CN113525388A - Vehicle control method, device, storage medium and vehicle - Google Patents
Vehicle control method, device, storage medium and vehicle Download PDFInfo
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- CN113525388A CN113525388A CN202111082247.9A CN202111082247A CN113525388A CN 113525388 A CN113525388 A CN 113525388A CN 202111082247 A CN202111082247 A CN 202111082247A CN 113525388 A CN113525388 A CN 113525388A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000002310 reflectometry Methods 0.000 claims abstract description 65
- 238000011084 recovery Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000003213 activating effect Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The disclosure relates to a vehicle control method, a vehicle control device, a storage medium and a vehicle, wherein the vehicle comprises a reflectivity detector, so as to solve the technical problem that the phenomenon that the vehicle slips cannot be completely avoided when the vehicle is corrected after slipping in the related technology. The method comprises the following steps: acquiring driving environment data of the vehicle, wherein the driving environment data comprises ground reflectivity detected by the reflectivity detector; determining the road surface type of a road surface to be driven of the vehicle according to the driving environment data; and adjusting the running mode of the vehicle according to the road surface type.
Description
Technical Field
The disclosure relates to the technical field of new energy automobiles, in particular to a vehicle control method, a vehicle control device, a storage medium and a vehicle.
Background
When the automobile runs at a high speed, if the road conditions are severe, the wheels of the automobile are likely to slide violently, which affects the stability and safety of the automobile. In the related art, when a brake slip occurs during the traveling of a vehicle, a vehicle body or a brake system is adjusted in time using functions such as an anti-lock brake system or a traction control system. The principle of the method is that whether the vehicle slips or not is judged by collecting the slip rate of the wheel, braking force is applied to the wheel under the condition that the vehicle slips, and meanwhile, driving torque is reduced or improved, so that the phenomenon of vehicle slip is corrected. Although the method can greatly reduce the accident rate, the phenomenon of vehicle slip cannot be completely avoided, and certain potential safety driving hazards exist.
Disclosure of Invention
The invention aims to provide a vehicle control method, a vehicle control device, a storage medium and a vehicle, and aims to solve the technical problem that the phenomenon of skidding of the vehicle cannot be completely avoided when the vehicle is corrected after skidding in the related art.
In order to achieve the above object, a first aspect of the present disclosure provides a vehicle control method, the vehicle including a reflectance detector, the method including:
acquiring driving environment data of the vehicle, wherein the driving environment data comprises ground reflectivity detected by the reflectivity detector;
determining the road surface type of a road surface to be driven of the vehicle according to the driving environment data;
and adjusting the running mode of the vehicle according to the road surface type.
Optionally, the vehicle is preconfigured with reflectivity ranges corresponding to different types of road surfaces, and determining the road surface type of the road surface on which the vehicle is to travel according to the driving environment data includes:
determining a reflectivity range in which the ground reflectivity is located;
and determining the road surface type of the road surface to be driven according to the reflectivity range.
Optionally, the vehicle further comprises an image acquisition device for acquiring a road surface image of the road surface to be driven, and the driving environment data comprises the road surface image;
the determining the road surface type of the road surface to be driven of the vehicle according to the driving environment data comprises the following steps:
and performing weighting calculation on the road surface image and the ground reflectivity, and determining the road surface type of the road surface to be driven according to the calculation result.
Optionally, the adjusting the driving mode of the vehicle according to the road surface type includes:
adjusting a driving mode of the vehicle to a normal driving mode under the condition that the road surface type is normal land;
and adjusting the running mode of the vehicle to a low-adhesion road running mode in a case where the road surface type is a low-adhesion road surface.
Optionally, the method further comprises:
controlling the vehicle to perform at least one of the following operations when the vehicle is adjusted from the normal running mode to the low-adhesion-road running mode:
the method comprises the steps of reducing the torque loading slope of a driving motor, reducing the braking energy recovery torque ratio, reducing the braking energy recovery torque loading slope and reducing the vehicle speed range for the driving motor to recover the braking torque.
Optionally, the method further comprises:
activating an anti-lock braking system of the vehicle and/or a traction control system of the vehicle in case it is determined that the road surface type is a low adhesion road surface.
Optionally, the method further comprises:
and controlling an instrument of the vehicle to display prompt information under the condition that the road surface type is determined to be the low-adhesion road surface.
