If the electronic device detects that the first target torque parameter is greater than or equal to the first torque threshold, the electronic device determines a duration of the first target torque parameter, and if the electronic device detects that the duration reaches a preset time threshold, determines that the driving state of the vehicle is a slipping state.

[0082] Similarly,

[0083] After obtaining the four wheel-end torque parameters contained in the chassis data, the electronic device may further divide the four wheel-end torque parameters according to the wheel position information, so as to divide the wheel-end torque parameters corresponding to the wheels on the same side into a torque parameter group. Thereafter, the electronic device reads the storage module to obtain a preset second torque threshold value that is greater than the first torque threshold value. The electronic device then compares the two torque parameter groups with the second torque threshold value, respectively. Thus, when it is detected that the two wheel-end torque parameters contained in at least one torque parameter group are both higher than the second torque threshold value D, the electronic device determines that the driving state of the vehicle is a slipping state. Alternatively, the electronic device may further divide the wheel-end torque parameters corresponding to the wheels in a horizontal position into a torque parameter group. Thereafter, the electronic device compares the two torque parameter groups with the second torque threshold value, respectively. Thus, when it is detected that the two wheel-end torque parameters contained in at least one wheel-end torque parameter group are both higher than the second torque threshold value, the electronic device determines that the driving state of the vehicle is a slipping state.

[0084] Similarly,

[0085] After obtaining the four wheel-end torque parameters contained in the chassis data, the electronic device can also first detect the torque direction corresponding to each of the four wheel-end torque parameters, so as to determine that the vehicle's driving state is a slipping state when it is detected that there is at least one second target torque parameter with an opposite direction among the four wheel-end torque parameters.

[0086] In this way, the electronic equipment can perform a coordinated analysis based on the wheel-end torque parameters of multiple wheels to identify whether the vehicle is slipping or has a decrease in adhesion, thereby ensuring that control can be engaged in the early stages of the vehicle slipping, avoiding the vehicle from losing control in a slipping state.

[0087] In a feasible implementation, the chassis data further includes wheel speed parameters. The step of "determining the driving state of the vehicle in combination with the chassis data" in the above step S10 may further include steps S104 to S106:

[0088] Step S104: determining a target wheel speed parameter, and calculating each first wheel speed difference corresponding to the target wheel speed parameter, wherein the target wheel speed parameter is the wheel speed parameter with the largest value;

[0089] Step S105: determining a target wheel speed difference and obtaining a preset first wheel speed difference threshold, wherein the target wheel speed difference is the first wheel speed difference with the largest value;

[0090] Step S106: When it is detected that the target wheel speed difference reaches the first wheel speed difference threshold, determining that the driving state is the slipping state.

[0091] In this embodiment, after obtaining the chassis data of the vehicle, the electronic device can also read multiple wheel speed parameters contained in the chassis data, and determine the target wheel speed parameter with the largest value among the multiple wheel speed parameters. The electronic device then calculates each first wheel speed difference generated between the target wheel speed parameter and other wheel speed parameters. Afterwards, the electronic device determines the target wheel speed difference with the largest value among the first wheel speed differences. At the same time, the electronic device reads the storage module to obtain a preset first wheel speed difference threshold. Finally, when the electronic device detects that the target wheel speed difference reaches the first wheel speed difference threshold, it determines that the vehicle's driving state is a slipping state.

[0092] Exemplarily, for example, after obtaining the chassis data of the vehicle, the electronic device can also read the wheel speed parameters corresponding to each of the four tires contained in the chassis data, and filter out the target wheel speed parameter with the largest value from the four wheel speed parameters. The electronic device then calculates the first wheel speed difference generated between the target wheel speed parameter and the other wheel speed parameters. Afterwards, the electronic device determines the target wheel speed parameter with the largest value from each first wheel speed difference, and reads the above-mentioned storage module to obtain a preset first wheel speed difference threshold. Finally, the electronic device compares the target wheel speed difference with the first wheel speed difference threshold, and thereby determines the duration corresponding to the target wheel speed difference when it is detected that the target wheel speed difference is greater than the first wheel speed difference threshold. When the electronic device determines that the duration reaches the preset time threshold, it determines that the vehicle's driving state is a slipping state.

[0093] In this way, the electronic equipment can perform a coordinated analysis based on the wheel speed parameters of multiple wheels to identify whether the vehicle is slipping or has a decrease in adhesion, thereby ensuring that control can be engaged in the early stages of slipping to avoid the vehicle from losing control in a slipping state.

[0094] In a feasible implementation manner, the step of "determining the driving state of the vehicle according to the chassis data" in the above step S10 may further include steps S107 to S108:

[0095] Step S107: determining a plurality of second wheel speed differences based on the plurality of wheel speed parameters, and determining a preset third wheel speed difference threshold, wherein the second wheel speed difference is a difference between any two wheel speed parameters, and the third wheel speed difference threshold is greater than the second wheel speed difference threshold;

[0096] Step S108: When it is detected that at least one second wheel speed difference reaches the third wheel speed difference threshold, determining that the driving state is the slipping state.

