Vehicle control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a storage medium, and the control method comprises the steps: responding to the vehicle entering a step mode, and determining the safety early warning information of the vehicle passing steps based on the height value of the steps, the vehicle speed value, the temperature value of tires and the air pressure value; wherein if any one of the height value, the vehicle speed value, the temperature value and the air pressure value of the step is smaller than or equal to the corresponding threshold value, it is determined that the step can be safely passed through according to the safety early warning information; if one of the height value, the vehicle speed value, the temperature value and the air pressure value of the step is greater than the corresponding threshold value, determining that the safety early warning information is that the step cannot be safely passed; and if it is determined that the vehicle can safely pass the step based on the safety early warning information, controlling the vehicle to pass the step. According to the technical scheme, the probability of tire deformation and burst can be effectively reduced when a vehicle passes through the steps.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle control method and device, a vehicle and a storage medium. BACKGROUND

[0002] In daily life, people often need to pass through the steps on the roadside. However, most roads are relatively high, and drivers often judge the vehicle to pass through the steps by experience, which often causes tire deformation, explosion and other safety problems due to too fast speed or too high steps. SUMMARY

[0003] In view of the above problems, the present application provides a vehicle control method and device, a vehicle and a storage medium, which can effectively reduce the probability of tire deformation and explosion when the vehicle passes through the steps.

[0004] According to an aspect of an embodiment of the present application, a vehicle control method is provided, which comprises: in response to the vehicle entering a step mode, acquiring parameter information of a step in a traveling direction of the vehicle and running state information of the vehicle in real time; the parameter information comprises a height value of the step, and the running state information comprises a speed value, a temperature value and a pressure value of a tire; determining safety warning information of the vehicle passing through the step based on the height value of the step, the speed value, the temperature value and the pressure value of the tire; wherein, if any one of the height value of the step, the speed value, the temperature value and the pressure value is less than or equal to a corresponding threshold value, it is determined that the safety warning information is that the step can be safely passed through; if one of the height value of the step, the speed value, the temperature value and the pressure value is greater than the corresponding threshold value, it is determined that the safety warning information is that the step cannot be safely passed through; if it is determined based on the safety warning information that the step can be safely passed through, the vehicle is controlled to pass through the step.

[0005] In an optional example embodiment, the method of controlling the vehicle to pass through the step based on the safety warning information that the step can be safely passed through comprises: determining a traveling trajectory of the vehicle based on the safety warning information that the step can be safely passed through; and controlling the vehicle to pass through the step based on the traveling trajectory.

[0006] In an optional example embodiment, the method of determining the traveling trajectory of the vehicle comprises: determining an ideal contact point of the step based on the parameter information; and determining the traveling trajectory of the vehicle based on the ideal contact point.

[0007] In an alternative exemplary embodiment, if it is determined that the step can be safely passed based on the safety warning information, the method of controlling the vehicle to pass the step comprises: determining adjustment information of a suspension system of the vehicle based on the parameter information; and controlling the vehicle to pass the step based on the adjustment information.

[0008] In an alternative exemplary embodiment, the method further comprises: if it is detected that a tire of the vehicle will contact the step at a next time, controlling a seat belt of the vehicle to be tightened.

[0009] In an alternative exemplary embodiment, the method further comprises: if it is determined that the height value of the step is greater than a corresponding threshold value, controlling the vehicle to stop passing the step.

[0010] In an alternative exemplary embodiment, the method further comprises: if it is determined that the safety warning information is that the step cannot be safely passed, and the height value of the step is less than a corresponding threshold value, determining correction information based on the safety warning information and running state information of the vehicle, the correction information being information that the running state information of the vehicle satisfies safe passing of the step; and sending the correction information to a terminal and reminding through voice or a webpage.

