Vehicle control method and apparatus, and electronic device and storage medium

Abstract

A vehicle control method and apparatus (100), and an electronic device (110) and a storage medium, which relate to the technical field of vehicle control. The method comprises: according to a speed parameter of a vehicle (101) during traveling, acquiring a road surface coefficient of a road on which the vehicle (101) travels, wherein the road surface coefficient is used for representing the evenness of a road surface; according to the road surface coefficient, determining whether the vehicle (101) is currently traveling on a bumpy road section; if it is determined that the vehicle (101) is currently traveling on a bumpy road section, determining at least one bumpiness level covered by the bumpy road section; and according to the at least one bumpiness level, controlling the operation of the vehicle (101). The degree of bumpiness of the road surface is identified according to the speed parameter of the vehicle (101), which is simple and convenient, and a control parameter of the vehicle (101) is adjusted according to the identified degree of bumpiness of the road surface, such that the control parameter of the vehicle (101) matches the degree of bumpiness of the road surface, thereby improving the operation stability of the vehicle (101), and further improving the driving experience or riding experience of a user.

Description

Vehicle control method, device, electronic device and storage medium Technical Field

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

[0002] Driving on bumpy roads is different from driving on flat roads, and bumpy roads affect both the vehicle and the driver. Existing technologies do not accurately identify bumpy roads, and there are no adaptive driving modes for bumpy roads. This results in the same control strategy for vehicles on bumpy and flat roads, resulting in poor vehicle stability and a poor driving and riding experience.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a vehicle control method, device, electronic device, and storage medium, which can improve the stability of vehicle operation, thereby improving the user's driving or riding experience.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0006] Obtaining a road surface coefficient of the road on which the vehicle is traveling based on a speed parameter of the vehicle, wherein the road surface coefficient is used to characterize the smoothness of the road surface;

[0007] determining, based on the road surface coefficient, whether the vehicle is currently traveling on a bumpy road section;

[0008] If it is determined that the vehicle is currently traveling on a bumpy road section, determining at least one bumpiness level covered by the bumpy road section;

[0009] The vehicle operation is controlled based on the at least one jolt level.

[0010] Optionally, controlling the vehicle operation according to the at least one turbulence level includes:

[0011] monitoring at least one driving time and / or number of bumps of the vehicle on the bumpy road section;

[0012] determining whether to adjust an operating parameter of the vehicle according to the driving duration and / or the number of bumps, and the at least one bump level;

[0013] If it is determined to adjust the operating parameters of the vehicle, determining a target turbulence level from at least one turbulence level;

[0014] An operating parameter of the vehicle is adjusted according to the target bump level.

[0015] Optionally, determining whether to adjust the operating parameters of the vehicle based on the driving duration and / or the number of bumps, and the at least one bump level, includes:

[0016] Determining whether the driving duration is greater than a duration threshold corresponding to the bumpiness level, and / or determining whether the number of bumps is greater than a number threshold corresponding to the bumpiness level;

[0017] When any condition of at least one bump level is met, it is determined to adjust the operating parameters of the vehicle.

[0018] Optionally, obtaining the road surface coefficient of the road on which the vehicle is traveling based on a speed parameter of the vehicle includes:

[0019] Obtaining an average of fluctuation values ​​of the speed parameter of the vehicle in N cycles;

[0020] Obtaining a weight value corresponding to the mean of the fluctuation values ​​of the period;

[0021] The average of the M weight values ​​is used as the road surface coefficient, where M is determined according to N.

[0022] Optionally, obtaining the average of fluctuation values ​​of the speed parameter of the vehicle in N periods includes:

[0023] For any of the cycles, inputting the speed parameters of multiple time points within the cycle into a filter to obtain the fluctuation value of the speed parameters at each time point;

[0024] The absolute values ​​of the fluctuation values ​​are taken and the average values ​​are calculated to obtain the mean value of the fluctuation values.

[0025] Optionally, the speed parameter includes at least one of the motor speed, vehicle speed, shaft speed, and wheel speed of the vehicle.

[0026] Optionally, the method further includes:

[0027] receiving first configuration information;

[0028] Turning on or off a bumpy road detection function according to the first configuration information;

[0029] and / or,

[0030] receiving second configuration information;

[0031] According to the second configuration information, a duration threshold and / or a number threshold of at least one turbulence level are adjusted.

