Road surface recognition method and apparatus, device, medium, product, and vehicle
By acquiring vibration frequencies through vehicle acceleration sensors and filtering them, road surface types can be identified. This solves the problem of high cost and low efficiency in existing road surface recognition technologies, and achieves efficient and low-cost road surface recognition and suspension mode switching.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- ROX MOTOR TECH CO LTD
- Filing Date
- 2025-08-14
- Publication Date
- 2026-07-02
Smart Images
Figure CN2025114596_02072026_PF_FP_ABST
Abstract
Description
Road surface identification methods, devices, equipment, media, products and vehicles
[0001] Cross-reference to related applications
[0002] This application claims priority to Chinese patent application 202411959419.X, filed on December 27, 2024, entitled “Road Recognition Method, Apparatus, Equipment, Medium, Product and Vehicle”, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application belongs to the field of vehicle technology, and in particular relates to a road surface recognition method, device, equipment, medium, product and vehicle. Background Technology
[0004] As users demand higher levels of vehicle comfort, variable stiffness air suspension and continuous damping control (CDC) are being applied to vehicles. The damping and stiffness of the suspension are closely related to the driving environment. For example, when driving on bumpy roads, the suspension stiffness and damping need to be reduced to prevent a decrease in passenger cabin comfort; during rapid acceleration, deceleration, or sharp turns, the suspension stiffness and damping need to be increased to prevent drastic changes in pitch and roll. Drivers select different suspension modes for different scenarios to maximize vehicle comfort.
[0005] Adjusting the damping stiffness of the suspension needs to balance the comfort and sport performance of the suspension. When the vehicle is driving on a bumpy road, less damping will provide better comfort. When the vehicle is driving on an undulating road, greater damping will make the vehicle's undulations converge quickly. However, road surface changes are usually quite frequent, making it difficult for the driver to switch back and forth between different modes.
[0006] In related technologies, road surface recognition typically requires the installation of camera sensors on vehicles. The images captured by these sensors are then used for road surface identification. However, this process has several drawbacks. First, the additional installation of camera sensors on vehicles increases costs. Second, image-based road surface recognition requires image processing, leading to longer recognition times and lower efficiency. Summary of the Invention
[0007] This application provides a road surface recognition method, device, equipment, medium, product, and vehicle, which can solve the problems of high cost and low efficiency in road surface recognition.
[0008] In a first aspect, embodiments of this application provide a road surface recognition method, including:
[0009] The first vibration frequency is obtained during the first time period when the vehicle is traveling on the first road surface. The first time period is the time period corresponding to when the vehicle is traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer.
[0010] Based on the first vibration frequency, the first road surface is identified, and the identification result is obtained. The identification result includes whether the first road surface is an undulating road surface or not.
[0011] Secondly, embodiments of this application provide a road surface recognition device, comprising:
[0012] The acquisition module is used to acquire the first vibration frequency of the vehicle during a first time period when the vehicle is traveling on the first road surface. The first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer.
[0013] The identification module is used to identify the first road surface based on the first vibration frequency and obtain the identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface.
[0014] Thirdly, embodiments of this application provide an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the steps of the road surface recognition method provided in embodiments of this application.
[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the steps of the road surface recognition method provided in embodiments of this application.
[0016] Fifthly, embodiments of this application provide a computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the steps of the road surface recognition method provided in embodiments of this application.
[0017] Sixthly, embodiments of this application provide a vehicle comprising at least one of the following:
[0018] The road surface recognition device provided in the embodiments of this application;
[0019] The electronic device provided in the embodiments of this application;
[0020] The computer-readable storage medium provided in the embodiments of this application.