[0011] According to another aspect of the embodiments of the present application, a vehicle is provided, comprising: an acquisition module configured to, in response to the vehicle entering a step mode, acquire parameter information of a step in a traveling direction of the vehicle and running state information of the vehicle in real time; the parameter information comprising a height value of the step, and the running state information comprising a speed value, a temperature value and a pressure value of a tire; a determination module configured to determine safety warning information of the vehicle passing the step based on the height value of the step, the speed value, the temperature value and the pressure value of the tire; wherein if any one of the height value of the step, the speed value, the temperature value and the pressure value of the tire is less than or equal to a corresponding threshold value, it is determined that the safety warning information is that the step can be safely passed; if any one of the height value of the step, the speed value, the temperature value and the pressure value of the tire is greater than the corresponding threshold value, it is determined that the safety warning information is that the step cannot be safely passed; and a control module configured to, if it is determined that the step can be safely passed based on the safety warning information, control the vehicle to pass the step.

[0012] According to still another aspect of the embodiments of the present application, a vehicle is provided, comprising: a controller; and a memory configured to store one or more programs, which, when executed by the controller, cause the controller to implement the control method of the vehicle described above.

[0013] According to still another aspect of the embodiments of the present application, a computer readable storage medium is provided, the storage medium storing a computer program, the computer program including at least one executable instruction, which, when executed on a control device of a vehicle, causes the control device of the vehicle to perform the operations of the control method of the vehicle as described above.

[0014] The control method of the vehicle of the present application can determine the safety warning information of the vehicle passing the step according to the height value of the step, the speed value, the temperature value of the tire and the air pressure value, and determine the corresponding control of the vehicle passing the step when the safety warning information indicates that the vehicle can safely pass the step, so as to predict the risk in advance when the vehicle passes the step, and finally effectively reduce the probability of tire deformation and explosion.

[0015] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, the embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are only used to show the embodiments and are not considered as limitations of the present application. Moreover, the same reference signs are used to represent the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of steps S110-S130 of the control method of the vehicle provided by the present application is shown.

[0017] Figure 2 A flowchart of steps S121-S122 of the control method of the vehicle provided by the present application is shown.

[0018] Figure 3 A flowchart of steps S123-S124 of the control method of the vehicle provided by the present application is shown.

[0019] Figure 4 A flowchart of steps S125-S127 of the control method of the vehicle provided by the present application is shown.

[0020] Figure 5 A flowchart of steps S131-S133 of the control method of the vehicle provided by the present application is shown.

[0021] Figure 6 A structural diagram of a control device of a vehicle provided by the present application is shown.

[0022] Figure 7A structure diagram of a computer system of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0023] The exemplary embodiments will be described in detail with reference to the drawings. In the following description, the same drawing reference numerals are used to denote elements having the same or similar functions and / or configurations. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0024] The block diagrams shown in the drawings are merely functional entities, and do not necessarily have to correspond to physically independent entities. That is, the functional entities can be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so that the actual execution order can be changed depending on the actual situation.

[0026] In the present application, "a plurality of" means two or more. The "and / or" describes the association between the associated objects, and means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally means that the associated objects before and after are in an "or" relationship.

[0027] In daily life, people often park their cars on the roadside steps for convenience, but most roads are high, and drivers can only judge by experience when the vehicle passes the steps, and often cause tire deformation, explosion and other safety problems due to excessive speed or high steps.

[0028] First of all, it needs to be pointed out that the scene of the vehicle passing the steps can refer to: in the driving process of the vehicle, there are A ground and B ground with different height differences (for example, the horizontal height of A ground is lower than B ground), A ground and B ground are almost vertically different, and then the vehicle drives from A ground to B ground and drives to B ground.

[0029] It should be understood that the vehicle passing the step scenario referred to in the present application is not limited to the vehicle passing the road edge stones (commonly known as "road edges" or "curbs") on both sides of the road, but also includes the vehicle passing the obstacles in the direction of travel. For example, there is an obstacle (the obstacle is higher than the ground) on the ground in the direction of vehicle travel, and the obstacle and the ground that the vehicle must pass through form a step, and the vehicle needs to pass through the obstacle. It can also be understood that the vehicle passing the step scenario of the present application.

[0030] Secondly, it should be pointed out that the vehicle passing the step can refer to the front tire of the vehicle driving to a higher step surface (for example, the B ground in the A ground and the B ground mentioned above), or the rear tire of the vehicle driving to a higher step surface, or the front tire and the rear tire of the vehicle driving to a higher step surface.