[0032] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0033] an acquisition module, configured to acquire a road surface coefficient of the road on which the vehicle is traveling according to a speed parameter of the vehicle, wherein the road surface coefficient is used to characterize the smoothness of the road surface;

[0034] a first determining module, configured to determine whether the vehicle is currently traveling on a bumpy road section according to the road surface coefficient;

[0035] a second determining module, configured to, if it is determined that the vehicle is currently traveling on a bumpy road section, determine at least one bumpiness level covered by the bumpy road section;

[0036] A control module is configured to control the operation of the vehicle according to the at least one turbulence level.

[0037] In a third aspect, the present application provides an electronic device, comprising: a memory and a processor;

[0038] The memory is used to store computer instructions; the processor is used to execute the computer instructions stored in the memory to implement any method in the first aspect.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement any one of the methods in the first aspect.

[0040] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements any one of the methods in the first aspect when executed by a processor.

[0041] Embodiments of the present application provide a vehicle control method, device, electronic device, and storage medium. The method obtains a road surface coefficient of the road the vehicle is traveling on based on a speed parameter of the vehicle during travel, the road surface coefficient being used to characterize the smoothness of the road surface. Based on the road surface coefficient, the method determines whether the vehicle is currently traveling on a bumpy road section. If the vehicle is determined to be traveling on a bumpy road section, the method determines at least one bumpiness level covered by the bumpy road section. The method controls the vehicle's operation based on the at least one bumpiness level. By identifying the bumpiness of the road surface based on the vehicle's speed parameter, the method is simple and convenient. The method adjusts the vehicle's control parameters based on the identified bumpiness level to match the bumpiness level, thereby improving vehicle stability and, in turn, enhancing the user's driving or riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is a schematic diagram of a scenario provided by an embodiment of the present application;

[0043] FIG2 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0044] FIG3 is a second flow chart of a vehicle control method according to an embodiment of the present application;

[0045] FIG4 is a schematic diagram of obtaining a road surface coefficient according to an embodiment of the present application;

[0046] FIG5 is a schematic diagram of the rotational speed fluctuation values ​​of a vehicle on different road surfaces according to an embodiment of the present application;

[0047] FIG6 is a schematic diagram of the relationship between the rotational speed fluctuation value and the road surface coefficient provided in an embodiment of the present application;

[0048] FIG7 is a schematic diagram of determining a road surface condition indicator according to a road surface coefficient according to an embodiment of the present application;

[0049] FIG8 is a schematic diagram of determining a target road surface condition mark based on multiple road surface condition marks according to an embodiment of the present application;

[0050] FIG9 is a schematic diagram showing the relationship between the road surface coefficient and the road surface condition indicator provided in an embodiment of the present application;

[0051] FIG10 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0052] FIG11 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0054] In the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects, and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean different.

[0055] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0056] Driving on bumpy roads is different from driving on flat roads, and bumpy roads affect both the vehicle and the driver. Existing technologies do not accurately identify bumpy roads, and there are no adaptive driving modes for these conditions. This results in the vehicle using the same control strategy on bumpy and flat roads, leading to poor vehicle stability.

[0057] In existing technologies, bumpy road sections are typically identified by adding sensors to the vehicle, such as gyroscopes and cameras. This increases costs, while also being unreliable. For example, when driving over speed bumps, vehicles can easily mistake them for bumpy sections.

[0058] In light of this, embodiments of the present application provide a vehicle control method that processes vehicle speed parameters during driving to obtain a road surface coefficient, which characterizes the smoothness of the road surface. The road surface coefficient, along with the vehicle's driving time and / or number of bumps on the road surface, is used to determine the degree of road bumpiness, thereby improving the accuracy of identifying bumpy road sections. Vehicle control parameters are adjusted based on the identified degree of road bumpiness to match the degree of road bumpiness, thereby improving vehicle operating stability and, in turn, enhancing the user's driving or riding experience.

[0059] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be implemented independently or in combination with each other. For the same or similar concepts or processes, some embodiments may not be described in detail.

[0060] FIG1 is a schematic diagram of an application scenario of an embodiment of the present application. As shown in FIG1 , it includes a vehicle 101 , a sensor 102 and a control unit 103 .

[0061] Among them, the sensor 102 can be a sensor set in the vehicle 101 for collecting vehicle speed, and the control unit 103 can identify the bumpiness of the road surface where the vehicle 101 is located based on the speed parameters collected by the sensor 102, and control the vehicle 101 to drive according to the identified bumpiness of the road surface.

[0062] Exemplarily, the control unit 103 may include a collection module 1031 and a control module 1032 . The collection module 1031 may interact with the sensor 102 to obtain the speed parameter of the vehicle 101 collected by the sensor 102 , and send the speed parameter to the control module 1032 .