[0021] In this embodiment, the first vibration frequency of the vehicle body during a first time period while the vehicle is traveling on the first road surface is obtained. The first time period is the time corresponding to the vehicle's travel on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer. Based on the first vibration frequency, the first road surface is identified, and an identification result is obtained. The identification result includes whether the first road surface is an undulating road surface or not. Thus, by using the vibration frequency of the vehicle body acceleration sensor, it is possible to identify whether the road surface is undulating, eliminating the need to install a camera sensor on the vehicle, reducing costs, and improving the efficiency of road surface identification. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 is a flowchart illustrating the road surface recognition method provided in an embodiment of this application;
[0024] Figure 2 is a schematic diagram of the low-frequency vibration index values of the vehicle body corresponding to bumpy road surfaces provided in the embodiments of this application;
[0025] Figure 3 is a schematic diagram of the low-frequency vibration index values of the vehicle body corresponding to undulating road surfaces provided in the embodiments of this application;
[0026] Figure 4 is a schematic diagram of the first absolute value, the first threshold, and the first rate provided in the embodiments of this application;
[0027] Figure 5 is a schematic diagram of the road surface recognition device provided in an embodiment of this application;
[0028] Figure 6 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. Detailed Implementation
[0029] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.
[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0031] The road surface recognition method, device, equipment, medium, product, and vehicle provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0032] Figure 1 is a flowchart illustrating the road surface recognition method provided in an embodiment of this application. As shown in Figure 1, the road surface recognition method may include:
[0033] Step 101: Obtain the first vibration frequency of the vehicle during the first time period when the vehicle is traveling on the first road surface, wherein the first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer.
[0034] The embodiments of this application do not limit the method used to obtain the first vibration frequency. Any available method can be applied to the embodiments of this application. For example, the vehicle body acceleration sensor collects the acceleration of the vehicle body in the vertical direction and converts the collected acceleration of the vehicle body in the vertical direction into a vibration frequency, or the vibration frequency of the vehicle body acceleration sensor is collected by a vibration meter.
[0035] It should be noted that the acceleration sensor mounted on the vehicle body (i.e., the vehicle body acceleration sensor) is different from the acceleration sensors mounted on the wheels (i.e., the wheel acceleration sensors) or the acceleration sensors mounted on the vehicle suspension (i.e., the suspension acceleration sensors). The vehicle body acceleration sensor is usually located above the front suspension, near the vehicle's center of gravity.
[0036] Step 102: Identify the first road surface based on the first vibration frequency and obtain the identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface.
[0037] In some possible implementations of the embodiments of this application, step 102 may include: performing a first filtering process on the first vibration frequency to obtain a second vibration frequency; performing a second filtering process on the second vibration frequency to obtain a third vibration frequency; and identifying the first road surface based on the second vibration frequency and the third vibration frequency.
[0038] In some possible implementations of this application's embodiments, the first filtering process is used to filter out high-frequency vibrations at the first vibration frequency; the second filtering process is used to filter out acceleration deviations at the second vibration frequency. Both the first and second filtering processes can be first-order low-pass filters. The cutoff frequencies f1 and f2 in the first and second filtering processes can be pre-calibrated experimentally.
[0039] In some possible implementations of this application, the vibration frequency of the vehicle body acceleration sensor is usually high on bumpy roads, while it is usually low on undulating roads. This application can filter out low-frequency vibrations of the vehicle body through low-pass filtering, thereby identifying undulating roads.
[0040] In some possible implementations of this application's embodiments, when a vehicle is traveling on the road, the vibration frequency will be very high. The vehicle suspension will filter out the high-frequency vibration frequencies, thus obtaining the vibration frequency of the vehicle body acceleration sensor after being buffered by the suspension. Then, the filtering process in this application embodiment can further filter out the higher vibration frequencies, thus obtaining the low-frequency vibration frequencies. In addition, the vibration frequency of the vehicle body acceleration sensor can reflect the vibration frequency perceived by the passenger. Using the vibration frequency from the vehicle body acceleration sensor for road surface identification is more direct and better matches passenger comfort.
[0041] In this application embodiment, a bumpy road surface can be a road surface with gravel or cracks, and an undulating road surface refers to a road surface with potholes or protrusions, such as deceleration, protruding manhole covers, etc.
[0042] In some possible implementations of the embodiments of this application, identifying the first road surface based on the second vibration frequency and the third vibration frequency may include: calculating the difference between the second vibration frequency and the third vibration frequency; and identifying the first road surface based on the first absolute value of the difference.