[0031] Based on this, in combination with Figures 1 to 7 The embodiment provides a vehicle control method, a vehicle control device 300, a vehicle and a storage medium, so as to effectively reduce the deformation of the tire and the probability of explosion when the vehicle passes the step.

[0032] Figure 1 A flowchart diagram of steps S110-S130 of the vehicle control method provided by the embodiment of the present application is shown. The method is executed by the vehicle machine end. Please refer to Figure 1 The method comprises steps S110 to S130, which are described in detail as follows.

[0033] Step S110: In response to the vehicle entering the step mode, the parameter information of the step in the direction of travel of the vehicle and the running state information of the vehicle are acquired in real time, wherein the running state information of the vehicle at least includes the vehicle speed information and the tire state information.

[0034] In an exemplary embodiment of the present application, the parameter information of the step includes the size information and the coordinate information of the step, specifically including the height value, the slope value and the transverse width of the step and the like. The coordinate information includes the three-dimensional coordinates of each point of the step, so as to calculate the distance between each part of the step and the vehicle and the horizontal height of each part of the step. In addition, the parameter information of the step also includes the surface material of the step (such as concrete, stone), which provides a reference for evaluating the tire friction coefficient. The tire friction coefficient can also be part of the tire state information.

[0035] In an example embodiment of the present application, the environment information around the vehicle can be obtained in real time by the laser radar, high-definition camera and ultrasonic sensor installed on the vehicle, to determine the parameter information of the step and upload to the vehicle terminal in real time. Meanwhile, the vehicle speed information can be obtained by the vehicle speed sensor installed on the vehicle, and the tire pressure and temperature can be detected by the tire pressure sensor and temperature sensor installed on the vehicle, thereby serving as the tire state information.

[0036] In an example embodiment of the present application, the user can manually issue an instruction to make the vehicle enter the step mode, or the vehicle can automatically switch to the step mode when it is identified that the user has the intention to pass the step.

[0037] For example, if it is detected that the vehicle is driving towards the step and there is no braking operation, it can be determined that the user has the intention to pass the step, and then the step mode can be automatically switched.

[0038] Step S120: determining the safety warning information of the vehicle passing the step based on the running state information and the parameter information, i.e., determining the safety warning information of the vehicle passing the step based on the height value of the step, the vehicle speed value, the temperature value of the tire and the tire pressure value. If any one of the height value of the step, the vehicle speed value, the temperature value and the tire pressure value is less than or equal to the corresponding threshold value, it is determined that the safety warning information is that the step can be safely passed. If any one of the height value of the step, the vehicle speed value, the temperature value and the tire pressure value is greater than the corresponding threshold value, it is determined that the safety warning information is that the step cannot be safely passed.

[0039] In the present application, for the convenience of understanding, the threshold value corresponding to the height value is referred to as the height threshold value, the threshold value corresponding to the vehicle speed value is referred to as the vehicle speed threshold value, the threshold value corresponding to the temperature value is referred to as the temperature threshold value, and the threshold value corresponding to the tire pressure value is referred to as the tire pressure threshold value.

[0040] Figure 2 The flowchart of steps S121-S122 of the control method of the vehicle provided by the embodiment of the present application is shown in FIG. 12. Please refer to FIG. 12. Figure 2 As shown in FIG. 12, the method of determining the safety warning information of the vehicle passing the step based on the running state information and the parameter information includes steps S121-S122, which are described in detail as follows.

[0041] Step S121: determining the height value of the step based on the parameter information.

[0042] Step S122: if the height value is greater than the height threshold value, it is determined that the safety warning information is that the step cannot be safely passed.

[0043] For example, the height threshold can be determined according to the chassis height of the vehicle and the tire specifications (diameter, width, flat ratio) and the maximum impact force that the tire can withstand, to ensure that the vehicle can pass the step with sufficient power, and the tire does not burst and the chassis does not bump.

[0044] In an example embodiment of the present application, by first considering whether the height value of the step is greater than the height threshold, if it is greater than the height threshold, it can be directly determined that the safety warning information is unable to safely pass the step, and the vehicle is controlled to stop passing the step, without subsequent determination and evaluation, to improve the operation efficiency.