[0063] The control module 1032 can determine the bumpy road section when the vehicle 101 is traveling on the bumpy road section based on the speed parameter, and control the vehicle 101 to travel according to the bumpy road section. For example, the vehicle gear position, cruise state and other operating parameters are adjusted according to the bumpy road section.

[0064] The speed parameter may include at least one of the motor speed, vehicle speed, shaft speed, and wheel speed of the vehicle 101 ; correspondingly, the sensor 102 for collecting the speed parameter may be a sensor for collecting corresponding parameters.

[0065] In a possible implementation, the speed parameter may also be a parameter that can characterize the vehicle's driving state, such as vehicle acceleration. The embodiment of the present application does not limit the vehicle's speed parameter.

[0066] The above is an explanation of the scenario diagram of the embodiment of the present application. The following introduces the vehicle control method provided by the embodiment of the present application by taking the control unit applied in Figure 1 as an example.

[0067] FIG2 is a flow chart of a vehicle control method according to an embodiment of the present application, as shown in FIG2 , including:

[0068] S201. Obtain a road surface coefficient of a road on which the vehicle is traveling based on a speed parameter of the vehicle, where the road surface coefficient is used to characterize the smoothness of the road surface.

[0069] In the embodiment of the present application, the speed parameter may be a parameter representing the vehicle speed, including but not limited to the vehicle's motor speed, vehicle speed, shaft speed, wheel speed, etc. The speed parameter of the vehicle during driving may be obtained by interacting with the corresponding speed sensor.

[0070] When the control unit obtains the speed parameter of the vehicle, it can determine the road surface coefficient of the road on which the vehicle is traveling according to the fluctuation value corresponding to the speed parameter.

[0071] For example, taking the vehicle's motor speed as an example, the acquired speed is subjected to bandpass filtering to obtain a corresponding fluctuation value. A weight value corresponding to the fluctuation value is then obtained, and the average of the weight values ​​obtained over N sampling periods is used as the road surface coefficient. The weight value corresponding to the fluctuation value can be determined based on a preset mapping relationship between fluctuation values ​​and weight values. For example, the weight value corresponding to the fluctuation value can be retrieved from a preset data table.

[0072] S202: Determine whether the vehicle is currently traveling on a bumpy road section based on the road surface coefficient.

[0073] In the embodiment of the present application, the control unit can determine whether the vehicle is currently traveling on a bumpy road section based on the size of the road surface coefficient.

[0074] For example, the control unit may determine whether the vehicle is currently traveling on a bumpy road section based on a relationship between the road surface coefficient and a road surface coefficient threshold value. If the road surface coefficient is greater than or equal to the road surface coefficient threshold value, it may be determined that the vehicle is currently traveling on a bumpy road section.

[0075] In one possible implementation, multiple road surface coefficient thresholds may be included. Different road surface coefficient thresholds can be used to represent different degrees of road bumpiness. For example, a larger road surface coefficient threshold corresponds to a greater degree of road bumpiness. If the road surface coefficient is greater than or equal to any road surface coefficient threshold, it can be determined that the vehicle is currently traveling on a bumpy road section. The road surface coefficient thresholds may be determined based on prior knowledge.

[0076] S203: If it is determined that the vehicle is currently traveling on a bumpy road section, determine at least one bumpiness level covered by the bumpy road section.

[0077] In the embodiment of the present application, different road surface coefficient thresholds can be used to characterize different degrees of bumpiness of the current road surface, that is, each road surface coefficient threshold can correspond to a bumpiness level.

[0078] If the road surface coefficient is greater than or equal to any road surface coefficient threshold, at least one bump level covered by the bumpy road section may be determined.

[0079] For example, if there are three road coefficient thresholds A, B, and C with increasing values, if the road coefficient X is greater than the road coefficient B, it can be determined that the vehicle is currently traveling on a bumpy road section, and the bumpiness level covered by the bumpy road section includes the bumpiness levels corresponding to the road coefficient thresholds A and B.

[0080] S204: Control the vehicle operation according to the at least one bump level.

[0081] In an embodiment of the present application, when determining the bumpiness level of the road surface, the operating parameters of the vehicle can be adjusted according to the bumpiness level. For example, the distribution ratio of the front drive or the rear drive can be increased, so that the operating parameters of the vehicle are matched with the bumpiness level of the road surface, thereby improving the stability of the vehicle operation.

