CN110770054B - Vehicle control method and device, vehicle and storage medium - Google Patents
Vehicle control method and device, vehicle and storage medium Download PDFInfo
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- CN110770054B CN110770054B CN201880037716.5A CN201880037716A CN110770054B CN 110770054 B CN110770054 B CN 110770054B CN 201880037716 A CN201880037716 A CN 201880037716A CN 110770054 B CN110770054 B CN 110770054B
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- controlling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/02—Stabilising vehicle bodies without controlling suspension arrangements by aerodynamic means
Abstract
A vehicle control method, a vehicle, a device and a storage medium, wherein the method comprises the following steps: acquiring a running environment in front of a vehicle running and environment information of the running environment; acquiring the current running state of the vehicle; and controlling a negative pressure system of the vehicle according to the environmental information and the current running state, so as to improve the running stability of the vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle control method and device, a vehicle and a storage medium.
Background
With the development of mechanical manufacturing technology, some vehicles are equipped with active negative pressure systems in order to meet the demands of people for vehicle performance. In some formula cars and performance sports cars, a diffuser is added to provide negative pressure, i.e. downward pressure, to the vehicle to provide greater grip and thus to allow the vehicle to be more stable during high speed travel.
However, some diffusers commonly used on vehicles merely comb air flow by their mechanical structure to provide negative pressure, and do not provide active negative pressure control. While some systems that implement active negative pressure control by adjusting the mechanical structure of the diffuser, active adjustment is typically only implemented by driver operation. As vehicles become more intelligent, the negative pressure control of the vehicles begins to fail to meet the needs of people, and therefore, it is necessary to provide a more intelligent vehicle negative pressure control to provide a more intelligent and comfortable driving experience for people.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a device, a vehicle and a storage medium, which can realize active negative pressure control and shock absorption control more intelligently, are beneficial to improving the running stability of the vehicle and improve the driving experience.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
acquiring a running environment in front of a vehicle running and environment information of the running environment;
acquiring the current running state of the vehicle;
and controlling a negative pressure system of the vehicle according to the environment information and the current running state.
In a second aspect, an embodiment of the present invention provides a vehicle control apparatus including a memory and a processor;
the memory is used for storing program instructions;
the processor executes the program instructions stored by the memory, and when the program instructions are executed, the processor is configured to perform the steps of:
acquiring a running environment in front of a vehicle running and environment information of the running environment;
acquiring the current running state of the vehicle;
and controlling a negative pressure system of the vehicle according to the environment information and the current running state.
In a third aspect, an embodiment of the present invention provides a vehicle including: the vehicle control device of the second aspect, a negative pressure system for providing negative pressure, a shock absorbing system for shock absorbing the vehicle, and the vehicle control device of the second aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program that when executed by a processor implements the vehicle control method of the first aspect.
In the embodiment of the invention, the vehicle control device can actively control the negative pressure of the vehicle according to the running environment, the environment information and the current running state. The embodiment of the invention can also actively control the shock absorption of the vehicle, thereby improving the running stability of the vehicle, reducing the probability of traffic accidents, realizing the automatic and intelligent control of the vehicle and providing better running experience for users.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle control system according to an embodiment of the present application;
FIG. 3 is a flow chart of another vehicle control method according to an embodiment of the present application;
FIG. 4 is a flow chart of yet another vehicle control method provided by an embodiment of the present application;
fig. 5 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of another vehicle control apparatus according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order to improve the running stability of a vehicle, the embodiment of the application provides a vehicle control method and a vehicle control device. The vehicle can be a car, an automobile, a truck or a machine car, and the like, and at least comprises a negative pressure system, a sensor and a shock absorbing system, wherein the negative pressure system is used for providing negative pressure or positive pressure for the vehicle, the shock absorbing system is used for shock absorbing for the vehicle so as to improve the running stability of the vehicle, and the sensor can be used for acquiring the running environment in front of the running of the vehicle and the environment information of the running environment. The vehicle control device may be integrated into the vehicle interior, may be integrated into one or more locations of the vehicle, or may be a device disposed on the vehicle, such as an in-vehicle device or the like. Alternatively, the vehicle control device may be a device in a vehicle, such as a cell phone, tablet computer, or the like, connected to the vehicle.
The vehicle control method and the related equipment provided by the application are further described below.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present application, and optionally, the method may be performed by a vehicle control device. As shown in fig. 1, the vehicle control method may include the following steps.