[0045] It should be understood that the height value of the step is greater than the height threshold, specifically referring to the case that the minimum height value of the step is greater than the height threshold.

[0046] Figure 3 The flowchart of steps S123-S124 of the control method of the vehicle provided by the embodiments of the present application is shown, please refer to Figure 3 As shown, the method for determining the safety warning information of the vehicle passing the step based on the running state information and the parameter information includes steps S123 to S124, which are described in detail as follows.

[0047] Step S123: If the height value is less than or equal to the height threshold, determine the vehicle speed value of the vehicle based on the running state information.

[0048] It should be understood that if the height value is less than or equal to the height threshold, it means that the height value of the step meets the vehicle passing the step, and then it is necessary to determine whether the vehicle speed value is too fast to cause a tire burst.

[0049] Step S124: If the vehicle speed value is greater than the vehicle speed threshold, determine that the safety warning information is unable to safely pass the step. The vehicle speed threshold is determined based on the height value.

[0050] In an example embodiment of the present application, the mapping relationship between the height value of the step and the vehicle speed threshold can be established by calibrating the step height matching the vehicle speed threshold.

[0051] Optionally: the step height value of 5cm corresponds to the vehicle speed threshold of 30km / h, the step height value of 10cm corresponds to the vehicle speed threshold of 20km / h, and the step height value of 15cm corresponds to the vehicle speed threshold of 10km / h.

[0052] It should be understood that if the vehicle speed value is greater than the vehicle speed threshold, it can be explained that the vehicle may have a tire burst and other damage problems due to hitting the step, therefore, at this time, the safety warning information can be determined as unable to safely pass the step, so as to exclude the problem that the vehicle has a tire burst and other damage problems due to the vehicle speed being too fast.

[0053] Figure 4The flowchart diagram of steps S125-S127 of the control method of the vehicle provided in the embodiment of the present application is shown in FIG. 12. Please refer to Figure 4 As shown in FIG. 12, the method for determining the safety warning information of the vehicle passing the step based on the running state information and the parameter information includes steps S125-S127, which are described in detail as follows.

[0054] Step S125: If the vehicle speed value is less than or equal to the vehicle speed threshold value, the temperature value and the air pressure value of the tire are determined based on the tire state information of the running state information.

[0055] Step S126: If the temperature value is greater than the temperature threshold value or the air pressure value is greater than the air pressure threshold value, the safety warning information is determined as unable to safely pass the step, so as to avoid the vehicle continuing to rush towards the step.

[0056] For example, the temperature threshold value can be 80℃, and the air pressure value can be ±15% of the standard value of the tire.

[0057] Step S127: If the temperature value is less than or equal to the temperature threshold value, and the air pressure value is less than or equal to the air pressure threshold value, the safety warning information is determined as being able to safely pass the step, so as to enable the vehicle to safely pass the step.

[0058] Step S130: If it is determined that the vehicle can safely pass the step based on the safety warning information, the vehicle is controlled to pass the step.

[0059] In an exemplary embodiment of the present application, if it is determined that the vehicle can safely pass the step based on the safety warning information, the vehicle is controlled to pass the step: if it is determined that the safety warning information is able to safely pass the step, the vehicle is controlled to pass the step.

[0060] Figure 5 The flowchart diagram of steps S131-S133 of the control method of the vehicle provided in the present application is shown in FIG. 13. Please refer to Figure 5 As shown in FIG. 13, in order to further improve the safety, the success rate and the riding comfort when the vehicle passes the step, after it is determined that the safety warning information is able to safely pass the step, the method for controlling the vehicle to pass the step can include steps S131-S133, which are described in detail as follows.

[0061] Step S131: If it is determined that the safety warning information is able to safely pass the step, the ideal contact point of the step is determined based on the parameter information.