[0043] In some possible implementations of the embodiments of this application, the difference between the second vibration frequency and the third vibration frequency is used as an indicator to characterize the low-frequency vibration of the vehicle body.
[0044] When a vehicle travels on a bumpy road, the low-frequency vibration index value of the vehicle body is very small. However, when the vehicle travels on an undulating road, the low-frequency vibration index value of the vehicle body fluctuates significantly. As shown in Figures 2 and 3, Figure 2 is a schematic diagram of the low-frequency vibration index value of the vehicle body on a bumpy road according to an embodiment of this application; Figure 3 is a schematic diagram of the low-frequency vibration index value of the vehicle body on an undulating road according to an embodiment of this application. In Figure 2, the low-frequency vibration index value of the vehicle body is small, while in Figure 3, the low-frequency vibration index value of the vehicle body fluctuates significantly.
[0045] In some possible implementations of the embodiments of this application, identifying the first road surface based on the first absolute value of the difference may include: if there is a second absolute value in the first absolute value that is greater than or equal to a first threshold, determining the first road surface undulation value corresponding to a first time period based on the second road surface undulation value and the integral value of the second absolute value, wherein the second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period preceding the first time period; if there is no absolute value in the first absolute value that is greater than or equal to the first threshold, clearing the integral value of the pre-calibrated first rate from the second road surface undulation value to obtain the first road surface undulation value; and identifying the first road surface based on the first road surface undulation value.
[0046] In some possible implementations of the embodiments of this application, when there is a second absolute value in the first absolute value that is greater than or equal to the first threshold, the first road surface undulation value corresponding to the first time period can be determined by the following formula (1) based on the second road surface undulation value and the integral value of the second absolute value:
[0047] RollRoadLvl=RollRoadLvl_Old+(ABS(az_f-az_f_da))*dt(1)
[0048] In formula (1), RollRoadLvl is the first road surface undulation value, RollRoadLvl_Old is the second road surface undulation value, ABS(·) is the absolute value function, az_f is the first absolute value, az_f_da is the first threshold, az_f-az_f_da is the second absolute value, and dt is the integral operation.
[0049] In some possible implementations of the embodiments of this application, when there is no absolute value greater than or equal to the first threshold in the first absolute value, the integral value of the pre-calibrated first rate is cleared from the second road surface undulation value to obtain the first road surface undulation value. This can be done by the following formula (2): RollRoadLvl=RollRoadLvl_Old-RateDwn*dt (2)
[0050] In formula (2), RollRoadLvl is the first road surface undulation value, RollRoadLvl_Old is the second road surface undulation value, RateDwn is the pre-calibrated first speed, and dt is the integral operation.
[0051] As shown in Figure 4, Figure 4 is a schematic diagram of the first absolute value, the first threshold, and the first rate provided in the embodiments of this application. In Figure 4, ABS(az_f) is the first absolute value, az_f_dz is the first threshold, and RateDwn is the pre-calibrated first rate.
[0052] In some possible implementations of the embodiments of this application, identifying the first road surface based on the first road surface undulation value may include: determining the first road surface as an undulating road surface when the first road surface undulation value is greater than or equal to a second threshold; and determining the first road surface as not an undulating road surface when the first road surface undulation value is less than the second threshold.
[0053] When the first road surface undulation value RollRoadLvl is greater than or equal to the second threshold, the first road surface is determined to be an undulating road surface; when the first road surface undulation value RollRoadLvl is less than the second threshold, the first road surface is determined not to be an undulating road surface.
[0054] The first and second thresholds in the embodiments of this application can be obtained in advance through experimentation.
[0055] In this embodiment, a first vibration frequency is acquired during a first time period when the vehicle is traveling on a first road surface. The first time period is the time corresponding to the vehicle's travel on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer. Based on the first vibration frequency, the first road surface is identified, and an identification result is obtained. The identification result includes whether the first road surface is an undulating road surface or not. Thus, by using the vibration frequency of the vehicle body acceleration sensor, it is possible to identify whether the road surface is undulating, eliminating the need to install a camera sensor on the vehicle, reducing costs, and improving the efficiency of road surface identification.