The second aspect of the present disclosure also provides a vehicle control apparatus that is applied to a vehicle including a reflectance detector, the vehicle control apparatus including:
an acquisition module configured to acquire driving environment data of the vehicle, the driving environment data including a ground reflectivity detected by the reflectivity detector;
the determining module is used for determining the road surface type of the road surface to be driven of the vehicle according to the driving environment data;
and the adjusting module is used for adjusting the running mode of the vehicle according to the road surface type.
The third aspect of the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the above first aspects.
A fourth aspect of the present disclosure further provides a vehicle, including a vehicle control device, a reflectivity detector, and an image acquisition device, where the reflectivity detector and the image acquisition device are both connected to the vehicle control device, and the vehicle control device is configured to perform the steps of any one of the above-mentioned first aspects.
Optionally, the sensing directions of the reflectivity detector and the image acquisition device are both the forward direction of the vehicle, so as to detect the road reflectivity and the road image of the road to be driven in front of the vehicle.
Through the technical scheme, the following technical effects can be at least achieved:
the driving environment data of the vehicle is obtained, the road surface type of the road surface to be driven of the vehicle is determined according to the driving environment data, and finally the driving mode of the vehicle is adjusted according to the road surface type. By the method, the driving mode of the vehicle is adjusted in advance according to the type of the road surface to be driven of the vehicle, the technical problem that the vehicle cannot completely avoid skidding after being corrected after skidding in the related technology is solved, the safety of the vehicle is improved, and the accident rate of the vehicle is reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic flow chart diagram of a vehicle control method provided by an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram of another vehicle control method provided by the disclosed embodiments;
fig. 3 is a block diagram of a vehicle control apparatus provided in an embodiment of the present disclosure;
fig. 4 is a block diagram of a vehicle provided by an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect. The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
With the development of the automobile industry and economy, the use of automobiles is more and more popular. In the field of new energy automobiles, a braking energy recovery technology can be adopted to recover energy. Specifically, when the running speed of the vehicle is higher than the calibrated speed, a driver steps on a brake pedal, the motor controller can convert the motor from a motor mode to an engine mode, so that the braking force is converted into electric energy to recharge the storage battery, and therefore energy waste can be reduced, and the cruising mileage of the vehicle can be increased. However, when the new energy automobile recovers braking energy on a low-adhesion road surface, the driver may step on the brake pedal to cause an excessively large braking force, thereby causing a slip phenomenon. In addition, the new energy vehicle may slip when being driven on a low-adhesion road surface due to excessive acceleration.
In the related technology, the anti-lock braking system or the traction control system and other functions are utilized to timely adjust the vehicle body or the braking system to perform emergency treatment when the vehicle slips, so that the vehicle slip is corrected. Although the method can greatly reduce the accident rate, the phenomenon of vehicle slip cannot be completely avoided, and certain potential safety driving hazards exist.
In view of the above, the present disclosure provides a vehicle control method, a device, a storage medium, and an electronic device, so as to solve the technical problem in the related art that the vehicle cannot completely avoid the vehicle from slipping after the vehicle slips.
The following provides a detailed description of embodiments of the present disclosure.
The disclosed embodiment provides a vehicle control method, the vehicle includes a reflectivity detector, as shown in fig. 1, the method includes:
s101, obtaining driving environment data of the vehicle, wherein the driving environment data comprise ground reflectivity detected by the reflectivity detector.
Illustratively, the detection direction of the reflectivity detector is a vehicle forward direction.
And S102, determining the road surface type of the road surface to be driven of the vehicle according to the driving environment data.
For example, the vehicle is pre-configured with reflectivity ranges corresponding to different types of road surfaces, firstly, the reflectivity range where the ground reflectivity detected by the reflectivity detector is located is determined, and then the type of the road surface to be driven is determined according to the reflectivity range.
The road surface types include normal land and low-adhesion road surfaces, wherein the low-adhesion road surfaces include but are not limited to slippery road surfaces such as snow, ice and mixed ice and snow. Generally, the smoother the road surface with a higher reflectance, the more likely the slip phenomenon occurs, and for example, when the vehicle runs on an ice surface, the more likely the slip phenomenon occurs with respect to when the vehicle runs on normal land. In the embodiment of the disclosure, the reflectivity ranges corresponding to different road surface types can be calibrated in advance, so that when the detected ground reflectivity falls within a certain calibrated reflectivity range, the road surface type corresponding to the ground reflectivity can be determined. For example, the vehicle may be calibrated in advance to have a reflectivity range of 0 to 35% on normal land, a reflectivity range of 35% to 70% on ice, and a reflectivity range of 70% to 100% on snow or ice-snow mixed ground, where the reflectivity ranges corresponding to different road surface types may be measured according to experiments, and the disclosure is not limited thereto.