[0062] In an example embodiment of the present application, when the vehicle is controlled to move towards the step until the tire contacts the step, the ideal contact point between the tire and the edge of the step can be accurately calculated based on the coordinate information of the step, so as to avoid the tire from being damaged by contacting the sharp corner of the edge of the step and to make the tire contact the edge of the step at a 90° vertical angle as much as possible. Then, the driving track of the vehicle is controlled according to the ideal contact point, so that the driving track of the vehicle can align the ideal contact point.

[0063] Step S132: determining the driving track of the vehicle based on the ideal contact point.

[0064] Further, when the driving track of the vehicle is determined, a region in which the vehicle is most likely to pass the step can be determined according to the slope value and the height of the step, and then the ideal contact point is determined in the region, so that the vehicle not only can pass the step smoothly, but also can avoid the tire from being damaged by the sharp corner of the edge of the step.

[0065] In an example embodiment of the present application, when the vehicle is controlled to move towards the step until the tire contacts the step, the acceleration of the vehicle can be determined according to the current speed value of the vehicle, the distance between the vehicle and the step and the height value of the step, and then the vehicle is controlled to drive towards the ideal contact point of the step according to the acceleration, so as to ensure that the vehicle passes the step in a safe posture and also ensures that the vehicle will not rush over the step by more than a preset distance, avoids that the vehicle passes the step at too high a speed and hits other obstacles on the step, or directly rushes out of the expected position region.

[0066] For example, in the process that the vehicle approaches the step, first, whether there is an obstacle or a pedestrian on the plane of the step is detected. If there is, the relative distance between the obstacle or the pedestrian and the vehicle is calculated in real time, and a safe acceleration value which can ensure that the vehicle successfully passes the step and can avoid collision with the target is dynamically calculated. If the initial acceleration value calculated is too small to cause the climbing to fail, the system will start dynamic decision: according to the real-time distance information, the latest braking time point to achieve collision avoidance is calculated. Based on this time point, the system will recalculate an updated acceleration. As long as the new acceleration can meet the dual conditions of “successful climbing” and “safe braking”, the vehicle can perform the climbing operation according to the updated value; or, the path of the vehicle approaching the step can be re-planned to avoid collision with the obstacle or the pedestrian.

[0067] In addition, when the vehicle is at a certain distance (for example, about 2-3 meters) from the step, the power system of the vehicle can issue an instruction to maintain the engine / motor speed at a predetermined torque platform (for example, the speed corresponding to 70% of the maximum climbing torque that can be output), while the gearbox remains in a fixed low gear, to ensure that the power is “ready to call”, with no delay in response, and to prepare for the subsequent climbing stage.

[0068] Step S133: Corresponding control vehicle to pass the step based on the running trajectory.

[0069] To further improve the safety, success rate and comfort of the vehicle passing the step, after determining that the safety warning information is capable of safely passing the step, the method of corresponding control vehicle to pass the step based on the running trajectory includes steps S134 to S135, which are described in detail as follows.

[0070] Step S134: Determine the adjustment information of the suspension system of the vehicle based on the parameter information.

[0071] In an example embodiment of the present application, the adjustment information of the suspension system of the vehicle is determined based on the slope value and the height of the step in the parameter information.

[0072] Step S135: Control the vehicle to pass the step based on the adjustment information.

[0073] In an example embodiment of the present application, when the sensor detects the moment when the front tire is about to contact the ideal contact point of the step (about 100-200 milliseconds before), an instruction can be sent to the suspension system (such as air suspension) to quickly lift the front suspension by 20-30 mm to increase the contact angle of the front tire with the step and reduce the climbing difficulty. At the moment when the tire hits the step, the suspension is in the "extended" state, leaving more travel for the next compression, which can effectively buffer the impact force and protect the tire hub and suspension components.

[0074] In addition, at the moment when the front tire contacts the step and starts to climb, a high-torque, short-duration torque pulse request can be sent to the power system. For example, the driving torque is increased to 90% of the maximum value within 0.5 seconds. This pulsed power provides the key thrust to overcome the resistance of the step. Once the body pitch angle starts to fall (indicating that the front tire has successfully climbed the step), the torque is immediately smoothed and quickly reduced to a lower level to prevent the vehicle from forward surging.