[0097] In this embodiment, the electronic device may also first read multiple wheel speed parameters contained in the chassis data, and calculate the second wheel speed difference generated between the multiple wheel speed parameters. At the same time, the electronic device obtains a third wheel speed difference threshold that is preset to be greater than the above-mentioned first wheel speed difference threshold, and compares each second wheel speed difference with the second wheel speed difference threshold respectively. Afterwards, when the electronic device detects that at least one second wheel speed difference among the second wheel speed differences reaches the third wheel speed difference threshold, it determines that the driving state of the target vehicle at this time is a slipping state.

[0098] Exemplarily, for example, after obtaining the chassis data uploaded by the target vehicle, the electronic device can first read the wheel speed parameters corresponding to each of the four tires contained in the chassis data, and calculate the four wheel speed parameters to obtain the second wheel speed difference between the tires on the same side / at the same level. At the same time, the electronic device reads the above-mentioned storage module to obtain a third wheel speed difference threshold that is greater than the first wheel speed difference threshold. Afterwards, the electronic device compares each second wheel speed difference with the third wheel speed difference threshold respectively, and thus determines that the driving state of the target vehicle is a slipping state when it detects that at least one second wheel speed difference reaches the third wheel speed difference threshold.

[0099] In this way, the electronic equipment can perform a coordinated analysis based on the wheel speed parameters of multiple wheels to identify whether the vehicle is slipping or has a decrease in adhesion, thereby ensuring that control can be engaged in the early stages of slipping to avoid the vehicle from losing control in a slipping state.

[0100] Step S20: When the driving state is detected to be a slipping state, determining a slip warning level corresponding to the slipping state;

[0101] It should be noted that the skid warning level is a vehicle risk level divided according to the severity of the skid, including: the first warning level (advanced) and the second warning level (intermediate). It can be understood that the degree of skidding of the vehicle at the first warning level is higher than that at the second warning level.

[0102] In this embodiment, when the electronic device detects that the vehicle is in a slipping state, it determines the slip degree of the vehicle and determines the slip warning level corresponding to the slipping state as the first warning level or the second warning level according to the slip degree.

[0103] In a feasible implementation manner, the above step S20 may specifically include steps S201 to S203:

[0104] Step S201: determining a target number of wheels, wherein the target number of wheels is the number of wheels whose wheel-end torque parameter reaches the first torque threshold;

[0105] Step S202: when it is detected that the number of target wheels is greater than one, determining that the slip warning level corresponding to the slip state is the first warning level;

[0106] Step S203: When it is detected that the target wheel number is equal to one, determining that the slip warning level corresponding to the slip state is a second warning level, wherein the second warning level is lower than the first warning level.

[0107] In this embodiment, when the electronic device detects that the vehicle is in a slipping state, it further reads multiple wheel-end torque parameters contained in the chassis parameters, and detects the number of first target torque parameters that reach the above-mentioned first torque threshold, thereby determining this number as the target wheel number. Afterwards, if the electronic device detects that the target wheel number is greater than 1, it determines that the slip warning level corresponding to the slipping state is a higher first warning level. Similarly, if the electronic device detects that the target wheel number is equal to 1, it determines that the slip warning level corresponding to the slipping state is a lower second warning level.

[0108] Exemplarily, for example, when the electronic device detects that the vehicle is in a slipping state, it further reads the wheel-end torque parameters corresponding to each of the four wheels, and then determines the first target torque parameter that reaches the above-mentioned first torque threshold among the four wheel-end torque parameters. Thereafter, the electronic device determines the number of wheels corresponding to the first target torque parameter. If the electronic device detects that the number of wheels is greater than 1 (for example, the wheel-end torque parameters corresponding to the left front wheel and the right front wheel of the vehicle are both greater than the first torque threshold), it determines that the vehicle is slipping more seriously at this time, and determines that the slip warning level corresponding to the slipping state is the higher first warning level; similarly, if the electronic device detects that the number of wheels is equal to 1 (for example, only the wheel-end torque parameters corresponding to the left front wheel of the vehicle are both greater than the first torque threshold), it determines that the vehicle is slipping slightly at this time, and determines that the slip warning level corresponding to the slipping state is the lower second warning level.

[0109] In this way, the electronic equipment can determine the number of abnormal wheels of the vehicle through chassis data, and then determine the degree of slip based on the number of abnormal wheels, so as to improve the rationality of the speed control operation and avoid excessive intervention in the speed control operation, which may lead to secondary loss of control.

[0110] In a feasible implementation manner, the above step S20 may further include steps S204 to S206:

[0111] Step S204: determining a preset second wheel speed difference threshold, wherein the second wheel speed difference is greater than the first wheel speed difference threshold;

[0112] Step S205: when it is detected that the target wheel speed difference reaches the second wheel speed difference threshold, determining that the slip warning level corresponding to the slip state is the first warning level;

[0113] Step S206: When it is detected that the target wheel speed difference does not reach the second wheel speed difference threshold, determining that the slip warning level corresponding to the slip state is the second warning level.