[0082] In one possible implementation, in order to avoid the influence of special road conditions on the judgment of road bumpiness level, for example, the presence of speed bumps, discontinuous potholes and other road conditions, when determining at least one bumpiness level, timing and counting can be performed to determine whether the vehicle continues to travel on a bumpy road surface, so as to eliminate misjudgments caused by special road conditions and thus improve the stability of vehicle control.

[0083] For example, if the vehicle is determined to be traveling on a bumpy road, the timing is started. When the bumpiness level of the road surface is determined to have changed based on the road surface coefficient corresponding to N samples, it is judged whether the timing duration is greater than the preset duration. If it is less than the preset duration, it can be determined that the bumpy road section is short and will not have a major impact on the operation of the vehicle, and there is no need to adjust the vehicle's operating parameters.

[0084] The vehicle control method provided in an embodiment of the present application obtains a road surface coefficient of the road the vehicle is traveling on based on a speed parameter of the vehicle during travel. The road surface coefficient is used to characterize the smoothness of the road surface. Based on the road surface coefficient, the method determines whether the vehicle is currently traveling on a bumpy road section. If the vehicle is determined to be traveling on a bumpy road section, the method determines at least one bumpiness level covered by the bumpy road section. The vehicle's operation is controlled based on the at least one bumpiness level. By identifying the degree of road bumpiness based on the vehicle's speed parameter, the method is simple and convenient. The vehicle's control parameters are adjusted based on the identified degree of road bumpiness to match the degree of road bumpiness, thereby improving vehicle stability and, in turn, enhancing the user's driving or riding experience.

[0085] Optionally, based on the above embodiment, the vehicle control method provided in the embodiment of the present application can also obtain the road surface coefficient according to the following method.

[0086] Exemplarily, the mean value of the fluctuation value of the speed parameter of the vehicle in N cycles is obtained; the weight value corresponding to the mean value of the fluctuation value of the cycle is obtained; and the mean value of M weight values ​​is used as the road surface coefficient.

[0087] Wherein, N cycles may be a sampling cycle for obtaining a road surface coefficient. After performing band-pass filtering on the speed parameters corresponding to the N cycles and calculating the mean thereof, the mean of the fluctuation value in each cycle can be obtained.

[0088] According to the mapping relationship between the mean of the fluctuation value and the weight, the weight value corresponding to the mean of the fluctuation value of each period can be obtained, and the mean corresponding to each weight value can be obtained, that is, N weight values ​​can be obtained.

[0089] M weight values ​​are selected from N weight values, and the average of the M weight values ​​is used as the road surface coefficient. M and N can be the same or different. Determining the road surface coefficient by averaging the fluctuation values ​​over multiple cycles can improve the accuracy of road surface coefficient identification.

[0090] In a possible implementation, each period may include multiple time points, and the average of the fluctuation values ​​corresponding to each period may be determined as shown below.

[0091] Exemplarily, for any of the cycles, the speed parameters of multiple time points within the cycle are input into the filter to obtain the fluctuation values ​​of the speed parameters at each time point; the absolute values ​​of the fluctuation values ​​are taken and the average values ​​are calculated to obtain the mean of the fluctuation values.

[0092] The filter may be a bandpass filter. The speed parameters collected at each time point are input into the filter, and the fluctuation values ​​of each speed parameter output by the filter are obtained. The absolute values ​​of the fluctuation values ​​of each speed parameter are taken and then averaged to obtain the mean of the fluctuation values. Determining the fluctuation mean by taking the absolute values ​​of the fluctuation values ​​at multiple time points in each cycle can improve the accuracy of the fluctuation value calculation and reduce the likelihood of outliers affecting the fluctuation mean.

[0093] Optionally, when determining at least one bumpiness level covered by the bumpy road section according to the road surface coefficient, controlling the vehicle operation according to the at least one bumpiness level may also be implemented as shown below.

[0094] Exemplarily, at least one driving duration and / or number of bumps of the vehicle on the bumpy road section is monitored; based on the driving duration and / or number of bumps, and the at least one bump level, it is determined whether to adjust the operating parameters of the vehicle; if it is determined to adjust the operating parameters of the vehicle, a target bump level is determined from at least one bump level; and the operating parameters of the vehicle are adjusted according to the target bump level.

[0095] When it is determined that the vehicle is on a bumpy road section, that is, when the road surface coefficient is greater than a road surface coefficient threshold, the control unit begins timing and counting to obtain at least one driving duration and / or number of bumps of the vehicle on the bumpy road section. Based on the obtained driving duration and / or number of bumps, if it is determined that the vehicle is continuously driving on the bumpy road section, the highest bump level among at least one bump level covered by the bumpy road section is used as the target bump level.