[0056] In some possible implementations of the embodiments of this application, the road surface recognition method provided in the embodiments of this application may further include: when the first road surface is an undulating road surface, switching the vehicle suspension damping mode to a sport mode.
[0057] In some possible implementations of the embodiments of this application, the vehicle suspension damping modes include, but are not limited to, normal mode, sport mode, and comfort mode.
[0058] When the first road surface is uneven, switching the vehicle's suspension damping mode to sport mode can quickly absorb the energy of the vehicle's undulation vibrations, improving the vehicle's comfort after passing over uneven surfaces.
[0059] This application also provides a road surface recognition device, as shown in Figure 5. Figure 5 is a schematic diagram of the structure of the road surface recognition device provided in this application embodiment. The road surface recognition device 500 may include:
[0060] The acquisition module 501 is used to acquire the first vibration frequency of the vehicle during a first time period when the vehicle is traveling on the first road surface. The first time period is the time period corresponding to the vehicle traveling on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer.
[0061] The identification module 502 is used to identify the first road surface according to the first vibration frequency and obtain the identification result, wherein the identification result includes whether the first road surface is an undulating road surface or the first road surface is not an undulating road surface.
[0062] In this embodiment, a first vibration frequency is acquired during a first time period when the vehicle is traveling on a first road surface. The first time period is the time corresponding to the vehicle's travel on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer. Based on the first vibration frequency, the first road surface is identified, and an identification result is obtained. The identification result includes whether the first road surface is an undulating road surface or not. Thus, by using the vibration frequency of the vehicle body acceleration sensor, it is possible to identify whether the road surface is undulating, eliminating the need to install a camera sensor on the vehicle, reducing costs, and improving the efficiency of road surface identification.
[0063] In some possible implementations of embodiments of this application, the identification module 502 includes:
[0064] The first filtering submodule is used to perform a first filtering process on the first vibration frequency to obtain the second vibration frequency;
[0065] The second filtering submodule is used to perform a second filtering process on the second vibration frequency to obtain the third vibration frequency;
[0066] The identification submodule is used to identify the first road surface based on the second and third vibration frequencies.
[0067] In some possible implementations of embodiments of this application, the identification submodule includes:
[0068] The calculation unit is used to calculate the difference between the second vibration frequency and the third vibration frequency;
[0069] The identification unit is used to identify the first road surface based on the first absolute value of the difference.
[0070] In some possible implementations of the embodiments of this application, the identification unit includes:
[0071] The first determining subunit is used to determine the first road surface undulation value corresponding to the first time period based on the second road surface undulation value and the integral value of the second absolute value when there is a second absolute value in the first absolute value that is greater than or equal to the first threshold. The second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period preceding the first time period.
[0072] The second determining subunit is used to remove the pre-calibrated integral value of the first rate from the second road surface undulation value when there is no absolute value greater than or equal to the first threshold in the first absolute value, so as to obtain the first road surface undulation value.
[0073] The identification subunit is used to identify the first road surface based on the first road surface undulation value.
[0074] In some possible implementations of the embodiments of this application, the identification subunit is specifically used for:
[0075] If the first road surface undulation value is greater than or equal to the second threshold, the first road surface is determined to be an undulating road surface.
[0076] If the first road surface undulation value is less than the second threshold, the first road surface is determined not to be an undulating road surface.
[0077] In some possible implementations of the embodiments of this application, the road surface recognition device provided in the embodiments of this application further includes:
[0078] The switching unit is used to switch the vehicle suspension damping mode to sport mode when the first road surface is an undulating surface.
[0079] In this embodiment of the application, by switching the vehicle suspension damping mode to sport mode, the energy of vehicle undulation vibration can be quickly absorbed, improving the vehicle's comfort after passing over undulating road surfaces.
[0080] Figure 6 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application.
[0081] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.
[0082] Specifically, the processor 601 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0083] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 602 may include removable or non-removable (or fixed) media. Where suitable, memory 602 may be internal or external to an electronic device. In some specific embodiments, memory 602 is a non-volatile solid-state memory.