[0114] In this embodiment, when the electronic device detects that the vehicle is in a slipping state, it can also read multiple wheel speed parameters contained in the chassis data and determine the wheel speed difference generated between the multiple wheel speed parameters. At the same time, the electronic device determines a second wheel speed difference threshold that is greater than the above-mentioned first wheel speed difference threshold. Afterwards, the electronic device determines the target wheel speed difference with the highest value among the wheel speed differences, and compares the target wheel speed difference with the second wheel speed difference threshold. When the electronic device detects that the target wheel speed difference reaches the second wheel speed difference threshold, it determines that the vehicle is slipping more seriously at this time, and determines that the slip warning level corresponding to the slipping state is the higher first warning level; similarly, if the electronic device detects that the target wheel speed difference does not reach the second wheel speed difference threshold, it determines that the vehicle is slipping slightly at this time, and determines that the slip warning level corresponding to the slipping state is the lower second warning level.

[0115] Exemplarily, for example, when the electronic device detects that the vehicle is in a slipping state, it can also read the four wheel speed parameters contained in the chassis data and calculate multiple wheel speed differences generated between the four wheel speeds. The electronic device then determines the target wheel speed difference with the largest value among the wheel speed differences. At the same time, the electronic device obtains a second wheel speed difference threshold that is greater than the above-mentioned third wheel speed difference threshold, and compares the target wheel speed difference with the second wheel speed difference threshold. When the electronic device detects that the target wheel speed difference reaches the second wheel speed difference threshold, it determines that the vehicle is slipping more seriously at this time, and determines that the slip warning level corresponding to the slipping state is the higher first warning level; similarly, when the electronic device detects that the target wheel speed difference does not reach the second wheel speed difference threshold but is greater than the above-mentioned third wheel speed difference threshold, it determines that the vehicle is slipping slightly at this time, and determines that the slip warning level corresponding to the slipping state is the lower second warning level.

[0116] In this way, the electronic equipment can determine the number of abnormal wheels of the vehicle through chassis data, and then determine the degree of slip based on the number of abnormal wheels, so as to improve the rationality of the speed control operation and avoid excessive intervention in the speed control operation, which may lead to secondary loss of control.

[0117] In a feasible implementation manner, the above step S20 may further include steps S207 to S209:

[0118] Step S207: capturing target image data including the road ahead of the vehicle;

[0119] Step S208: when it is detected that a highlight reflective area exists in the target image data, determining a first area ratio of the highlight reflective area;

[0120] Step S209: Determine a slip warning level corresponding to the slip state in combination with the first area proportion.

[0121] It should be noted that the target image data is image data of the road ahead, captured by a camera on the vehicle, and is used to analyze whether there are any bright reflective areas on the road ahead. Furthermore, these bright reflective areas are areas in the target image data that are caused by ice on the road. It is understood that the reflectivity of light on an icy road surface is significantly higher than that on a normal road surface.

[0122] In this embodiment, when the electronic device detects that the vehicle is in a slipping state, in addition to determining the degree of slipping of the vehicle through chassis data, it can also call the target image data containing the road surface ahead captured by the image acquisition device on the vehicle. Afterwards, the electronic device inputs the target image data into its own configured image processing module, and the image processing module extracts the image features of the target image data and determines the road surface area within the target image data based on the image features. At the same time, the image processing module clusters the road surface area to obtain multiple cluster areas, and determines the regional brightness values corresponding to each of the multiple cluster areas, and then determines whether there is a highlight reflective area in the road surface area based on the multiple regional brightness values. Afterwards, if the image processing module determines that there is a highlight reflective area in the road surface area, it determines the first area ratio of the highlight reflective area in the road surface area. Finally, the electronic device determines whether the slip warning level corresponding to the slipping state is the first warning level or the second warning level based on the first area ratio.

[0123] For example, when a vehicle is driving and the electronic device detects that the vehicle is in a slipping state, in addition to determining the degree of slipping of the vehicle through chassis data, the electronic device can also control the camera configured on the vehicle to collect target image data containing the road ahead. Afterwards, the electronic device inputs the target image data into the image processing module configured by itself. The image processing module extracts the image features of the target image data and identifies key elements such as lane lines, road boundaries, obstacles, etc. contained in the target image data based on the image features. The image processing module calls the semantic segmentation network U-Net to model each key element and converts the 2D image into a road surface area in 3D space through BEV (bird's eye view) technology. The image processing module then analyzes the road surface. The surface area is divided into multiple cluster areas by calling the image segmentation algorithm, and the brightness values of the RGB channels of the multiple cluster areas are determined as the regional brightness parameters. The image processing module reads the preset regional brightness threshold, and compares the brightness parameters of each region with the regional brightness threshold to obtain multiple comparison results. The image processing module then determines the highlighted reflective areas whose regional brightness parameters exceed the regional brightness threshold in the multiple cluster areas based on the multiple comparison results, and further determines the area ratio of the highlighted reflective areas in the road area as the first regional ratio. Finally, the electronic device obtains the preset warning level-region ratio mapping table, and then queries the warning level-region ratio mapping table based on the first regional ratio to determine the slip warning level that matches the first regional ratio.

[0124] In this way, electronic equipment can directly determine whether there is ice on the road in a low-temperature environment through the image reflection characteristics, and then determine the degree of slippage based on the proportion of the first area formed between the highlighted reflective area and the road area, so as to improve the rationality of the speed control operation and avoid excessive intervention in the speed control operation, which may lead to secondary loss of control.

