Method and device for identifying low-to-high-adhesion road surface, electronic equipment and medium

Abstract

The invention relates to a low-to-high-adhesion road surface identification method and device, electronic equipment and a medium, and the method comprises the steps: S10, obtaining vehicle state information and wheel state information corresponding to a current time period in the working process of an ABS (Anti-lock Brake System) of a vehicle, the wheel state information comprises a wheel acceleration, a wheel speed and a wheel control mode; s20, judging whether a first condition is met or not according to the vehicle state information and the wheel state information; s30, if the first condition is met, whether the control mode of the wheels meets a second condition or not is judged; s40, if the second condition is met, whether the deceleration of the whole vehicle meets a third condition or not is judged; and S50, if a third condition is met, determining an identification result from the low attachment to the high attachment. By means of the method, the driving stability and safety of the vehicle are improved, tire abrasion is reduced, the comfort of a driver and passengers is improved, and meanwhile the life safety of the driver and passengers is ensured.

Description

Technical Field

[0001] This invention relates to the field of automotive chassis control technology, and more specifically, to a method, device, electronic device, and medium for identifying low-adhesion to high-adhesion road surfaces. Background Technology

[0002] When the Anti-lock Braking System (ABS) is working, the braking system automatically adjusts the braking pressure of the four wheels according to the road surface and wheel conditions to prevent the wheels from locking up completely. In essence, it transforms the traditional braking process into an instantaneous control process, that is, it makes the wheels "lock but not completely" and "lock but not completely" during braking. Its purpose is to maximize the friction between the wheels and the ground, while avoiding rear wheel sideslip and front wheel loss of steering ability, so as to achieve the best braking performance of the car, make full use of the wheel slip ratio, shorten the braking distance, maintain directional stability, and reduce tire wear, thereby ensuring the safety of the driver and passengers.

[0003] When a vehicle jumps from a low-friction surface to a high-friction surface under ABS conditions, if the system fails to recognize the road conditions in time and makes an incorrect judgment that the vehicle is on a low-friction surface (such as a water-sprinkled road or a wet tile road) or does not recognize a high-friction surface (such as a dry asphalt road or a dry cement road), it will lead to a sudden change in deceleration and untimely braking, which will bring certain uncomfortable driving experience and safety risks to the driver and passengers. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, device, electronic device and medium for identifying low-adhesion to high-adhesion road surfaces, aiming to solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problem is as follows: a method for identifying low-adhesion to high-adhesion road surfaces, the method comprising: S10: Obtain vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed, and wheel control mode. S20, based on the vehicle status information and wheel status information, determine whether the first condition is met; S30, if the first condition is met, then determine whether the wheel control mode meets the second condition; S40, if the second condition is met, then determine whether the deceleration of the whole vehicle meets the third condition; S50, if the third condition is met, then the identification result from low attachment to high attachment is determined.

[0006] The beneficial effects of this invention are as follows: This method can acquire vehicle and wheel status information during the ABS operation process and use this information, combined with three preset conditions, to determine whether the vehicle is transitioning from a low-friction coefficient road surface to a high-friction coefficient road surface. This method improves the accuracy of road surface recognition, thereby providing more precise road surface recognition support for the ABS system, enabling the vehicle to maintain optimal braking performance under different road surface conditions. By accurately identifying changes in the road surface friction coefficient, it can reduce sudden deceleration and braking delays caused by changes in the road surface friction coefficient, improve vehicle driving stability and safety, reduce tire wear, enhance passenger comfort, and ensure the safety of passengers.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the aforementioned S20 specifically includes: Determine whether the maximum wheel acceleration is greater than the first threshold and whether the overall vehicle deceleration is within the lower threshold range.

[0009] The beneficial effect of adopting the above-mentioned further solution is that, by determining whether the maximum wheel acceleration exceeds a first threshold and whether the vehicle deceleration is within the low-friction threshold range, this method can more effectively identify situations where the vehicle's front axle enters a high-friction coefficient road surface. This accurate identification helps improve the vehicle's braking control strategy, thereby optimizing the vehicle's braking performance under different road conditions, reducing braking instability and discomfort caused by changes in the road surface friction coefficient, improving driving safety, reducing tire wear, and enhancing the overall performance and driving experience of the vehicle.