[0075] It should be understood that the control method of the suspension system and the power system when the rear tire passes the step can also refer to the method of the front tire passing the step, which is not described here.

[0076] In addition, when the rear tire starts to climb the step, it can be predicted that the vehicle body will continue to pitch after the whole vehicle completely climbs the step due to repeated compression and rebound of the suspension system. Based on this, the control mode of the suspension system and the power system when the rear tire passes the step further includes: predicting (for example, through an embedded vehicle dynamics model) the pitch trend of the vehicle body in the next 1-2 seconds according to the current vehicle speed value, the load, and the height value of the step, based on the predicted pitch trend, the damping and height of the active vehicle suspension can be controlled (for example, when it is predicted that the vehicle head will be pressed down, the front suspension can be controlled to increase the damping or slightly lift to suppress such movement), and can be linked with the seat belt pretensioner to slightly tighten the seat belt before the impact occurs, more firmly fixing the occupant on the seat, improving the sense of safety, and finally, after the vehicle completely passes the step or passes the step, the power system of the vehicle returns to the normal driving mode, and the suspension system gradually returns to the preset comfortable or standard height.

[0077] In an example embodiment of the present application, the control method of the vehicle further includes: if it is determined that the safety warning information is unable to safely pass the step, and the height value of the step is less than the corresponding threshold value, determining the correction information based on the safety warning information and the running state information of the vehicle, the correction information being information that the running state information of the vehicle meets the safe passing of the step, and sending the correction information to the terminal and reminding through voice or webpage. For example, if the vehicle speed value is greater than the vehicle speed threshold value, it is determined that the safety warning information is unable to safely pass the step, and the corresponding generated safety warning information content can be: "vehicle speed value > vehicle speed threshold value, please slow down immediately", and displayed through the webpage of the vehicle display screen. At this time, the correction information can be to control the vehicle to automatically slow down to a vehicle speed value less than or equal to the vehicle speed threshold value.

[0078] For example, if the temperature value is greater than the temperature threshold value or the air pressure value is greater than the air pressure threshold value, it is determined that the safety warning information is unable to safely pass the step, and the corresponding generated safety warning information content can be: "tire air pressure value > tire air pressure threshold value, please reduce the air pressure" or "tire temperature value > tire temperature threshold value", and displayed through the webpage of the vehicle display screen. At this time, the correction information can be to control the tire air pressure value to be reduced to less than or equal to the tire air pressure threshold value (for example, manually or automatically deflating the tire); or correspondingly control the tire temperature value to be reduced to less than or equal to the tire temperature threshold value (for example, make the vehicle stationary for a period of time, so that the tire is in a cold tire state).

[0079] In addition, when it is determined that the safety warning information is unable to safely pass the step, the driver can be reminded through a multi-dimensional warning method to avoid forcibly passing; for example, after sending the "safety warning information", the warning module can start the warning within 50ms until the driver takes measures (such as stopping the vehicle, reducing the speed) to eliminate the risk.

[0080] Optionally: can be installed through the visual warning light (LED light group) in the instrument panel, and then through different pre-warning types corresponding to different color lights. For example, "the height value of the step > the height threshold value of the step" bright red; "the speed value > the speed threshold value" bright yellow, "the tire pressure value > the tire pressure threshold value; or, the tire temperature value > the tire temperature threshold value" bright orange, and the light flashes at a frequency of 2Hz.

[0081] It should be understood that in the case that the safety warning information is determined to be unable to safely pass the step, the driver can be reminded by the corresponding generation of the safety warning information, so that the driver can also manually control the vehicle to pass the step according to the safety warning information.

[0082] In summary, the control method of the vehicle can determine the safety warning information of the vehicle passing the step according to the running state information of the vehicle and the parameter information of the step after the vehicle enters the step mode and detects that there is a step in the direction of travel, and control the vehicle to pass the step or control the vehicle to stop moving towards the step according to the safety warning information, thereby predicting the risk in advance when the vehicle passes the step, and ultimately effectively reducing the probability of tire deformation and explosion.

[0083] At the same time, in the process of controlling the vehicle to pass the step, the running track, power system and suspension system of the vehicle are reasonably controlled, thereby ensuring the safety of the vehicle and the comfort of the passengers under the premise of the vehicle passing the step.