[0125] In a feasible implementation manner, the above step S20 may further include steps S210 to S213:

[0126] Step S210: obtaining a radar point cloud containing the road ahead of the vehicle, and determining a road surface area based on the radar point cloud;

[0127] Step S211: determining the point cloud distribution characteristics corresponding to the road surface area, and segmenting the road surface area into a plurality of sub-grid areas;

[0128] Step S212: screening the plurality of sub-grid regions based on the point cloud distribution characteristics to determine a point cloud loss region, and determining a proportion of the second region corresponding to the point cloud loss region;

[0129] Step S213: Determine a slip warning level corresponding to the slip state in combination with the second area proportion.

[0130] It should be noted that the radar point cloud is a set of discrete three-dimensional spatial data points generated by the vehicle using a lidar to scan the road ahead, and is used to characterize the geometric features of the road surface.

[0131] In this embodiment, when the electronic device detects that the vehicle is in a slipping state, in addition to determining the degree of slipping of the vehicle through chassis data / image data, it can also control the laser radar on the vehicle to scan the area in front of the vehicle to obtain a radar point cloud set containing the road ahead. The electronic device identifies the radar point cloud set to determine the road surface area contained in the radar point cloud set. Thereafter, the electronic device extracts the point cloud distribution characteristics corresponding to the road surface area and divides the road surface area into multiple sub-grid areas. Thereafter, the electronic device calculates the point cloud loss ratio corresponding to each of the multiple sub-grid areas based on the point cloud distribution characteristics, and when it detects that the point cloud loss ratio of a certain sub-grid area reaches a preset loss ratio threshold, the electronic device determines the sub-grid area as a point cloud loss area. The electronic device then detects the proportion of a second area formed between the point cloud loss area and the road surface area. Finally, the electronic device determines the slip warning level corresponding to the slipping state as the first warning level or the second warning level based on the second area ratio.

[0132] For example, when the electronic device detects that the vehicle is in a slipping state, in addition to determining the degree of slipping of the vehicle through chassis data / image data, it can also control the laser radar configured on the vehicle to scan the front of the vehicle through the laser radar to obtain a radar point cloud set. The electronic device traverses the radar point cloud set to determine a certain area in front of the vehicle as ROI (Region of Interest). The electronic device then uses RANSAC (Random Sample Accuracy) to calculate the area in front of the vehicle. Consensus, random sampling consensus algorithm) fits the ground plane to eliminate point clouds whose height exceeds the threshold, and performs density analysis on the remaining point clouds to determine the road surface area. After that, the electronic device extracts the point cloud distribution characteristics of the road surface area and divides the road surface area into multiple sub-grid areas. After that, the electronic device determines the number of point clouds contained in each of the multiple sub-grid areas according to the point cloud distribution characteristics, and compares the number of each point cloud with the preset regional point cloud threshold to obtain multiple comparison results. The electronic device then determines the point cloud loss area where the number of point clouds does not reach the threshold in the multiple sub-grid areas based on the multiple comparison results. The electronic device then calculates the second area ratio between the point cloud loss area and the road surface area based on the number of point cloud loss areas and the number of sub-grid areas. Finally, the electronic device obtains the preset warning level-area ratio mapping table, and then queries the warning level-area ratio mapping table based on the second area ratio to determine the skid warning level that matches the second area ratio.

[0133] In this way, electronic equipment can accurately identify whether there is ice on the road in a low-temperature environment by identifying the point cloud loss features in the point cloud set, and determine the degree of slippage based on the proportion of the second area formed between the point cloud loss area and the road area, so as to improve the rationality of the speed control operation and avoid excessive intervention in the speed control operation, which may lead to secondary loss of control.

[0134] Step S30: determining a first speed adjustment ratio that matches the skid warning level, and adjusting the current speed of the vehicle to a first target speed that matches the skid warning level according to the first speed adjustment ratio;

[0135] In this embodiment, after determining the slip warning level, the electronic device determines a first speed regulation ratio that matches the slip warning level. The electronic device calculates a first target speed based on the first speed regulation ratio and the current speed of the vehicle, and adjusts the current speed of the vehicle to the first target speed.

[0136] For example, if the electronic device determines that the slip warning level corresponding to the slip state is the first warning level, it first reads the above-mentioned storage module to obtain the preset warning level-speed regulation ratio mapping table shown in Table 1:

[0137] Warning level First warning level Second alert level Speed regulation ratio 10％ 5％

[0138] Table 1: Warning level-speed regulation ratio mapping table

[0139] The electronic device then queries the warning level-speed regulation ratio mapping table to determine that the first speed regulation ratio matching the first warning level is 10%. At the same time, the electronic device determines the current speed of the vehicle and calculates the first target speed based on the first speed regulation ratio 10% and the current speed. The electronic device then controls the vehicle to adjust the current speed of the vehicle to the first target speed.

[0140] In this embodiment, when the vehicle is driving, the electronic equipment configured on the vehicle first obtains the chassis data of the vehicle, and reads multiple wheel-end torque parameters and / or multiple wheel speed parameters contained in the chassis data, and determines whether the corresponding driving state of the vehicle is a slipping state or a non-slipping state based on the multiple wheel-end torque parameters and / or multiple wheel speed parameters. Afterwards, the electronic equipment determines the degree of slip of the vehicle, and determines the slip warning level corresponding to the slip state as a first warning level or a second warning level based on the degree of slip. Finally, the electronic equipment determines a first speed regulation ratio that matches the slip warning level. The electronic equipment calculates a first target speed based on the first speed regulation ratio and the current speed of the vehicle, and adjusts the current speed of the vehicle to the first target speed.