S101, acquiring a running environment in front of running of a vehicle and environment information of the running environment.
Alternatively, when it is detected that the vehicle is in a running state, or when it is detected that the vehicle is running in a special scene, a running environment in front of the running of the vehicle and environment information of the running environment may be acquired. For example, the special scene may include a specific road segment and/or a specific time period, and the specific road segment may include a road segment with a high probability of occurrence of a traffic accident, a road segment with dense pedestrians or vehicles; the specific period may refer to a period in which the driver's attention is relatively low (e.g., a period in which the driver is in a tired state) or a period in which the road light is poor (e.g., at night).
The driving environment may be a road or a non-road, including mountain, lawn, off-road, or the like. Alternatively, the driving environment may include at least one of an uphill slope, a downhill slope, a curve, a pit, a bump, or the like. Alternatively, the environmental information of the running environment may include three-dimensional information of the running environment, which refers to all information of the running environment in space, such as position, shape information in the earth coordinate system, the vehicle coordinate system, and surface information of the running environment surface. For example, when the driving environment is an ascending slope or a descending slope, the three-dimensional information may include a gradient of the ascending slope or the descending slope, a slope length; when the driving environment is a turn, the three-dimensional information may include a curvature of the turn, a length of the turn, a slope of the turn, and may further include a slope of the turn in a radial direction or a tangential direction; when the driving environment is a pit or a protrusion, the three-dimensional information may include a depth or a height of the pit or the protrusion, a shape area, a length in a driving direction of the vehicle. For different driving environments, the three-dimensional information may also include surface information of the driving environment surface, such as surface roughness or surface protrusions, etc.
When the vehicle is traveling forward, the traveling front means the front of the head of the vehicle, and when the vehicle is in a reverse traveling state, the traveling front means the rear of the tail of the vehicle.
In one embodiment, step S101 includes: the running environment in front of the vehicle and the environmental information of the running environment are acquired by at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor provided in the vehicle.
For example, the vision sensor may include monocular vision, binocular vision, or multi-view vision, the laser sensor may include a ToF rangefinder, a lidar, the radar sensor may include an ultrasonic radar, a millimeter wave radar, and the gesture sensor may include a GNSS position sensor, an IMU inertial measurement unit, a multi-axis gesture sensor. It will be appreciated that the sensor is not limited to the above-exemplified types and that sensors that perform the same or similar functions are possible. The vehicle control device may invoke one of the object sensors to acquire a running environment in front of the vehicle and environment information of the running environment. Or the vehicle control device can acquire the running environment and the environment information according to the data of the plurality of sensors, and the accuracy of acquiring the running environment and the environment information can be improved through the plurality of sensors.
In one embodiment, step S101 includes: and acquiring a running environment in front of the vehicle and environment information of the running environment according to a high-precision map corresponding to the position of the vehicle.
For example, as shown in fig. 2, fig. 2 is a system architecture provided in an embodiment of the present application, where the system architecture includes a vehicle 10 and a server 11. Fig. 2 is a schematic diagram illustrating an example in which a vehicle control device is integrated in the vehicle 10, and the vehicle 10 is mainly used as an execution procedure of the vehicle control device. In one embodiment, the vehicle 10 sends an acquisition request about a high-precision map to the server 11, the acquisition request includes current position information of the vehicle 10 and a destination address of travel, the server 11 plans a travel route for the vehicle according to the acquisition request and sends a high-precision map corresponding to the travel route to the vehicle 10, the vehicle 10 receives the high-precision map, travels according to the travel route in the high-precision map, and acquires a travel environment in front of travel and environment information of the travel environment through the high-precision map.
It will be appreciated that the high-precision map may also refer to a map stored in the vehicle in advance, and in this case, the vehicle 10 does not need to access the server, and the content of the present application may be completed directly according to the high-precision map stored by itself. For example, the vehicle 10 may acquire its own position information and/or surrounding environment information from at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor, and match with a high-precision map to acquire its own surrounding running environment in the map.
In one embodiment, this step may be implemented by a user interface that includes a negative pressure control option that a user may touch to trigger the vehicle to activate a negative pressure system for controlling the vehicle's negative pressure. Specifically, after the negative pressure system is started, a running environment in front of the running of the vehicle and environment information of the running environment are acquired so as to realize automatic control of the negative pressure of the vehicle. The user interface and triggering operations herein may also be in the form of buttons, levers, dials, etc., and are not limited herein.