[0010] Furthermore, the aforementioned S20 specifically includes: Determine whether the difference between the maximum wheel speed and the minimum wheel speed is less than a second threshold and continues for a first set duration.

[0011] The beneficial effect of adopting the above-mentioned further solution is that by determining whether the difference between the maximum and minimum wheel speeds is less than a second threshold and maintaining this value for a certain period of time, the dynamic changes of the vehicle under different road surface conditions can be captured more effectively. This helps the system respond more promptly to changes in the road surface adhesion coefficient, thereby optimizing vehicle braking control, reducing braking instability and discomfort caused by changes in the road surface adhesion coefficient, improving driving safety and vehicle handling performance, and also helping to reduce tire wear, improve vehicle fuel efficiency and overall performance.

[0012] Furthermore, the wheel control modes include control modes for the two front axle wheels, specifically S30 mentioned above: If the first condition is met, then determine whether the control modes of the two front axle wheels are simultaneously in boost or holding pressure for a second set duration during the boost process.

[0013] The beneficial effect of adopting the above-mentioned further solution is that, by determining whether the control modes of the two front axle wheels are simultaneously in a pressurization phase or maintaining pressure for a certain period of time during pressurization, a reliable mechanism for detecting changes in road surface adhesion is provided. Such accurate identification helps improve the vehicle's braking control strategy, optimize braking performance, and reduce braking instability and discomfort caused by changes in the road surface adhesion coefficient, thereby improving driving safety and vehicle handling performance. Simultaneously, this method helps reduce tire wear, enhances the overall vehicle performance and driving experience, and ensures optimal braking efficiency under various road surface conditions.

[0014] Furthermore, the aforementioned S40 specifically includes: If the second condition is met, then determine whether the vehicle deceleration is within the high-adjacent threshold range.

[0015] The beneficial effect of adopting the above-mentioned further solution is that, by determining whether the vehicle deceleration is within the high-friction threshold range, this method can further verify and confirm whether the vehicle has transitioned from a low-friction coefficient road surface to a high-friction coefficient road surface. This confirmation mechanism enhances the accuracy of road surface recognition and helps improve the braking control precision of the vehicle under different road surface conditions. By ensuring that the vehicle deceleration matches the expected performance on high-friction roads, braking strategies can be adjusted more effectively, thereby reducing sudden changes in deceleration and delayed braking caused by changes in the road surface friction coefficient, and improving vehicle driving stability and safety. In addition, this method helps reduce tire wear, improves ride comfort, and ensures optimal braking performance under various road surface conditions, thereby enhancing the overall vehicle performance and driving experience.

[0016] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides a device for identifying low-adhesion to high-adhesion road surfaces, the device comprising: The acquisition module is used to acquire the vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed and wheel control mode. The first judgment module is used to determine whether the first condition is met based on the vehicle status information and wheel status information. The second judgment module is used to determine whether the control mode of the wheel meets the second condition when the first condition is met. The third judgment module is used to determine whether the vehicle deceleration meets the third condition when the second condition is met. The identification module is used to determine the identification result from low attachment to high attachment when the third condition is met.

[0017] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for identifying low-adhesion to high-adhesion road surfaces of the present application.

[0018] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for identifying low-adhesion to high-adhesion road surfaces of the present application.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0021] Figure 1 A flowchart illustrating a method for identifying low-adhesion to high-adhesion road surfaces according to an embodiment of the present invention; Figure 2 A flowchart illustrating another method for identifying low-adhesion to high-adhesion road surfaces according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the changes in vehicle status information and wheel status information during the identification process from low-adhesion to high-adhesion road surfaces, as provided in an embodiment of the present invention. Figure 4 A schematic diagram of the structure of a low-adhesion to high-adhesion road surface identification device provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0022] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0023] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0024] The solution provided in this invention can be applied to any application scenario requiring low-adhesion to high-adhesion road surface recognition. The solution provided in this invention can be executed by any electronic device, such as an onboard controller. This invention provides a possible implementation, such as... Figure 1 As shown, a flowchart of a method for identifying low-adhesion to high-adhesion road surfaces is provided. For ease of description, the method provided in this embodiment of the invention will be described below using an on-board controller as the execution subject as an example. Figure 1 The flowchart shown indicates that the method may include the following steps: S10: Obtain vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed, and wheel control mode. S20, based on the vehicle status information and wheel status information, determine whether the first condition is met; S30, if the first condition is met, then determine whether the wheel control mode meets the second condition; S40, if the second condition is met, then determine whether the deceleration of the whole vehicle meets the third condition; S50, if the third condition is met, then the identification result from low attachment to high attachment is determined.