[0096] When determining the target bump level, the current vehicle driving parameters may be adjusted to the target driving parameters. For example, the target bump level may be input into a pre-set parameter model to obtain the target driving parameters output by the parameter model, or the target driving parameters may be obtained based on a pre-set mapping relationship between the target bump level and the target driving parameters. This embodiment of the present application is not limited to this.

[0097] Optionally, adjusting the vehicle's driving parameters means changing the vehicle's state, such as switching from two-wheel drive to four-wheel drive or from four-wheel drive to two-wheel drive; the torque distribution between the front and rear wheels may be changed according to the target bump level, such as increasing the front wheel drive or increasing the distribution ratio of the rear wheel drive; the maximum / minimum torque may be changed according to the target bump level, such as increasing or decreasing the maximum / minimum torque; the feedback level may be changed according to the target bump level, such as increasing or decreasing the feedback level; the transmission gear may be changed according to the target bump level, such as upshifting or downshifting; the active suspension state may be changed according to the target bump level, such as increasing or decreasing the suspension height, such as strengthening or weakening the suspension stiffness.

[0098] In one possible implementation, adjusting the driving parameters of the vehicle may include changing the steering assist state of the vehicle according to the target bump level, such as making the steering feel lighter or heavier; changing the electronic differential lock state according to the target bump level, such as turning the electronic differential lock on or off; changing the cruise / adaptive cruise state according to the target bump level, such as exiting or entering cruise / adaptive cruise, such as increasing or decreasing the cruise / adaptive cruise target speed; changing the assisted driving / unmanned driving state according to the target bump level, such as exiting or assisted driving / unmanned driving, such as increasing or decreasing the assisted driving / unmanned driving target speed; changing the sensitivity of the braking system according to the target bump level, such as weakening or increasing the sensitivity of the braking system; and changing the diagnostic state according to the target bump level, such as turning the diagnosis of some components on or off, such as increasing or decreasing the diagnostic threshold of some components.

[0099] Exemplarily, it is determined whether the driving duration is greater than the duration threshold of the corresponding bumpiness level, and / or whether the number of bumps is greater than the number threshold of the corresponding bumpiness level; when any condition of at least one bumpiness level is met, it is determined to adjust the operating parameters of the vehicle.

[0100] For example, the duration threshold and the number threshold may be determined based on prior knowledge, and the duration threshold and the number threshold corresponding to different turbulence levels may be the same or different.

[0101] After timing and / or counting, each time a road surface coefficient is obtained, it is determined whether the driving time is greater than the duration threshold of the corresponding bumpiness level based on the relationship between the road surface coefficient and each road surface coefficient threshold, and / or whether the number of bumps is greater than the number threshold of the corresponding bumpiness level.

[0102] For example, the first time the road surface coefficient determines that the bumpiness level includes two levels, A and B, timing and counting begin for each of these levels. If the next time the road surface coefficient determines that the bumpiness level includes A but not B, timing for bumpiness level B ends, while timing for bumpiness level A continues. The system then determines whether the current driving duration for each of these two levels exceeds the corresponding duration threshold. If so, the system enters the next loop. If either duration exceeds the corresponding duration threshold, it can be determined that the vehicle is continuously driving on a bumpy road.

[0103] The counting and timing are similar. Every time the bumpiness level is determined according to the road surface coefficient, if the previous bumpiness level is included, the bumpiness number is +1. If the accumulated bumpiness number is greater than or equal to the number threshold within the preset time, it is confirmed that the vehicle is continuously driving on a bumpy road.

[0104] Optionally, if the cumulative number of bumps within a preset time is less than a threshold, the accumulated number of bumps is cleared. By designing the driving duration, road conditions such as speed bumps can be eliminated, improving the accuracy of identifying the degree of road bumpiness. By designing the number of bumps, it is possible to avoid the inability to identify the bumpiness level of a road condition that includes multiple, discontinuous potholes because the driving duration has not reached the preset duration threshold, thereby improving the accuracy of identifying the degree of road bumpiness.

[0105] Optionally, in a possible implementation, the turning on and off of the bumpy road section detection function, and / or the duration threshold corresponding to the bumpiness level, and / or the number threshold can be adjusted according to the configuration information.

[0106] Exemplarily, first configuration information is received; based on the first configuration information, a bumpy road section detection function is turned on or off; and / or second configuration information is received; based on the second configuration information, a duration threshold and / or a number threshold of at least one bumpiness level are adjusted.

[0107] The first configuration information and / or the second configuration information may be sent to the control unit by the user through the client.