And S103, adjusting the running mode of the vehicle according to the road surface type.
For example, in the case where the road surface type is normal land, the travel mode of the vehicle is adjusted to the normal travel mode, and in the case where the road surface type is a low-adhesion road surface, the travel mode of the vehicle is adjusted to the low-adhesion road surface travel mode.
By adopting the method, the driving environment data of the vehicle is obtained, the road surface type of the road surface to be driven of the vehicle is determined according to the driving environment data, and finally the driving mode of the vehicle is adjusted according to the road surface type. By the method, the driving mode of the vehicle is adjusted in advance according to the type of the road surface to be driven of the vehicle, the technical problem that the vehicle cannot completely avoid skidding after being corrected after skidding in the related technology is solved, the safety of the vehicle is improved, and the accident rate of the vehicle is reduced.
In order to make the vehicle control method provided by the present disclosure more understandable to those skilled in the art, the above steps are exemplified in detail below.
In a possible manner, the vehicle further comprises an image acquisition device for acquiring a road surface image of the road surface to be traveled, the driving environment data of the vehicle comprising the road surface image. The road surface type of the road surface to be traveled can be determined according to the calculation result by performing weighted calculation on the road surface image and the ground reflectivity of the driving environment data.
For example, the image capturing device may be a camera mounted on the vehicle, and the shooting direction of the camera is a direction in a forward direction of the vehicle. Firstly, a road surface identification model can be constructed, then the obtained road surface image is input into the road surface identification model, the corresponding identification result is output, finally, the identification result and the ground reflectivity are subjected to weighted calculation, and the road surface type of the road surface to be driven is determined according to the calculation result. The road surface type of the road surface to be driven is judged by combining the road surface image with the road surface reflectivity, so that the identification accuracy of the road surface type is improved, the driving mode adjusted by the vehicle is more suitable for the road surface to be driven, and the slip probability of the vehicle is reduced.
In a possible manner, when the vehicle is adjusted from the normal running mode to the low-adhesion-road running mode, the vehicle is controlled to perform at least one of the following operations: the torque loading slope of the driving motor is reduced, the brake energy recovery torque duty ratio is reduced, the brake energy recovery torque loading slope is reduced, and the vehicle speed range for the driving motor to recover the brake torque is reduced.
For example, when the road surface to be driven is determined to be a low-adhesion road surface, the vehicle control unit CAN send a control command through the CAN route to reduce the torque loading slope of the driving motor, so that the torque is not too large when the vehicle is accelerated, and the phenomenon of skidding caused by too large acceleration when the vehicle is driven on the low-adhesion road surface is avoided.
For example, when the road surface to be driven is determined to be a low-adhesion road surface, the vehicle control unit may send a control instruction through the CAN route to reduce the braking energy recovery torque duty ratio or reduce the braking energy recovery torque loading slope, so as to reduce the braking force generated when the driver steps on the braking pedal, and avoid the occurrence of a slip phenomenon caused by an excessively large braking force generated when the driver steps on the braking pedal when the vehicle performs braking energy recovery on the low-adhesion road surface.
In addition, when the road surface to be driven is determined to be a low-adhesion road surface, the vehicle control unit CAN send a control command through the CAN route to reduce the vehicle speed range for driving the motor to recover the braking torque. For example, the preset vehicle speed range for recovering the braking torque on the normal road surface is 5km/h-100km/h, the preset vehicle speed range for recovering the braking torque on the low adhesion road surface is 10km/h-100km/h, and different vehicle speed ranges may be set according to different types of the low adhesion road surface, which is not particularly limited in this disclosure. Under the condition that the vehicle is lower than the preset vehicle speed, the recovery of the braking torque is cancelled, and the phenomenon of skidding caused by overlarge braking force generated by the fact that a driver steps on a brake pedal is avoided.
By adopting the method, the driving mode can be automatically switched according to the type of the road surface to be driven by judging the type of the road surface in advance, the driving mode is switched to the low-adhesion road surface driving mode under the condition that the road surface to be driven is a low-adhesion road surface, measures such as torque reduction, torque loading slope reduction and the like are automatically carried out in advance, and the driving mode is immediately switched to the normal driving mode under the condition that the road surface to be driven is a normal land. By automatically identifying the road surface type and automatically switching the driving mode, the driver is prevented from manually switching the driving mode, and the driving experience of the driver is improved.