[0084] Another aspect of the present application also provides a control device 300 of a vehicle, which is combined with the control method of the vehicle. Figure 6 As shown in the figure, it is a structure schematic diagram of a control device 300 of a vehicle provided by an embodiment of the present application. The control device 300 of the vehicle comprises an acquisition module 310, a determination module 320 and a control module 330.

[0085] The acquisition module 310 is used to acquire the parameter information of the step in the direction of travel of the vehicle and the running state information of the vehicle in real time in response to the vehicle entering the step mode; the parameter information comprises the height value of the step, and the running state information comprises the speed value, the temperature value and the pressure value of the tire.

[0086] The determination module 320 is used to determine the safety warning information of the vehicle passing the step based on the height value of the step, the speed value, the temperature value and the pressure value of the tire; wherein if any one of the height value of the step, the speed value, the temperature value and the pressure value is less than or equal to the corresponding threshold value, it is determined that the safety warning information is able to safely pass the step; if one of the height value of the step, the speed value, the temperature value and the pressure value is greater than the corresponding threshold value, it is determined that the safety warning information is unable to safely pass the step.

[0087] The control module 330 is configured to control the vehicle to pass the step if it is determined that the step can be safely passed based on the safety warning information.

[0088] Another aspect of the present application provides an electronic device. Referring to Figure 7 As shown in FIG. 4, a structural schematic diagram of a computer system of the electronic device suitable for implementing the embodiments of the present application is shown, and the embodiments of the present application do not limit the specific implementation of the electronic device.

[0089] Please refer to Figure 7 As shown in FIG. 4, the electronic device includes a controller, and a memory configured to store one or more programs that, when executed by the controller, perform the control method of the vehicle described above. Please continue to refer to Figure 7 As shown in FIG. 4, the computer system 400 of the electronic device includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or programs loaded from a storage portion 408 to a random access memory (RAM) 403, such as performing the methods in the above embodiments. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0090] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through a communication portion 409, and / or installed from a detachable medium 411. When the computer program is executed by the CPU 401, various functions defined in the system of the present application are performed.

[0091] Another aspect of the present application also provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the control method of the vehicle as described above. The computer readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately and not be assembled into the electronic device.

[0092] Another aspect of the present application also provides a computer program product or computer program comprising at least one executable instruction which, when run on the control device 300 or the electronic device of the vehicle, causes the control device 300 or the electronic device of the vehicle to perform the control method of the vehicle as described above.

[0093] The computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device 300 or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, RAM, ROM, erasable programmable read only memory (EPROM), flash memory, an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, device 300 or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable computer programs. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium that can send, propagate or transfer programs for use by or in connection with an instruction execution system, device 300 or apparatus, other than the computer readable storage medium. The computer programs contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0094] The computer program product of the present application can be a computer program embodied on a non-transitory computer readable medium. When the program is executed by a computer, the program causes the computer to perform the operations described above. The computer program can be stored on a computer readable medium, such as a hard disk, a solid state drive, a ROM memory, a DVD, a CD, a flash memory, a USB memory, or any other computer readable medium. The computer program can also be transmitted over a transmission medium such as the Internet using techniques known as Electronic Software Distribution (ESD or e-SD).

[0095] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be implemented as a processor.

[0096] According to an aspect of the embodiments of the present application, a computer system is also provided. The computer system includes a CPU that can perform various appropriate actions and processes according to a program stored in a ROM or a program loaded from a storage section into a random access memory (RAM), such as performing the method in the above-described embodiments. In the RAM, various programs and data required for system operation are also stored. The CPU, the ROM, and the RAM are connected to each other through a bus. An I / O interface is also connected to the bus.

[0097] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a local area network (LAN) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as necessary. A removable medium, such as a magnetic disk, a magneto-optical disk, a semiconductor memory, etc., is attached to the drive as necessary, so that a computer program read therefrom is installed into the storage section as necessary.