S102, acquiring the current running state of the vehicle.
Optionally, the current running state of the vehicle includes a running speed and/or a negative pressure value provided by the current negative pressure system for the vehicle. Specifically, the vehicle control device may acquire the current running speed of the vehicle through the wheel rotation speed of the vehicle or through a speed sensor.
S103, controlling a negative pressure system of the vehicle according to the environment information and the current running state.
Specifically, the negative pressure of the vehicle may be reduced or increased according to the environmental information and the current running state.
In one embodiment, the vehicle control device stores a correspondence between target information and a negative pressure control strategy, and a plurality of negative pressure control strategies, and the vehicle control device may invoke the corresponding negative pressure control strategy according to current target information, and control the negative pressure of the vehicle through the negative pressure control strategy, where the target information includes a driving environment, environment information of the driving environment, and a driving state of the vehicle.
In one embodiment, the vehicle control device may determine whether the driving environment is a preset driving environment, and if the driving environment is the preset driving environment, step S103 is performed.
When the vehicle is traveling in a relatively flat traveling environment, the stability of the traveling of the vehicle itself is high, in which case the negative pressure of the vehicle may not be controlled; when the vehicle is traveling in a non-flat traveling environment or when the vehicle is traveling at a high speed, the vehicle traveling has instability due to instability of the traveling environment or a high-speed effect of the vehicle, and thus, it is necessary to control the negative pressure of the vehicle in this case. Specifically, the vehicle control device judges whether the running environment is a preset running environment, and if the running environment is not the preset running environment, the negative pressure of the vehicle is not controlled; if the driving environment is the preset driving environment, step S103 is executed to control the negative pressure of the vehicle, where the preset driving environment includes at least one of an uphill slope, a downhill slope, a turning, a pit, a bump, and the like.
Therefore, by implementing the method described in fig. 1, the vehicle control device can automatically control the negative pressure of the vehicle according to the running environment, the environment information and the current running state, improve the running stability of the vehicle, reduce the probability of traffic accidents, realize the automatic and intelligent control of the vehicle, and provide better running experience for users.
Referring to fig. 3, fig. 3 is a flowchart of another vehicle control method according to an embodiment of the present invention, and optionally, the method may be performed by a vehicle control device. The difference between the embodiment of the present invention and the embodiment of fig. 1 is that the embodiment of the present invention makes a preparation for smoothly passing through the preset running environment in advance by controlling the negative pressure system of the vehicle before reaching the preset running environment. As shown in fig. 3, the vehicle control method according to the embodiment of the present invention may include the following steps.
S301, acquiring a running environment in front of running of a vehicle and environment information of the running environment, wherein the environment information comprises the distance from the current position of the vehicle to the running environment. How to acquire the running environment and the environment information please refer to the description corresponding to S101, and the distance from the current position of the vehicle to the running environment may be acquired by a sensor or the distance may be acquired by a high-precision map.
S302, acquiring the current running state of the vehicle. Please refer to the description corresponding to S102 for obtaining the current driving state, which is not repeated herein.
S303, determining the first time when the vehicle arrives at the running environment according to the running speed of the vehicle and the distance. The environment information includes a distance from a current position of the vehicle to a running environment, and the current running state includes a running speed.
The vehicle control device may determine the first time of the running environment based on the distance from the current position of the vehicle to the running environment and the current running speed.
And S304, before the time reaches the first time, controlling a negative pressure system of the vehicle according to the environmental information and the current running state.
The environment information also includes three-dimensional information of the running environment. Before the time reaches the first time, the vehicle control device may control the negative pressure system of the vehicle according to the environmental information and the current running state, and prepare for passing through the running environment in advance so as to smoothly pass through the running environment. For example, the vehicle control device may control the negative pressure system of the vehicle based on the environmental information and the current running state 2 minutes before the time reaches the first time.
It can be seen that by implementing the method described in fig. 3, the vehicle control apparatus can control the negative pressure system of the vehicle according to the environment information and the current running state, before the vehicle runs to the running environment, so as to make a preparation for smoothly passing through the preset running environment in advance,
referring to fig. 4, fig. 4 is a flowchart of another vehicle control method according to an embodiment of the present invention, and the method may be optionally performed by a vehicle control device. The difference between the embodiment of the invention and the embodiment of fig. 3 is that the embodiment of the invention controls the negative pressure system and the shock absorbing system of the vehicle through the environmental information and the current running state, thereby further improving the running stability of the vehicle. As shown in fig. 4, the vehicle control method may include the following steps.