[0025] This method acquires vehicle and wheel status information during the ABS operation process and uses this information, combined with three preset conditions, to determine whether the vehicle is transitioning from a low-friction coefficient road surface to a high-friction coefficient road surface. This method improves the accuracy of road surface recognition, thus providing more precise road surface recognition support for the ABS system, enabling the vehicle to maintain optimal braking performance under different road conditions. By accurately identifying changes in the road surface friction coefficient, it can reduce sudden deceleration changes and delayed braking caused by these changes, improving vehicle stability and safety, reducing tire wear, enhancing passenger comfort, and ensuring passenger safety.

[0026] The following specific embodiments further illustrate the solution of the present invention. In this embodiment, the method for identifying low-adhesion to high-adhesion road surfaces may include the following steps: S10: Obtain vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed, and wheel control mode. S20, based on the vehicle status information and wheel status information, determine whether the first condition is met; S30, if the first condition is met, then determine whether the wheel control mode meets the second condition; S40, if the second condition is met, then determine whether the deceleration of the whole vehicle meets the third condition; S50, if the third condition is met, then the identification result from low attachment to high attachment is determined.

[0027] In S10, the current time period refers to a period of time, during which multiple parameter values ​​representing vehicle status information and wheel status information can be obtained. For example, wheel speed refers to the speed within a period of time, which may include the maximum wheel speed and the minimum wheel speed.

[0028] In S10, the vehicle deceleration can be obtained in the following ways: This information is obtained through the ABS system. Specifically, the Anti-lock Braking System (ABS) includes a control unit and a vehicle deceleration calculation and processing unit. These components can monitor and control the wheel control modes, and also provide information about the vehicle deceleration.

[0029] In S10, wheel acceleration can be obtained in the following way: Wheel acceleration is calculated from data acquired by wheel speed sensors. Specifically, if the vehicle does not have dedicated wheel acceleration sensors, wheel acceleration can be calculated indirectly using wheel speed sensors. Wheel speed sensors provide wheel rotation speed data; by monitoring how this data changes over time, wheel acceleration can be calculated. This typically involves differentiating the wheel speed data to obtain the acceleration value.

[0030] In S10, wheel speed can be obtained through the following methods: Wheel speed is obtained through wheel speed sensors, which are typically mounted on or near the wheel hub and can be of various types, such as magnetic induction, photoelectric, or Hall effect. They provide wheel speed by detecting the number of teeth and the interval between them.

[0031] In this application, if the wheel control mode is obtained based on the ABS system, the wheel control mode mainly refers to the control of the braking pressure of the wheels by the vehicle's anti-lock braking system (ABS). Specifically, it involves the adjustment of braking pressure of the wheels under different road surface adhesion coefficients to ensure that the vehicle can maintain optimal braking effect and stability during braking; the wheel control mode can include the following three categories: Boosting: This refers to the ABS system increasing the braking pressure on the wheels during braking to improve braking force.

[0032] Pressure holding: This refers to the ABS system maintaining constant braking pressure at the wheels during braking to sustain the current braking force.

[0033] Pressure reduction: This refers to the ABS system reducing the braking pressure on the wheels during braking to prevent wheel lock-up.

[0034] Optionally, the above S20 includes two implementation methods: The first method involves determining whether the maximum wheel acceleration exceeds a first threshold and whether the overall vehicle deceleration is within the low-friction threshold range. The low-friction threshold range refers to a preset parameter range in a vehicle's anti-lock braking system (ABS) or other vehicle control systems used to identify and distinguish different road surface adhesion coefficients (i.e., the friction between the tires and the road surface). This range helps the system determine whether the vehicle is traveling on a low-friction surface, such as a wet, icy, or loose surface.