[0108] FIG3 is a flow chart of another vehicle control method provided in an embodiment of the present application, as shown in FIG3 , including:

[0109] S301. Obtain speed parameters during driving, and determine road surface parameters of the vehicle's current road based on the speed parameters.

[0110] For example, as shown in FIG4 , taking the speed parameter as rotational speed, the rotational speed of N cycles (each cycle including multiple rotational speeds) is bandpass filtered to obtain multiple rotational speed fluctuation values ​​for each cycle. The absolute value of the rotational speed fluctuation value for each cycle is taken and the average is calculated to obtain N fluctuation means. Based on the weight mapping relationship, N weight values ​​corresponding to the N fluctuation means are obtained. M weight values ​​are selected from each weight value, and the average of the M weight values ​​is used as the road surface coefficient. N and M can be the same or different.

[0111] Optionally, as shown in Figures 5 and 6, when a vehicle is traveling on different roads, there is a correlation between the vehicle speed, rotational speed, and rotational speed fluctuation value, and there is a correlation between the rotational speed fluctuation amount, the absolute average value of the rotational speed fluctuation amount, the weight value, and the road surface coefficient.

[0112] S302: Determine whether the vehicle is currently traveling on a bumpy road section based on a magnitude relationship between the road surface coefficient and a road surface coefficient threshold.

[0113] Among them, if the road surface coefficient is greater than or equal to the road surface coefficient threshold, the vehicle is currently traveling on a bumpy road section, and the step shown in S303 can be executed; if the road surface coefficient is less than the road surface coefficient threshold, the vehicle is not currently traveling on a bumpy road section, and the process ends and the next cycle is performed.

[0114] S303: Obtain at least one driving time and / or number of bumps of the vehicle on the bumpy road section.

[0115] S304: Determine whether to adjust the operating parameters of the vehicle according to the driving duration and / or the number of bumps.

[0116] S305: If it is determined to adjust the operating parameters of the vehicle, determine a target bump level from at least one bump level; and adjust the operating parameters of the vehicle according to the target bump level.

[0117] For example, referring to FIG7 , when the road surface coefficient is greater than or equal to the road surface coefficient threshold, the over-coefficient threshold flag jumps from 0 to 1. When the over-coefficient threshold flag = 1, it can be determined that the vehicle has entered a bumpy road section. There can be multiple road surface coefficient thresholds, each corresponding to an over-coefficient threshold flag. Each over-coefficient threshold flag corresponds to a bumpiness level. When the road surface coefficient is greater than or equal to multiple road surface coefficient thresholds, the over-coefficient threshold flags corresponding to the multiple road surface coefficient thresholds all jump from 0 to 1. The road surface coefficient thresholds can be one or more sets of values ​​mapped to the rotational speed or vehicle speed. When there are multiple sets of such values, i.e., multiple road surface coefficient thresholds, the relationship between the multiple road surface coefficient thresholds can be multiple thresholds under the same vehicle driving parameters, or multiple thresholds under different vehicle driving parameters. The driving parameters can be one or more of gear position, suspension stiffness, suspension height, etc.

[0118] When the excess coefficient threshold flag is determined to be 1, each excess coefficient threshold flag begins timing and counting to obtain the excess coefficient threshold duration, i.e., the driving duration, and the excess coefficient threshold number of times, i.e., the number of bumps. After timing begins, each time the road surface coefficient is obtained, the excess coefficient threshold duration and the excess coefficient threshold number of times are updated based on the relationship between the road surface coefficient and the road surface coefficient threshold. The relationship between the excess coefficient threshold duration corresponding to each excess coefficient threshold flag and the duration threshold, as well as the relationship between the excess coefficient threshold number of times corresponding to each excess coefficient threshold flag and the number threshold, are determined.

[0119] If the duration of the coefficient threshold is exceeded for a period greater than the duration threshold, the duration threshold flag is set from 0 to 1. If the number of times the coefficient threshold is exceeded is greater than the number threshold, the number of times threshold flag is set from 0 to 1. If no such flag exists, the next cycle of detection is performed. The duration threshold flag, the number of times threshold flag, and the coefficient threshold flag correspond one-to-one, and can each be one or more. Each flag corresponds to a turbulence level.

[0120] It is understandable that at each update, the bumpiness level determined based on the road surface coefficient may not include the bumpiness level determined last time. In subsequent updates, the accumulated time duration exceeding the coefficient threshold or the number of times exceeding the coefficient threshold is cleared.