S401, acquiring a running environment in front of running of a vehicle and environment information of the running environment, wherein the environment information comprises the distance from the current position of the vehicle to the running environment. How to acquire the driving environment and the environment information is described in S301, which is not described herein.
S402, acquiring the current running state of the vehicle, wherein the current running state comprises the running speed. Please refer to the description corresponding to S102 for obtaining the current driving state, which is not repeated herein.
S403, determining the first time when the vehicle arrives at the running environment according to the running speed of the vehicle and the distance.
S404, before the time reaches the first time, controlling a negative pressure system of the vehicle according to the three-dimensional information of the running environment and the current running state.
In one embodiment, when the driving environment is an uphill, step S404 includes: the vehicle control device may control the negative pressure system such that the negative pressure to which the vehicle is subjected is reduced.
When the running environment is an ascending slope, the vehicle can stably pass through the ascending slope due to the fact that the speed of the vehicle is relatively low when the vehicle runs on the ascending slope, namely, the negative pressure value of the negative pressure system of the vehicle is small. Thus, the vehicle control device may control the negative pressure system such that the negative pressure to which the vehicle is subjected is reduced.
In one embodiment, the environmental information includes a grade of an uphill slope, a length of the uphill slope, and the current driving state includes a driving speed of the vehicle.
Generally, the greater the gradient and/or longer the gradient of an uphill slope, the less stable the vehicle will travel through such an uphill slope. Therefore, the larger the gradient of the ascending slope and/or the longer the slope length, the smaller the reduction amplitude of the negative pressure value can be, so that the vehicle can more closely run on the ascending slope, and the running stability is improved; the smaller the gradient of the uphill slope and/or the shorter the slope length, the better the running stability of the vehicle through such uphill slope, so that the greater the magnitude of the decrease in the negative pressure value can be, without the need for an excessively large negative pressure value to control the running stability of the vehicle. Generally, the greater the running speed of the vehicle is, which is likely to cause the vehicle to turn over, so that the greater the running speed of the vehicle is, the smaller the magnitude of the negative pressure value can be reduced, so that the vehicle can more closely run on an uphill, and the running stability is improved; the smaller the running speed of the vehicle is, the better the stability of running of the vehicle itself, so that an excessively large negative pressure value is not required to control the stability of running of the vehicle, and the larger the magnitude of the decrease in the negative pressure value can be.
In one embodiment, the driving environment is a downhill. The three-dimensional information includes at least one of: slope, slope length.
In one embodiment, the current travel state includes a travel speed of the vehicle.
In one embodiment, the driving environment is a downhill slope, and step S404 includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
When the running environment is a downhill, the running stability of the vehicle is relatively low because the speed of the vehicle running on the downhill is relatively high, and the vehicle is easy to roll over, namely a larger negative pressure value is needed to increase the stability of the vehicle passing through the downhill. Therefore, the vehicle control device may control the negative pressure system so that the negative pressure to which the vehicle is subjected increases, based on the environmental information and the current running state, when the running environment is a downhill.
Generally, the greater the gradient of a downhill slope and/or the longer the slope length, the poorer the running stability of a vehicle passing through such a downhill slope, so the greater the magnitude of the negative pressure value increase, so that the vehicle can more closely run on the downhill slope, and the running stability is improved; the smaller the gradient of the downhill slope and/or the shorter the slope length, the better the running stability of the vehicle through such downhill slope, the greater the negative pressure value is not needed to control the running stability of the vehicle, and the smaller the magnitude of the increase of the negative pressure value is. Generally, the greater the running speed of the vehicle is, which is likely to cause the vehicle to turn over, so that the greater the magnitude of the increase of the negative pressure value is, so that the vehicle is more attached to a downhill running, and the running stability is improved; the smaller the running speed of the vehicle, the better the stability of running of the vehicle itself, so that an excessively large negative pressure value is not required to control the stability of running of the vehicle, and the smaller the magnitude of the increase in the negative pressure value.
In one embodiment, the driving environment is a turn, and the three-dimensional information includes at least one of: curvature of the turn, length of the turn, slope of the turn.
In one embodiment, step S404 includes: the vehicle control device may acquire a first direction in which the vehicle turns while traveling on the turn; the negative pressure system is controlled so that a negative pressure to which the vehicle is subjected in a first direction increases.