[0035] The methods for determining the aforementioned low-adhesion threshold range may include: experimental determination: collecting data through tests on different types of road surfaces to determine the typical range of low-adhesion coefficient values; manufacturer setting: vehicle manufacturers set a standard low-adhesion threshold range based on the vehicle's design and intended operating environment.

[0036] Adaptive learning: Some advanced vehicle control systems may have adaptive learning capabilities, which can automatically adjust the low-adjustment threshold range based on actual driving conditions and road feedback.

[0037] The second method involves determining whether the difference between the maximum and minimum wheel speeds is less than a second threshold and remains constant for a first set duration.

[0038] Of these two implementation methods, S30 can be executed as long as either one is satisfied.

[0039] If the first condition is not met, then as time goes by, new vehicle status information and wheel status information for the current time period are obtained, and S20 is re-executed based on the new vehicle status information and wheel status information for the current time period.

[0040] The new current time period refers to the time period that follows the current time period and has the same duration. For example, if the current time period is from 8:10 to 8:11, then the new current time period can be from 8:11 to 8:12.

[0041] In S30, the control modes of the aforementioned wheels include the control modes of the two front axle wheels. Specifically, S30 includes: If the first condition is met, then determine whether the control modes of the two front axle wheels are simultaneously in boost or holding pressure for a second set duration during the boost process.

[0042] If the second condition is not met, then as time goes by, new vehicle status information and wheel status information for the current time period are obtained, and S20 to S30 are re-executed based on the new vehicle status information and wheel status information for the current time period.

[0043] The aforementioned S40 specifically includes: If the second condition is met, then determine whether the vehicle deceleration is within the high-adjacent threshold range.

[0044] If the third condition is not met, then as time goes by, new vehicle status information and wheel status information for the current time period are obtained, and S20 to S40 are re-executed based on the new vehicle status information and wheel status information for the current time period.

[0045] The high adhesion threshold range refers to a preset parameter range in the vehicle's control system used to identify and distinguish road surfaces with a high coefficient of adhesion. The coefficient of adhesion reflects the magnitude of friction between the tire and the road surface; a high coefficient of adhesion means greater friction between the tire and the road surface, which typically occurs on dry asphalt or concrete surfaces.

[0046] The method for determining the high-limit threshold range can refer to the method for determining the low-limit threshold range mentioned above, and will not be repeated here.

[0047] The first condition mentioned above can be either condition 1 or condition 2. Condition 1 is: when the front axle of the vehicle enters the high-friction zone, the change in the road surface adhesion coefficient of the front axle will cause the front axle wheels to generate a large wheel acceleration. It will then be determined whether the maximum wheel acceleration has reached the first threshold. However, since most of the vehicle is still on the low-friction road surface at this moment, it is also necessary to determine whether the vehicle deceleration is within the low-friction threshold range. Condition 2 is: if the difference between the maximum wheel speed and the minimum wheel speed is less than the second threshold and continues for a first set time, then the wheel speed is considered reliable and is used as a certain correction value to increase the possibility of recognizing the jump from low attachment to high attachment. The second condition is condition 3: the control mode of the two front axle wheels is detected to maintain pressure during the pressurization or pressurization process, and this continues for a second set duration.

[0048] The third condition is condition 4: the vehicle deceleration is within the high-adjacent threshold range.

[0049] Based on the fulfillment of the first to third conditions mentioned above, it is considered that the vehicle is in the process of jumping from low attachment to high attachment.

[0050] To better illustrate and understand the principle of the method provided by this invention, the following description uses an optional specific embodiment to illustrate the solution of this invention. It should be noted that the specific implementation of each step in this specific embodiment should not be construed as a limitation of the solution of this invention. Other implementations that can be conceived by those skilled in the art based on the principle of the solution provided by this invention should also be considered within the scope of protection of this invention.

[0051] In this embodiment, the road surface recognition control logic designed in this scheme can use some state information of the vehicle and wheels to quickly and accurately identify the wheel jumping from a low-adhesion coefficient road surface to a high-adhesion coefficient road surface, so as to provide road surface recognition support for the ABS system.