In a possible mode, in the case where the road surface type is determined to be a low-adhesion road surface, the meter of the vehicle is controlled to display a prompt message.
The vehicle controller determines the type of the road surface to be driven according to the road surface image acquired by the camera and the ground reflectivity detected by the reflectivity detector, and controls the instrument of the vehicle to display prompt information for prompting a driver that the vehicle is about to enter the road surface easy to slip under the condition that the road surface type is determined to be the low-attachment road surface, for example, characters ' please notice ' and the front is the ice and snow road surface ' are displayed on the instrument.
In addition, the prompt information may be displayed on a vehicle-mounted screen such as a center control screen and a head-up display screen of the vehicle in the form of characters and indicator lights, and may also remind the driver to pay attention to the road information ahead in the form of voice prompt through a vehicle-mounted audio-video system, which is not specifically limited in this disclosure.
In a possible manner, in the event that it is determined that the road surface type is a low-adhesion road surface, the anti-lock braking system of the vehicle and/or the traction control system of the vehicle are/is activated.
It should be understood that the anti-lock braking system and traction control system of the vehicle belong to the active safety device of the vehicle, wherein the anti-lock braking system is used for automatically controlling the braking force of the brake when the vehicle brakes, so that the wheels are not locked when the vehicle brakes, and the adhesion between the wheels and the ground is ensured to be at the maximum value, thereby avoiding the direction runaway and the wheel sideslip when the vehicle brakes in emergency, and the traction control system can ensure that the vehicle can obtain the optimal traction under various driving conditions, prevent the driving wheels from slipping when the vehicle starts and accelerates, and maintain the stability of the driving direction of the vehicle.
Therefore, for the vehicle equipped with the anti-lock brake system, the vehicle equipped with the traction control system, and the vehicle equipped with both, it is possible to activate the anti-lock brake system of the vehicle and/or the traction control system of the vehicle in advance in the case where it is determined that the road surface type is a low-adhesion road surface, so that the anti-lock brake system and/or the traction control system can immediately respond and take corresponding measures, such as applying a braking force, reducing or increasing a driving torque, and the like, to correct the vehicle slip phenomenon when the vehicle slips. Compared with the mode that the anti-lock braking system and the traction control system are activated after the vehicle slips, the method reduces the activation time, can immediately respond and further improves the safety of the vehicle.
The following describes in detail the steps of a vehicle control method provided in the embodiments of the present disclosure. As shown in fig. 2, the method includes:
s201, acquiring a road surface image of a road surface to be driven through an image acquisition device of the vehicle, and acquiring the ground reflectivity of the road surface to be driven through a reflectivity detector of the vehicle.
S202, determining the road surface type of the road surface to be driven by the vehicle according to the road surface image of the road surface to be driven and the ground reflectivity.
Further, step S203 is executed in the case where the road surface type is normal land, and step S204 is executed in the case where the road surface type is a low-adhesion road surface.
S203, the running mode of the vehicle is adjusted to a normal running mode.
And S204, adjusting the running mode of the vehicle to a low-adhesion road running mode.
S205, sending a control command through the CAN route to control the vehicle to execute at least one of the following operations: the torque loading slope of the driving motor is reduced, the brake energy recovery torque duty ratio is reduced, the brake energy recovery torque loading slope is reduced, and the vehicle speed range for the driving motor to recover the brake torque is reduced.
And S206, controlling the instrument to display prompt information.
And S207, activating an anti-lock braking system of the vehicle and/or a traction control system of the vehicle.
By adopting the method, the road surface type of the road surface to be driven is determined according to the road surface image and the ground reflectivity of the road surface to be driven of the vehicle, the driving mode of the vehicle is adjusted in advance according to the road surface type of the road surface to be driven, and corresponding measures are taken, so that the technical problem that the vehicle cannot completely avoid the phenomenon of skidding after the vehicle skids in the related technology is solved, the safety of the vehicle is improved, and the accident rate of the vehicle is reduced. And the instrument prompts a driver to pay attention to the front road information, and activates an anti-lock braking system and a traction control system of the vehicle in advance, so that the response time of the anti-lock braking system and the traction control system when the vehicle slips is reduced, and the safety of the vehicle is further improved.
The disclosed embodiment provides a vehicle control apparatus applied to a vehicle including a reflectivity detector, the vehicle control apparatus 300 including:
an obtaining module 301, configured to obtain driving environment data of the vehicle, where the driving environment data includes a ground reflectivity detected by the reflectivity detector.