[0141] In this way, the present application solves the technical problem in the related art that the risk of driving safety is increased due to the deviation of the identification results obtained. That is, the present application determines whether the vehicle is slipping during driving based on the vehicle's chassis data, and when it is determined that the vehicle is slipping, further determines a matching speed regulation ratio based on the degree of slippage of the vehicle, so as to adjust the vehicle speed according to the speed regulation ratio, thereby enabling the electronic device to accurately detect whether the vehicle has a risk of slipping, and when it is detected that the vehicle has a risk of slipping, controls the vehicle according to the speed regulation ratio that matches the degree of slippage of the vehicle, so as to reduce the risk of driving safety during the vehicle's driving process.

[0142] Based on the first embodiment of the present application, a second embodiment of the present application is proposed. In the second embodiment of the present application, the same or similar contents as those of the above embodiments can be referred to above and will not be described in detail. On this basis, after the above step S30, the vehicle control method of the present application may further include steps A10 to A30:

[0143] Step A10: Acquire location information corresponding to the vehicle, and determine the current road grade corresponding to the vehicle based on the location information;

[0144] Step A20: determining a second speed regulation ratio corresponding to the current road grade, and superimposing the second speed regulation ratio and the first speed regulation ratio to obtain a third speed regulation ratio;

[0145] Step A30: determining a second target vehicle speed according to the third speed adjustment ratio and the first target vehicle speed, and performing a vehicle speed adjustment operation on the vehicle according to the second target vehicle speed.

[0146] In this embodiment, after adjusting the current speed of the vehicle to the first target speed, the electronic device can also detect the location information of the vehicle and determine the road grade corresponding to the road where the vehicle is located based on the location information. Afterwards, the electronic device queries the second speed regulation ratio corresponding to the road grade, and superimposes the second speed regulation ratio and the above-mentioned first speed regulation ratio to obtain a third speed regulation ratio. Finally, the electronic device calculates the second target speed based on the third speed regulation ratio and the first target speed of the vehicle, and adjusts the current speed of the vehicle from the first target speed to the second target speed.

[0147] For example, after adjusting the current speed of the vehicle to the first target speed, the electronic device detects the current location information of the vehicle and determines the road grade of the road the vehicle is currently on based on the current location information. If the electronic device then detects that the road grade is grade 3, it reads the storage module to obtain a road grade-speed adjustment ratio mapping relationship as shown in Table 2, which includes multiple road grades and speed adjustment ratios corresponding to the multiple road grades:

[0148] Road grade Level 3 Level 2 Level 1 Speed regulation ratio 5％ 10％ 25％

[0149] Table 2: Road grade-speed regulation ratio mapping relationship

[0150] The electronic device determines that the second speed adjustment ratio corresponding to the Class 3 road is 10% based on the road class-speed adjustment ratio mapping relationship, and further calculates the third speed adjustment ratio of 15% based on the first speed adjustment ratio of 10% and the second speed adjustment ratio of 5%.

[0151] Finally, the electronic device determines the first target speed of the vehicle, and calculates the second target speed based on the third speed adjustment ratio 15% and the first target speed. The electronic device then controls the vehicle to adjust the first target speed of the vehicle to the second target speed.

[0152] In this way, the electronic equipment can identify the road conditions corresponding to the vehicle's location information and determine the potential driving risks under such road conditions, thereby flexibly adjusting the deceleration ratio for different roads and different degrees of slippage, thereby making the vehicle's speed regulation strategy more compatible with the degree of slippage and road conditions, further improving the safety of the vehicle during driving.

[0153] For example, in order to help understand the implementation process of the vehicle control method obtained by combining this embodiment with the above embodiments, please refer to Figure 2 , Figure 2 This is a first schematic flow chart of the vehicle control method of this application, specifically:

[0154] like Figure 2 As shown, in this embodiment, when the vehicle is driving, the electronic device configured on the vehicle first controls the temperature sensor configured on the vehicle to collect current temperature data corresponding to the vehicle's environment through the temperature sensor. When the electronic device detects that the current temperature data is less than a preset target temperature threshold, it determines that the vehicle is in a low-temperature environment. At this time, the electronic device obtains multiple wheel-end torque parameters corresponding to the vehicle. Thereafter, the electronic device processes the multiple wheel-end torque parameters, and when it detects that the first target torque parameter with the highest value among the multiple wheel-end torque parameters reaches a preset first torque threshold, it determines that the vehicle is in a slipping state. At this time, the electronic device determines The number of wheel-end torque parameters greater than the first torque threshold value is used to determine the number of target wheels with abnormal wheel-end torque. When the electronic device detects that the number of target wheels is greater than one, it determines that the vehicle is in a serious slipping condition, and determines that the slip warning level corresponding to the slipping state is the first warning level. Similarly, when the electronic device detects that the number of target wheels is equal to one, it determines that the vehicle is in a lighter slipping condition, and determines that the slip warning level corresponding to the slipping state is a second warning level lower than the first warning level. Finally, the electronic device determines a first speed regulation ratio that matches the slip warning level, and adjusts the current speed of the vehicle to the matching first target speed according to the first speed regulation ratio.