[0052] When a vehicle moves from a low-friction coefficient road surface to a high-friction coefficient road surface, the front axle and the rear axle will be on different road surfaces, which will cause a change in the acceleration of the whole vehicle. This embodiment mainly uses some state information of the wheels and the whole vehicle to make a judgment.

[0053] During the ABS operation, combined with Figure 2 and Figure 3 The method for identifying low-adhesion to high-adhesion road surfaces provided in this embodiment may include the following steps: Step 1: Obtain the vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed, and wheel control mode. Step 2: Determine whether the maximum wheel acceleration is greater than the first threshold and whether the vehicle deceleration is within the lower threshold range; or, determine whether the difference between the maximum wheel speed and the minimum wheel speed is less than the second threshold and continues for a first set duration. Step 3: If the maximum wheel acceleration is greater than the first threshold and the vehicle deceleration is within the lower threshold range, or if the difference between the maximum wheel speed and the minimum wheel speed is less than the second threshold and continues for a first set duration, then determine whether the control modes of the two front axle wheels are simultaneously in boosting or holding pressure during boosting for a second set duration. Step 4: If the control modes of the two front axle wheels are simultaneously in the boost or pressure holding phase for the second set duration, determine whether the vehicle deceleration is within the high threshold range. Step 5: If the vehicle deceleration is within the high adhesion threshold range, then determine the recognition result from low adhesion to high adhesion, that is, the vehicle jumps from the low adhesion coefficient road surface to the high adhesion coefficient road surface.

[0054] The beneficial effects of this application are as follows: 1. Improve safety: By accurately identifying changes in the road surface adhesion coefficient, the vehicle's braking strategy can be adjusted in a timely manner, reducing sudden changes in deceleration and delayed braking caused by changes in the road surface adhesion coefficient, thereby improving the vehicle's driving stability and safety.

[0055] 2. Optimize driving experience: It can automatically adjust the vehicle's control parameters according to changes in the road surface adhesion coefficient, reducing vehicle bumps and slippage under different road conditions, and providing a smoother and more comfortable driving experience.

[0056] 3. Enhanced vehicle control performance: On roads with a high coefficient of friction, the friction provided by the road surface can be utilized more effectively, optimizing the vehicle's acceleration, braking, and steering performance.

[0057] 4. Reduce tire wear: By precisely controlling braking pressure and braking force, unnecessary tire slippage is reduced, thereby reducing tire wear and extending tire life.

[0058] In summary, this solution provides drivers with a safer, more comfortable, and more efficient driving environment by improving the vehicle's ability to recognize and respond to changes in road surface adhesion coefficient.

[0059] Based on and Figure 1 Using the same principle as the method shown, this embodiment of the invention also provides a low-adhesion to high-adhesion road surface identification device 20, such as... Figure 4 As shown, the low-adhesion to high-adhesion road surface identification device 20 may include an acquisition module 210, a first judgment module 220, a second judgment module 230, a third judgment module 240, and an identification module 250, wherein: The acquisition module 210 is used to acquire the vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes the wheel acceleration, wheel speed and wheel control mode. The first judgment module 220 is used to determine whether the first condition is met based on the vehicle status information and wheel status information. The second judgment module 230 is used to determine whether the control mode of the wheel meets the second condition when the first condition is met. The third judgment module 240 is used to determine whether the deceleration of the whole vehicle meets the third condition when the second condition is met. The identification module 250 is used to determine the identification result from low attachment to high attachment when the third condition is met.

[0060] Optionally, the first judgment module 220 mentioned above is specifically used for: Determine whether the maximum wheel acceleration is greater than the first threshold and whether the overall vehicle deceleration is within the lower threshold range.

[0061] Optionally, the first judgment module 220 mentioned above is specifically used for: Determine whether the difference between the maximum wheel speed and the minimum wheel speed is less than a second threshold and continues for a first set duration.

[0062] Optionally, the control mode of the aforementioned wheels includes the control mode of the two front axle wheels, and the aforementioned second judgment module 230 is specifically used for: If the first condition is met, then determine whether the control modes of the two front axle wheels are simultaneously in boost or holding pressure for a second set duration during the boost process.

[0063] Optionally, the third judgment module 240 mentioned above is specifically used for: If the second condition is met, then determine whether the vehicle deceleration is within the high-adjacent threshold range.