[0098] The above merely provides preferred exemplary embodiments of the present application, and is not intended to limit the implementation of the present application. Based on the main concept and spirit of the present application, the person skilled in the art can easily make corresponding changes or modifications, and the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A control method of a vehicle, characterized by, The control method comprises: In response to the vehicle entering the step mode, real-time acquisition of parameter information of a step in a traveling direction of the vehicle and running state information of the vehicle; the parameter information comprises a height value of the step, and the running state information comprises a speed value, a temperature value and a pressure value of a tire; Determination of safety warning information of the vehicle passing the step based on the height value of the step, the speed value, the temperature value and the pressure value of the tire; wherein, if any one of the height value of the step, the speed value, the temperature value and the pressure value is less than or equal to a corresponding threshold value, it is determined that the safety warning information is that the step can be safely passed; if one of the height value of the step, the speed value, the temperature value and the pressure value is greater than the corresponding threshold value, it is determined that the safety warning information is that the step cannot be safely passed; If it is determined based on the safety warning information that the step can be safely passed, the vehicle is controlled to pass the step.

2. The control method of a vehicle according to claim 1, characterized by The method of controlling the vehicle to pass the step based on the safety warning information that the step can be safely passed comprises: If it is determined based on the safety warning information that the safety warning information is that the step can be safely passed, a traveling track of the vehicle is determined; The vehicle is controlled to pass the step based on the traveling track.

3. The control method of a vehicle according to claim 2, characterized by The method of determining the traveling track of the vehicle comprises: Determination of an ideal contact point of the step based on the parameter information; Determination of the traveling track of the vehicle based on the ideal contact point.

4. The control method of a vehicle according to claim 1, characterized by The method of controlling the vehicle to pass the step based on the safety warning information that the step can be safely passed comprises: Determination of adjustment information of a suspension system of the vehicle based on the parameter information; Control of the vehicle to pass the step based on the adjustment information.

5. The control method of a vehicle according to claim 1, characterized by The method further comprises: If it is detected that a tire of the vehicle will contact the step at a next time, a safety belt of the vehicle is controlled to be tightened.

6. The control method of a vehicle according to claim 1, characterized by The method further comprises: If it is determined that the height value of the step is greater than a corresponding threshold value, the vehicle is controlled to stop passing the step.

7. The control method of a vehicle according to claim 1, characterized by The method further comprises: If it is determined that the safety warning information is that the step cannot be safely passed and the height value of the step is less than the corresponding threshold value, correction information is determined based on the safety warning information and the running state information of the vehicle, the correction information being information that the running state information of the vehicle satisfies safe passing of the step; The correction information is sent to a terminal and reminded through voice or a webpage.

8. A control device of a vehicle characterized by comprising: Comprise: An acquisition module is configured to, in response to a vehicle entering a step mode, acquire in real time parameter information of a step in a traveling direction of the vehicle and running state information of the vehicle; The parameter information comprises a height value of the step, and the running state information comprises a speed value, a temperature value and a pressure value of a tire; The determining module is configured to determine a safety warning information of the vehicle passing the step based on the height value of the step, the vehicle speed value, the temperature value of the tire and the air pressure value; wherein, if any one of the height value of the step, the vehicle speed value, the temperature value and the air pressure value is less than or equal to a corresponding threshold value, it is determined that the safety warning information is that the step can be safely passed; if one of the height value of the step, the vehicle speed value, the temperature value and the air pressure value is greater than the corresponding threshold value, it is determined that the safety warning information is that the step cannot be safely passed. The control module is configured to control the vehicle to pass the step if it is determined that the step can be safely passed based on the safety warning information.

9. A vehicle characterized by comprising: The control method comprises the following steps: controlling the vehicle to pass the step if it is determined that the step can be safely passed based on the safety warning information. The controller; 10. A computer-readable storage medium, characterized in that, The memory is configured to store one or more programs, and the one or more programs, when executed by the controller, cause the controller to implement the control method according to any one of claims 1 to 7. The storage medium stores a computer program, and the computer program includes at least one executable instruction, which, when executed on the control device of the vehicle, causes the control device of the vehicle to perform the operations of the control method of the vehicle according to any one of claims 1 to 7.

Images