A determining module 302, configured to determine a road surface type of a road surface to be traveled by the vehicle according to the driving environment data.
And an adjusting module 303, configured to adjust a driving mode of the vehicle according to the road surface type.
By adopting the vehicle control device, the driving environment data of the vehicle is obtained, the road surface type of the road surface to be driven of the vehicle is determined according to the driving environment data, and finally the driving mode of the vehicle is adjusted according to the road surface type. Through the vehicle control device, the driving mode of the vehicle is adjusted in advance according to the type of the road surface to be driven of the vehicle, the technical problem that the vehicle cannot completely avoid skidding after being corrected after skidding in the related technology is solved, the safety of the vehicle is improved, and the accident rate of the vehicle is reduced.
Optionally, the vehicle is pre-configured with reflectivity ranges corresponding to different types of road surfaces, and the determining module 302 is configured to:
determining a reflectivity range in which the ground reflectivity is located;
and determining the road surface type of the road surface to be driven according to the reflectivity range.
Optionally, the vehicle further includes an image acquisition module, configured to acquire a road surface image of the road surface to be traveled, where the driving environment data includes the road surface image;
the determining module 302 is configured to determine a road surface type of a road surface to be driven of the vehicle according to the driving environment data, and:
and performing weighting calculation on the road surface image and the ground reflectivity, and determining the road surface type of the road surface to be driven according to the calculation result.
Optionally, the adjusting module 303 is configured to:
adjusting a driving mode of the vehicle to a normal driving mode under the condition that the road surface type is normal land;
and adjusting the running mode of the vehicle to a low-adhesion road running mode in a case where the road surface type is a low-adhesion road surface.
Optionally, the vehicle control device 300 is further configured to:
controlling the vehicle to perform at least one of the following operations when the vehicle is adjusted from the normal running mode to the low-adhesion-road running mode:
the method comprises the steps of reducing the torque loading slope of a driving motor, reducing the braking energy recovery torque ratio, reducing the braking energy recovery torque loading slope and reducing the vehicle speed range for the driving motor to recover the braking torque.
Optionally, the vehicle control device 300 further includes:
an activation module to activate an anti-lock braking system of the vehicle and/or a traction control system of the vehicle if the road surface type is determined to be a low adhesion road surface.
Optionally, the vehicle control device 300 further includes:
and the prompting module is used for controlling an instrument of the vehicle to display prompting information under the condition that the road surface type is determined to be the low-adhesion road surface.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The disclosed embodiments also provide a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the above-described vehicle control method.
The disclosed embodiment also provides a vehicle, as shown in fig. 4, the vehicle 400 includes a vehicle control device 401, a reflectivity detector 402, and an image acquisition device 403, the reflectivity detector 402 and the image acquisition device 403 are both connected to the vehicle control device 401, and the vehicle control device 401 is configured to execute the steps of the vehicle control method.
The vehicle control device 401 may be the vehicle control device 300 in fig. 3, or may be a vehicle controller of a vehicle, which is not specifically limited in this disclosure.
Alternatively, the sensing directions of the reflectivity detector 402 and the image capturing device 403 are both directions in a forward direction of the vehicle to detect the road surface reflectivity and the road surface image of the road surface to be driven in front of the vehicle.
In a possible manner, the vehicle 400 further comprises a drive motor 404 and a brake system 405, wherein both the drive motor 404 and the brake system 405 are connected to the vehicle control device 401. The driving motor 404 and the brake system 405 are configured to receive a control command of the vehicle control device 401 when the vehicle is adjusted from the normal running mode to the low-adhesion-road running mode, the control command being configured to perform at least one of the following operations: the torque loading slope of the driving motor is reduced, the brake energy recovery torque duty ratio is reduced, the brake energy recovery torque loading slope is reduced, and the vehicle speed range for the driving motor to recover the brake torque is reduced.
By adopting the mode, the normal running mode can be automatically switched to the low-adhesion road running mode under the condition that the road surface to be run is the low-adhesion road surface, and the slipping phenomenon of the vehicle can be prevented by taking measures such as reducing the torque, reducing the torque loading slope and the like in advance. In addition, by automatically identifying the road surface type and automatically switching the driving mode, the driver is prevented from manually switching the driving mode, and the driving experience of the driver is improved.