[0064] The low-adhesion to high-adhesion road surface identification device of this invention can execute the low-adhesion to high-adhesion road surface identification method provided in this invention. The implementation principle is similar. The actions performed by each module and unit in the low-adhesion to high-adhesion road surface identification device in each embodiment of this invention correspond to the steps in the low-adhesion to high-adhesion road surface identification method in each embodiment of this invention. For detailed functional descriptions of each module of the low-adhesion to high-adhesion road surface identification device, please refer to the descriptions in the corresponding low-adhesion to high-adhesion road surface identification methods shown above, which will not be repeated here.

[0065] The aforementioned low-adhesion to high-adhesion road surface identification device can be a computer program (including program code) running on a computer device, for example, the low-adhesion to high-adhesion road surface identification device is an application software; the device can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0066] In some embodiments, the low-attached to high-attached road surface identification device provided in this invention can be implemented using a combination of hardware and software. As an example, the low-attached to high-attached road surface identification device provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the low-attached to high-attached road surface identification method provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0067] In other embodiments, the low-adhesion to high-adhesion road surface identification device provided in this invention can be implemented in software. Figure 4 A device for identifying low-adhesion to high-adhesion road surfaces stored in a memory is shown. It can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a first judgment module 220, a second judgment module 230, a third judgment module 240, and an identification module 250, for implementing the low-adhesion to high-adhesion road surface identification method provided in the embodiments of the present invention.

[0068] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0069] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0070] In one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0071] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0072] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0073] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0074] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0075] Among these, electronic devices can also be terminal devices. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0076] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0077] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0078] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0081] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0082] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for identifying low-adhesion to high-adhesion road surfaces, characterized in that, include: S10, acquire vehicle status information and wheel status information corresponding to the current time period during the ABS operation of the vehicle. The vehicle status information includes the vehicle deceleration, and the wheel status information includes wheel acceleration, wheel speed and wheel control mode. S20, determine whether the first condition is met based on the vehicle status information and the wheel status information; S30, if the first condition is met, then determine whether the control mode of the wheel meets the second condition; S40, if the second condition is met, then determine whether the vehicle deceleration meets the third condition; S50, if the third condition is met, then the identification result from low attachment to high attachment is determined.

2. The method according to claim 1, characterized in that, S20 specifically includes: Determine whether the maximum wheel acceleration is greater than a first threshold and whether the overall vehicle deceleration is within a lower threshold range.

3. The method according to claim 1, characterized in that, S20 specifically includes: Determine whether the difference between the maximum wheel speed and the minimum wheel speed is less than a second threshold and continues for a first set duration.

4. The method according to any one of claims 1 to 3, characterized in that, The wheel control mode includes a control mode for the two front axle wheels, and S30 specifically includes: If the first condition is met, then determine whether the control modes of the two front axle wheels are simultaneously pressurizing or maintaining pressure for a second set duration during the pressurization process.

5. The method according to any one of claims 1 to 3, characterized in that, S40 specifically includes: If the second condition is met, then it is determined whether the vehicle deceleration is within the high threshold range.

6. A device for identifying low-adhesion to high-adhesion road surfaces, characterized in that, include: The acquisition module is used to acquire vehicle status information and wheel status information corresponding to the current time period during the operation of the vehicle's ABS. The vehicle status information includes the vehicle deceleration, and the wheel status information includes wheel acceleration, wheel speed, and wheel control mode. The first judgment module is used to determine whether the first condition is met based on the vehicle status information and the wheel status information; The second judgment module is used to determine whether the control mode of the wheel meets the second condition when the first condition is met. The third judgment module is used to determine whether the vehicle deceleration meets the third condition when the second condition is met. The identification module is used to determine the identification result from low attachment to high attachment when the third condition is met.

7. The apparatus according to claim 1, characterized in that, The first judgment module is specifically used for: Determine whether the maximum wheel acceleration is greater than a first threshold and whether the overall vehicle deceleration is within a lower threshold range.

8. The apparatus according to claim 1, characterized in that, The first judgment module is specifically used for: Determine whether the difference between the maximum wheel speed and the minimum wheel speed is less than a second threshold and continues for a first set duration.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-5.

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