[0155] In addition, when the electronic device detects that the vehicle is in a low-temperature environment, it can also calculate multiple wheel speed parameters corresponding to the vehicle. At this time, the vehicle calculates the first wheel speed differences generated between the target wheel speed difference with the largest value and the other wheel speed differences, and compares the target wheel speed difference with the preset first wheel speed difference threshold value among the first wheel speed differences. When it is detected that the target wheel speed difference reaches the first wheel speed difference threshold value, it is determined that the vehicle is in a slipping state. At this time, the electronic device obtains a second wheel speed difference threshold value greater than the first wheel speed difference threshold value, and compares the target wheel speed difference with the second wheel speed difference threshold value. When it is detected that the target wheel speed difference reaches the second wheel speed difference threshold value, it is determined that the vehicle is in a serious slipping state, and the slip warning level corresponding to the slipping state is determined to be the first warning level. Similarly, when the electronic device detects that the target wheel speed difference does not reach the second wheel speed threshold value, it is determined that the vehicle is in a lighter slipping state, and the slip warning level corresponding to the slipping state is determined to be the second warning level lower than the first warning level.

[0156] In addition, please refer to Figure 3, Figure 3 This is a second schematic flow chart of the vehicle control method of the present application, as shown in FIG. Figure 3 As shown, when the electronic device detects that the vehicle is in a slipping state based on the chassis data, it can also call the target image data containing the road surface ahead captured by the image acquisition device on the vehicle. Afterwards, the electronic device identifies the road surface area contained in the image data, and clusters the road surface area to obtain multiple cluster areas. The electronic device then determines the regional brightness values corresponding to each of the multiple cluster areas, and judges whether there is a highlight reflective area in the road surface area based on the multiple regional brightness values. Finally, if the electronic device determines that there is a highlight reflective area in the road surface area, it determines the first area ratio of the highlight reflective area in the road surface area, and determines the slip warning level corresponding to the slip state as the first warning level or the second warning level based on the first area ratio, and then determines the matching first speed regulation ratio based on the slip warning level.

[0157] In addition, if Figure 3 As shown, when the electronic device detects that the vehicle is in a slipping state based on the chassis data, it can also call the laser radar on the vehicle to scan the area in front of the vehicle to obtain a radar point cloud set containing the road ahead. The electronic device identifies the radar point cloud set to determine the road surface area contained in the radar point cloud set. Afterwards, the electronic device extracts the point cloud distribution characteristics corresponding to the road surface area and divides the road surface area into multiple sub-grid areas. Afterwards, the electronic device calculates the point cloud loss ratio corresponding to each of the multiple sub-grid areas based on the point cloud distribution characteristics, and determines the point cloud loss area in the multiple sub-grid areas based on each point cloud loss ratio. Finally, the electronic device determines the proportion of the second area of the point cloud loss area in the road surface area, and determines the slip warning level corresponding to the slip state as the first warning level or the second warning level based on the proportion of the second area, and then determines the matching first speed regulation ratio based on the slip warning level.

[0158] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0159] This application also provides a vehicle control device, please refer to Figure 4 , the vehicle control device includes:

[0160] a skid detection module 10 for acquiring chassis data of a vehicle and determining a driving state of the vehicle in combination with the chassis data;

[0161] The skidding warning module 20 is configured to determine a skidding warning level corresponding to the skidding state when detecting that the driving state is a skidding state;

[0162] The automatic speed regulating module 30 is configured to determine a first speed regulating ratio that matches the slip warning level, and to regulate the current speed of the vehicle to a first target speed that matches the slip warning level according to the first speed regulating ratio.

[0163] In a feasible implementation manner, the chassis data includes wheel end torque parameters, and the slip detection module 10 is further configured to:

[0164] determining a first target torque parameter among the plurality of wheel end torque parameters, and determining that the driving state of the vehicle is the slipping state when it is detected that the first target torque parameter reaches a preset first torque threshold, wherein the first target torque parameter is the wheel end torque parameter with the largest value;

[0165] dividing the plurality of wheel-end torque parameters into a plurality of torque parameter groups, and determining that the driving state is the slipping state when detecting that at least one torque parameter group reaches a preset second torque threshold, wherein the second torque threshold is greater than the first torque threshold;

[0166] When a second target torque parameter is detected among the plurality of wheel end torque parameters, the driving state is determined to be the slip state, wherein a torque direction of the second target torque parameter is opposite to a torque direction of the other wheel end torque parameters.

[0167] In a feasible implementation manner, the above-mentioned skid warning module 20 is further used to:

[0168] Determining a target number of wheels, wherein the target number of wheels is the number of wheels whose wheel-end torque parameter reaches the first torque threshold;

[0169] When it is detected that the number of target wheels is greater than one, determining that the skid warning level corresponding to the skid state is a first warning level;

[0170] When it is detected that the target wheel number is equal to one, the slip warning level corresponding to the slip state is determined to be a second warning level, wherein the second warning level is lower than the first warning level.