In a possible manner, the vehicle 400 further comprises a meter 406, and the meter 406 is connected to the vehicle control device 401. The meter 406 is configured to display a prompt message to alert the driver that the vehicle is about to enter a slippery road surface if the road surface type is determined to be a low-adhesion road surface.
In a possible way, the vehicle 400 further comprises an anti-lock braking system 407 and a traction control system 408, wherein both the anti-lock braking system 407 and the traction control system 408 are connected to the vehicle control unit 401 and receive an activation command of the vehicle control unit 401. In addition, the anti-lock braking system 407 is also used to automatically control the braking force of the brakes when the vehicle brakes, so that the wheels are not locked when the vehicle brakes, and the adhesion between the wheels and the ground is ensured to be at the maximum, thereby avoiding the direction runaway and the wheel sideslip when the vehicle brakes in an emergency. The traction control system 408 can provide optimal traction for the vehicle under various driving conditions, and prevent the driving wheels from slipping during starting and accelerating, so as to maintain the stability of the driving direction of the vehicle.
By adopting the vehicle, the road surface type of the road surface to be driven is determined according to the road surface image of the road surface to be driven and the ground reflectivity, the driving mode of the vehicle is adjusted in advance according to the road surface type of the road surface to be driven, and corresponding measures are taken, so that the technical problem that the vehicle cannot completely avoid the phenomenon of skidding after the vehicle skids in the related technology is solved, the safety of the vehicle is improved, and the accident rate of the vehicle is reduced. And the instrument prompts a driver to pay attention to the front road information, and activates an anti-lock braking system and a traction control system of the vehicle in advance, so that the response time of the anti-lock braking system and the traction control system when the vehicle slips is reduced, and the safety of the vehicle is further improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of controlling a vehicle, the vehicle including a reflectance detector, the method comprising:
acquiring driving environment data of the vehicle, wherein the driving environment data comprises ground reflectivity detected by the reflectivity detector;
determining the road surface type of a road surface to be driven of the vehicle according to the driving environment data;
and adjusting the running mode of the vehicle according to the road surface type.
2. The method of claim 1, wherein the vehicle is pre-configured with reflectivity ranges corresponding to different types of road surfaces, and wherein determining the road surface type of the road surface on which the vehicle is to travel based on the driving environment data comprises:
determining a reflectivity range in which the ground reflectivity is located;
and determining the road surface type of the road surface to be driven according to the reflectivity range.
3. The method according to claim 1, wherein the vehicle further comprises an image acquisition device for acquiring a road surface image of the road surface to be traveled, the driving environment data including the road surface image;
the determining the road surface type of the road surface to be driven of the vehicle according to the driving environment data comprises the following steps:
and performing weighting calculation on the road surface image and the ground reflectivity, and determining the road surface type of the road surface to be driven according to the calculation result.
4. The method of claim 1, wherein said adjusting the driving mode of the vehicle in accordance with the road surface type comprises:
adjusting a driving mode of the vehicle to a normal driving mode under the condition that the road surface type is normal land;
and adjusting the running mode of the vehicle to a low-adhesion road running mode in a case where the road surface type is a low-adhesion road surface.
5. The method of claim 4, further comprising:
controlling the vehicle to perform at least one of the following operations when the vehicle is adjusted from the normal running mode to the low-adhesion-road running mode:
the method comprises the steps of reducing the torque loading slope of a driving motor, reducing the braking energy recovery torque ratio, reducing the braking energy recovery torque loading slope and reducing the vehicle speed range for the driving motor to recover the braking torque.
6. The method according to any one of claims 1-5, further comprising:
activating an anti-lock braking system of the vehicle and/or a traction control system of the vehicle in case it is determined that the road surface type is a low adhesion road surface.
7. The method according to any one of claims 1-5, further comprising:
and controlling an instrument of the vehicle to display prompt information under the condition that the road surface type is determined to be the low-adhesion road surface.
8. A vehicle control apparatus that is applied to a vehicle including a reflectance detector, the vehicle control apparatus comprising:
an acquisition module configured to acquire driving environment data of the vehicle, the driving environment data including a ground reflectivity detected by the reflectivity detector;
the determining module is used for determining the road surface type of the road surface to be driven of the vehicle according to the driving environment data;
and the adjusting module is used for adjusting the running mode of the vehicle according to the road surface type.
9. A non-transitory computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A vehicle comprising vehicle control means, a reflectivity detector and image capture means, both of which are connected to the vehicle control means, the vehicle control means being adapted to perform the steps of the method of any one of claims 1 to 7.
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