[0121] If the time-exceeding threshold flag jumps from 0 to 1, or the number-exceeding threshold flag jumps from 0 to 1, it is determined that the vehicle's driving parameters need to be adjusted.

[0122] At least one road surface condition flag is obtained according to the time-exceeding threshold flag or the number-exceeding threshold flag. The road surface condition flag is used to indicate the bumpiness level of the road surface, and the road surface condition flag has a one-to-one correspondence with the time-exceeding threshold flag or the number-exceeding threshold flag.

[0123] If there are multiple road surface condition marks, as shown in FIG8 , the road surface condition mark representing the highest bumpiness level may be used as the target road surface condition mark, that is, the target bumpiness level may be determined from at least one bumpiness level.

[0124] For example, as shown in FIG9 , there is a corresponding relationship between the road surface coefficient, the road surface coefficient threshold, the exceeding coefficient threshold flag, the exceeding time threshold flag, the exceeding number threshold flag, and the road surface status flag.

[0125] When determining the target bump level, the specific implementation method of adjusting the vehicle's driving parameters according to the target bump level is similar to that in the above embodiment and will not be repeated here.

[0126] The vehicle control method provided in the embodiment of the present application can reduce the probability of special road conditions affecting the accuracy of identifying the road bump level by setting the driving time and the number of bumps, thereby improving the stability of vehicle control.

[0127] An embodiment of the present application also provides a vehicle control device.

[0128] FIG10 is a schematic structural diagram of a vehicle control device 100 provided in an embodiment of the present application. As shown in FIG10 , the vehicle control device 100 includes:

[0129] The acquisition module 1001 is used to acquire a road surface coefficient of the road on which the vehicle is traveling according to a speed parameter of the vehicle, wherein the road surface coefficient is used to characterize the smoothness of the road surface.

[0130] The first determining module 1002 is configured to determine whether the vehicle is currently traveling on a bumpy road section according to the road surface coefficient.

[0131] The second determining module 1003 is configured to determine at least one bumpiness level covered by the bumpy road section if it is determined that the vehicle is currently traveling on the bumpy road section.

[0132] The control module 1004 is configured to control the operation of the vehicle according to the at least one turbulence level.

[0133] Optionally, the control module 1004 is further used to monitor at least one driving time and / or number of bumps of the vehicle on the bumpy road section; determine whether to adjust the operating parameters of the vehicle based on the driving time and / or number of bumps, and the at least one bump level; if it is determined to adjust the operating parameters of the vehicle, determine a target bump level from at least one bump level; and adjust the parameters of the vehicle based on the target bump level.

[0134] Optionally, the control module 1004 is also used to determine whether the driving duration is greater than the duration threshold of the corresponding bumpiness level, and / or determine whether the number of bumps is greater than the number threshold of the corresponding bumpiness level; when any condition of at least one bumpiness level is met, it is determined to adjust the operating parameters of the vehicle.

[0135] Optionally, the acquisition module 1001 is further used to obtain the average of the fluctuation values ​​of the vehicle's speed parameter in N periods; obtain the weight value corresponding to the average of the fluctuation values ​​of the period; and use the average of M weight values ​​as the road surface coefficient.

[0136] Optionally, the acquisition module 1001 is also used to input the speed parameters of multiple time points within any of the cycles into the filter to obtain the fluctuation values ​​of the speed parameters at each time point; take the absolute value of the fluctuation value and calculate the average value to obtain the mean of the fluctuation value, and the M is determined based on the N.

[0137] Optionally, the acquisition module 1001 is also used to receive first configuration information; turn on or off the bumpy road section detection function according to the first configuration information; and / or receive second configuration information; adjust the duration threshold and / or the number threshold of at least one bumpy level according to the second configuration information.

[0138] The vehicle control device provided in the embodiment of the present application can execute the vehicle control method provided in any of the above embodiments. The principles and technical effects are similar and will not be repeated here.

[0139] An embodiment of the present application also provides an electronic device.

[0140] FIG11 is a schematic structural diagram of an electronic device 110 provided in an embodiment of the present application. As shown in FIG11 , the electronic device 110 may include: at least one processor 1101 , a memory 1102 , and a communication interface 1103 .

[0141] The memory 1102 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operating instructions.

[0142] The memory 1102 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0143] Processor 1101 is configured to execute computer-executable instructions stored in memory 1102 to implement the vehicle control methods described in the aforementioned method embodiments. Processor 1101 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0144] In a specific implementation, if the communication interface 1103, memory 1102, and processor 1101 are implemented independently, they can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, etc., but this does not mean that there is only one bus or only one type of bus.