[0171] In a feasible implementation manner, the chassis data further includes wheel speed parameters, and the slip detection module 10 is further configured to:

[0172] Determining a target wheel speed parameter and calculating each first wheel speed difference corresponding to the target wheel speed parameter, wherein the target wheel speed parameter is the wheel speed parameter with the largest value;

[0173] Determining a target wheel speed difference and obtaining a preset first wheel speed difference threshold, wherein the target wheel speed difference is the first wheel speed difference with the largest value;

[0174] When it is detected that the target wheel speed difference reaches the first wheel speed difference threshold, the driving state is determined to be the slipping state.

[0175] In a feasible implementation manner, the above-mentioned skid warning module 20 is further used to:

[0176] determining a preset second wheel speed difference threshold, wherein the second wheel speed difference is greater than the first wheel speed difference threshold;

[0177] When it is detected that the target wheel speed difference reaches the second wheel speed difference threshold, determining that the slip warning level corresponding to the slip state is a first warning level;

[0178] When it is detected that the target wheel speed difference does not reach the second wheel speed difference threshold, the slip warning level corresponding to the slip state is determined to be the second warning level.

[0179] In a feasible implementation manner, the above-mentioned slip detection module 10 is further used to:

[0180] determining a plurality of second wheel speed differences based on the plurality of wheel speed parameters, and determining a preset third wheel speed difference threshold, wherein the second wheel speed difference is a difference between any two wheel speed parameters, and the third wheel speed difference threshold is greater than the second wheel speed difference threshold;

[0181] When it is detected that at least one second wheel speed difference reaches the third wheel speed difference threshold, the driving state is determined to be the slipping state.

[0182] In a feasible implementation manner, the above-mentioned skid warning module 20 is further used to:

[0183] capturing target image data including the road ahead of the vehicle;

[0184] When a highlight reflective area is detected in the target image data, determining a first area ratio of the highlight reflective area;

[0185] The slip warning level corresponding to the slip state is determined in combination with the first area proportion.

[0186] In a feasible implementation manner, the above-mentioned skid warning module 20 is further used to:

[0187] Acquire a radar point cloud set containing a road ahead of the vehicle, and determine a road surface area based on the radar point cloud set;

[0188] Determining point cloud distribution characteristics corresponding to the road surface area, and segmenting the road surface area to obtain a plurality of sub-grid areas;

[0189] Screening the plurality of sub-grid areas based on the point cloud distribution characteristics to determine a point cloud loss area, and determining a proportion of the second area corresponding to the point cloud loss area;

[0190] The slip warning level corresponding to the slip state is determined in combination with the second area proportion.

[0191] In a feasible implementation manner, the automatic speed regulation module 30 is further configured to:

[0192] Obtaining location information corresponding to the vehicle, and determining a current road grade corresponding to the vehicle based on the location information;

[0193] Determine a second speed regulation ratio corresponding to the current road grade, and superimpose the second speed regulation ratio and the first speed regulation ratio to obtain a third speed regulation ratio;

[0194] A second target vehicle speed is determined according to the third speed adjustment ratio and the first target vehicle speed, and a vehicle speed adjustment operation is performed on the vehicle according to the second target vehicle speed.

[0195] The vehicle control device provided in this application, which utilizes the vehicle control method of the aforementioned embodiment, can resolve the technical problem in the related art of increased driving safety risks caused by deviations in the vehicle identification results obtained. Compared with the prior art, the beneficial effects of the vehicle control device provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiment, and the other technical features of the vehicle control device are the same as those disclosed in the aforementioned embodiment method, and are not further described here.

[0196] The present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle control method in the above-mentioned embodiment one.

[0197] Reference below Figure 5 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, an electronic device configured in a vehicle and equipped with an image processing module, or a mobile terminal, data storage control terminal, PC, or other terminal connected to an electronic control unit of the electronic device. Figure 5 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0198] like Figure 5 As shown, the electronic device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory 1002 or programs loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the electronic device. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape or a hard disk; and a communication device 1009. The communication device 1009 may allow the electronic device to communicate with other devices wirelessly or wired to exchange data. Although the figures show electronic devices with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0199] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0200] The electronic device provided in this application, utilizing the vehicle control method of the aforementioned embodiment, can resolve the technical problem in related art whereby deviations in the vehicle identification results lead to increased driving safety risks. Compared to the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiment, and the other technical features of the electronic device are the same as those disclosed in the aforementioned embodiment, and are not further described here.

[0201] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0202] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0203] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above-mentioned embodiment.

[0204] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0205] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0206] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: obtains the chassis data of the vehicle, and determines the driving state of the vehicle in combination with the chassis data; when it is detected that the driving state is a slipping state, determines the slip warning level corresponding to the slipping state; determines a matching first speed regulation ratio according to the slip warning level, and adjusts the current speed of the vehicle to a first target speed matching the slip warning level according to the first speed regulation ratio.

[0207] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0208] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0209] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0210] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned vehicle control method. This computer-readable storage medium can address the technical issue in related art where deviations in vehicle identification results increase driving safety risks. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiments, and are not further elaborated here.

[0211] The present application provides a vehicle having the electronic device as described above, and the electronic device is used to execute the vehicle control method in the above embodiment.

[0212] The present application also provides a computer program product, comprising a computer program, which implements the steps of the vehicle control method as described above when the computer program is executed by a processor.