[0084] In some specific embodiments, the memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the road surface recognition method according to this application.
[0085] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement the steps of the road surface recognition method provided in the embodiments of this application.
[0086] In one example, the electronic device may also include a communication interface 603 and a bus 610. As shown in Figure 6, the processor 601, memory 602, and communication interface 603 are connected via the bus 610 and communicate with each other.
[0087] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.
[0088] Bus 610 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.
[0089] The electronic device can execute the steps of the road surface recognition method provided in the embodiments of this application, thereby achieving the corresponding technical effects of the road surface recognition method provided in the embodiments of this application.
[0090] In addition, in conjunction with the road surface recognition method in the above embodiments, this application also provides a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement the steps of the road surface recognition method provided in this application. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disks, or optical disks.
[0091] This application provides a computer program product. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device performs the steps of the road recognition method provided in this application and achieves the same technical effect. To avoid repetition, the details will not be repeated here.
[0092] This application provides a vehicle that includes at least one of the following:
[0093] The road surface recognition device provided in the embodiments of this application;
[0094] The electronic device provided in the embodiments of this application;
[0095] The computer-readable storage medium provided in the embodiments of this application.
[0096] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.
[0097] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.
[0098] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.
[0099] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.
[0100] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A road surface recognition method, characterized in that, The method includes: The first vibration frequency is obtained during a first time period when the vehicle is driving on the first road surface, wherein the first time period is the time period corresponding to the vehicle driving on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer. Based on the first vibration frequency, the first road surface is identified to obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or whether the first road surface is not an undulating road surface.
2. The method according to claim 1, characterized in that, The step of identifying the first road surface based on the first vibration frequency includes: The first vibration frequency is subjected to a first filtering process to obtain the second vibration frequency; The second vibration frequency is subjected to a second filtering process to obtain the third vibration frequency; The first road surface is identified based on the second vibration frequency and the third vibration frequency.
3. The method according to claim 2, characterized in that, The step of identifying the first road surface based on the second vibration frequency and the third vibration frequency includes: Calculate the difference between the second vibration frequency and the third vibration frequency; The first road surface is identified based on the first absolute value of the difference.
4. The method according to claim 3, characterized in that, The step of identifying the first road surface based on the first absolute value of the difference includes: If there is a second absolute value in the first absolute value that is greater than or equal to the first threshold, the first road surface undulation value corresponding to the first time period is determined based on the second road surface undulation value and the integral value of the second absolute value, wherein the second road surface undulation value is the road surface undulation value corresponding to the second time period, and the second time period is the time period preceding the first time period. If there is no absolute value greater than or equal to the first threshold in the first absolute value, the integral value of the pre-calibrated first rate is removed from the second road surface undulation value to obtain the first road surface undulation value. The first road surface is identified based on the first road surface undulation value.
5. The method according to claim 4, characterized in that, The step of identifying the first road surface based on the first road surface undulation value includes: If the first road surface undulation value is greater than or equal to the second threshold, the first road surface is determined to be an undulating road surface. If the first road surface undulation value is less than the second threshold, the first road surface is determined not to be an undulating road surface.
6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the first road surface is an undulating surface, switch the vehicle suspension damping mode to sport mode.
7. A road surface recognition device, characterized in that, The device includes: The acquisition module is used to acquire the first vibration frequency of the vehicle during a first time period when the vehicle is driving on the first road surface, wherein the first time period is the time period corresponding to the vehicle driving on the first road surface, and the first vibration frequency is the vibration frequency of the vehicle body acceleration sensor after passing through the suspension buffer. The identification module is used to identify the first road surface based on the first vibration frequency and obtain an identification result, wherein the identification result includes whether the first road surface is an undulating road surface or whether the first road surface is not an undulating road surface.
8. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the road surface recognition method as described in any one of claims 1-6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the steps of the road surface recognition method as described in any one of claims 1-6.
10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the steps of the road surface recognition method as described in any one of claims 1-6.
11. A vehicle, characterized in that, The vehicle includes at least one of the following: The road surface recognition device according to claim 7; The electronic device according to claim 8; The computer-readable storage medium of claim 9.