[0145] Optionally, in a specific implementation, if the communication interface 1103, the memory 1102 and the processor 1101 are integrated on a chip, the communication interface 1103, the memory 1102 and the processor 1101 can complete communication through an internal interface.

[0146] In an embodiment of the present application, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the technical solution of the above-mentioned vehicle control method embodiment is implemented. Its implementation principle and technical effect are similar and will not be repeated here.

[0147] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium designed to carry or store the desired program code in the form of instructions or data structures and accessible by a computer. Moreover, any connection is appropriately referred to as a computer-readable medium. For example, if a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies (such as infrared, radio and microwave) are used to transmit software from a website, server or other remote source, the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of medium. Disk and disc as used herein include optical disc, laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks generally reproduce data magnetically, while optical discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0148] A computer program product is also provided in an embodiment of the present application, including a computer program. When the computer program is executed by a processor, the technical solution of the above-mentioned vehicle control method embodiment is implemented. Its implementation principle and technical effects are similar and will not be repeated here.

[0149] In the specific implementation of the above-mentioned terminal device or server, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0150] Those skilled in the art will appreciate that all or part of the steps of any of the above method embodiments may be accomplished by hardware associated with program instructions. The aforementioned program may be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps of the above method embodiments are executed.

[0151] If the technical solution of the present application is implemented in the form of software and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium and includes a computer program or several instructions. The computer software product enables a computer device (which can be a personal computer, server, network device or similar electronic device) to perform all or part of the steps of the method described in the embodiment of the present application.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: include: According to the speed parameter of the vehicle during driving, a road surface coefficient of the road on which the vehicle is driving is obtained, wherein the road surface coefficient is used to characterize the flatness of the road surface; Determining whether the vehicle is currently traveling on a bumpy road section according to the road surface coefficient; If it is determined that the vehicle is currently traveling on a bumpy road section, determining at least one bumpiness level covered by the bumpy road section; The vehicle operation is controlled based on the at least one jolt level.

2. The method according to claim 1, characterized in that The step of controlling the vehicle operation according to the at least one turbulence level comprises: Monitoring at least one driving time and / or number of bumps of the vehicle on the bumpy road section; Determining whether to adjust the operating parameters of the vehicle according to the driving time and / or the number of bumps, and the at least one bump level; If it is determined to adjust the operating parameters of the vehicle, determining a target turbulence level from at least one turbulence level; An operating parameter of the vehicle is adjusted according to the target bump level.

3. The method according to claim 2, characterized in that The determining whether to adjust the operating parameters of the vehicle according to the driving time and / or the number of bumps, and the at least one bump level, comprises: Determine whether the driving duration is greater than a duration threshold of a corresponding bump level, and / or determine whether the number of bumps is greater than a number threshold of a corresponding bump level; When any condition of at least one bump level is met, it is determined to adjust the operating parameters of the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that: The step of obtaining the road surface coefficient of the road on which the vehicle is traveling according to the speed parameter of the vehicle during traveling includes: Obtaining an average of fluctuation values ​​of the speed parameter of the vehicle in N cycles; Obtaining a weight value corresponding to the mean of the fluctuation values ​​of the period; The average of the M weight values ​​is used as the road surface coefficient, where M is determined based on N.

5. The method according to claim 4, characterized in that The obtaining the average value of the fluctuation value of the speed parameter of the vehicle in N cycles includes: For any of the cycles, inputting speed parameters at multiple time points within the cycle into a filter to obtain fluctuation values ​​of the speed parameters at each time point; The absolute values ​​of the fluctuation values ​​are taken and the average values ​​are calculated to obtain the mean value of the fluctuation values.

6. The method according to claim 4, characterized in that The speed parameter includes at least one of a motor speed, a vehicle speed, an axle speed, and a wheel speed of the vehicle.

7. The method according to claim 3, characterized in that The method further comprises: receiving first configuration information; According to the first configuration information, turning on or off a bumpy road section detection function; and / or, receiving second configuration information; According to the second configuration information, a duration threshold and / or a number threshold of at least one turbulence level are adjusted.

8. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring a road surface coefficient of the road on which the vehicle is traveling according to a speed parameter of the vehicle during traveling, wherein the road surface coefficient is used to characterize the flatness of the road surface; A first determination module, used for determining whether the vehicle is currently traveling on a bumpy road section according to the road surface coefficient; A second determination module, configured to determine at least one bumpiness level covered by the bumpy road section if it is determined that the vehicle is currently traveling on the bumpy road section; A control module is used to control the operation of the vehicle according to the at least one turbulence level.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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