[0213] The computer program product provided in this application can address the technical problem in related art whereby deviations in vehicle identification results can lead to increased driving safety risks. Compared to the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vehicle control method provided in the aforementioned embodiments, and are not further elaborated here.

[0214] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: Acquiring chassis data of a vehicle, and determining a driving state of the vehicle in combination with the chassis data; When detecting that the driving state is a slipping state, determining a slip warning level corresponding to the slipping state; A matching first speed adjustment ratio is determined according to the slip warning level, and the current vehicle speed is adjusted to a first target vehicle speed matching the slip warning level according to the first speed adjustment ratio.

2. The vehicle control method according to claim 1, wherein: The chassis data includes vehicle wheel-end torque, and the step of determining the driving state of the vehicle in combination with the chassis data includes at least one of the following: determining a first target torque parameter among the plurality of wheel end torque parameters, and determining that the driving state of the vehicle is the slipping state when it is detected that the first target torque parameter reaches a preset first torque threshold, wherein the first target torque parameter is the wheel end torque parameter with the largest value; dividing the plurality of wheel-end torque parameters into a plurality of torque parameter groups, and determining that the driving state is the slipping state when detecting that at least one torque parameter group reaches a preset second torque threshold, wherein the second torque threshold is greater than the first torque threshold; When a second target torque parameter is detected among the plurality of wheel end torque parameters, the driving state is determined to be the slip state, wherein a torque direction of the second target torque parameter is opposite to a torque direction of the other wheel end torque parameters.

3. The vehicle control method according to claim 2, wherein: The step of determining the slip warning level corresponding to the slip state includes: Determining a target number of wheels, wherein the target number of wheels is the number of wheels whose wheel-end torque parameter reaches the first torque threshold; When it is detected that the number of target wheels is greater than one, determining that the skid warning level corresponding to the skid state is a first warning level; When it is detected that the target wheel number is equal to one, the slip warning level corresponding to the slip state is determined to be a second warning level, wherein the second warning level is lower than the first warning level.

4. The vehicle control method according to claim 1, wherein: The chassis data further includes wheel end speed, and the step of determining the driving state of the vehicle in combination with the chassis data further includes: Determining a target wheel speed parameter and calculating each first wheel speed difference corresponding to the target wheel speed parameter, wherein the target wheel speed parameter is the wheel speed parameter with the largest value; Determining a target wheel speed difference and obtaining a preset first wheel speed difference threshold, wherein the target wheel speed difference is the first wheel speed difference with the largest value; When it is detected that the target wheel speed difference reaches the first wheel speed difference threshold, the driving state is determined to be the slipping state.

5. The vehicle control method according to claim 4, wherein: The step of determining the slip warning level corresponding to the slip state further includes: determining a preset second wheel speed difference threshold, wherein the second wheel speed difference is greater than the first wheel speed difference threshold; When it is detected that the target wheel speed difference reaches the second wheel speed difference threshold, determining that the slip warning level corresponding to the slip state is a first warning level; When it is detected that the target wheel speed difference does not reach the second wheel speed difference threshold, the slip warning level corresponding to the slip state is determined to be the second warning level.

6. The vehicle control method according to claim 5, wherein: The step of determining the driving state of the vehicle according to the chassis data further includes: determining a plurality of second wheel speed differences based on the plurality of wheel speed parameters, and determining a preset third wheel speed difference threshold, wherein the second wheel speed difference is a difference between any two wheel speed parameters, and the third wheel speed difference threshold is greater than the second wheel speed difference threshold; When it is detected that at least one second wheel speed difference reaches the third wheel speed difference threshold, the driving state is determined to be the slipping state.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: The step of determining the slip warning level corresponding to the slip state further includes: capturing target image data including the road ahead of the vehicle; When a highlight reflective area is detected in the target image data, determining a first area ratio of the highlight reflective area; The slip warning level corresponding to the slip state is determined in combination with the first area proportion.

8. The vehicle control method according to any one of claims 1 to 6, characterized in that: The step of determining the slip warning level corresponding to the slip state further includes: Acquire a radar point cloud set containing a road ahead of the vehicle, and determine a road surface area based on the radar point cloud set; Determining point cloud distribution characteristics corresponding to the road surface area, and segmenting the road surface area to obtain a plurality of sub-grid areas; Screening the plurality of sub-grid areas based on the point cloud distribution characteristics to determine a point cloud loss area, and determining a proportion of the second area corresponding to the point cloud loss area; The slip warning level corresponding to the slip state is determined in combination with the second area proportion.

9. The vehicle control method according to claim 1, wherein: After the step of adjusting the current vehicle speed to a first target vehicle speed matching the skid warning level according to the first speed regulation ratio, the method further includes: Obtaining location information corresponding to the vehicle, and determining a current road grade corresponding to the vehicle based on the location information; Determine a second speed regulation ratio corresponding to the current road grade, and superimpose the second speed regulation ratio and the first speed regulation ratio to obtain a third speed regulation ratio; A second target vehicle speed is determined according to the third speed adjustment ratio and the first target vehicle speed, and a vehicle speed adjustment operation is performed on the vehicle according to the second target vehicle speed.

10. An electronic device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method according to any one of claims 1 to 9.

11. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 10.

12. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

13. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 9 are implemented.

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