When the running environment is a turn, the running direction of the vehicle is liable to deviate from the turning direction, and therefore, the vehicle control device can control the negative pressure system so that the negative pressure to which the vehicle is subjected in the first direction is increased, that is, the negative pressure value of the vehicle in the turning direction is increased, in accordance with the running environment, the environment information, and the current running state, to improve the running stability of the vehicle.
Generally, the greater the curvature of the turn and/or the length of the turn and/or the slope of the turn, the poorer the running stability of the vehicle when passing through such a turn, and therefore, the greater the magnitude of the increase in the negative pressure value, so that the vehicle is more closely driven inside the turn, improving the running stability; the smaller the curvature and/or length of the turn and/or the slope of the turn, the better the running stability of the vehicle through such turns, and thus an excessively large negative pressure value is not required to control the running stability of the vehicle, the smaller the magnitude of the increase in the negative pressure value. Generally, the greater the running speed of the vehicle is likely to cause the vehicle to deviate from a curve, so that the greater the magnitude of increase in the negative pressure value is, so that the vehicle is more attached to the inside of the curve to run, and the running stability is improved; the smaller the running speed of the vehicle, the better the stability of running of the vehicle itself, so that an excessively large negative pressure value is not required to control the stability of running of the vehicle, and the smaller the magnitude of the increase in the negative pressure value.
In one embodiment, the driving environment is a pit, and the three-dimensional information includes at least one of: the depth of the pit and the length of the pit in the running direction of the vehicle.
In one embodiment, the driving environment is a pit, and step S404 includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
When the running environment is a pit, since the wheels of the vehicle are easily sunk into the pit, in order to avoid the wheels of the vehicle from being sunk into the pit so that the vehicle can smoothly pass through the pit, the vehicle control device may control the negative pressure system so that the negative pressure to which the vehicle is subjected is reduced, based on the environment information and the current running state.
Generally, the deeper the pit depth and/or the longer the pit length in the vehicle travel direction, the greater the difficulty of the vehicle passing through such pits, and therefore the greater the magnitude of the negative pressure decrease; the shallower the depth of the pit and/or the shorter the length of the pit in the vehicle running direction, the less difficult the vehicle passes through such a pit, and the smaller the magnitude of the negative pressure decrease, so that the vehicle passes through the pit smoothly. Generally, the greater the running speed of the vehicle is, which is likely to cause the vehicle to turn over, so that the smaller the magnitude of the negative pressure decrease is, so that the vehicle can run closer to the ground, and the running stability is improved; the smaller the running speed of the vehicle, the better the stability of running of the vehicle itself, so that a smaller positive pressure value is not required to control the stability of running of the vehicle, and the larger the magnitude of the negative pressure decrease.
In one embodiment, the driving environment is a bump, and the three-dimensional information includes at least one of: the height of the protrusion, the length of the protrusion in the vehicle running direction.
In one embodiment, the driving environment is a bump, and step S404 includes: the controlling the negative pressure system includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
When the driving environment is convex, the difficulty of the vehicle passing through the convex is high, and the driving stability of the vehicle is poor, so that the vehicle control device can control the negative pressure system according to the environment information and the current driving state so as to enable the negative pressure borne by the vehicle to rise.
Generally, the higher the height of the bump and/or the longer the length of the bump in the running direction of the vehicle, the poorer the running stability of the vehicle through such a bump, and therefore the larger the magnitude of the decrease in the increase in the negative pressure value, so that the vehicle is more attached to the bump for running, improving the running stability; the lower the height of the bump and/or the shorter the length of the bump in the vehicle running direction, the better the running stability of the vehicle through such a bump, and an excessively large negative pressure value is not required to control the running stability of the vehicle, and therefore the smaller the magnitude of the decrease in the increase in the negative pressure value. Generally, the greater the running speed of the vehicle is, which is likely to cause the vehicle to turn over, so that the greater the reduction range of the negative pressure value rise is, so that the vehicle is more attached to the bulge for running, and the running stability is improved; the smaller the running speed of the vehicle, the better the stability of running of the vehicle itself, and therefore, an excessively large negative pressure value is not required to control the stability of running of the vehicle, and the smaller the decrease width of the increase in the negative pressure value.
S405, before the time reaches the first time, controlling the shock absorbing system according to the three-dimensional information of the running environment and the current running state.
It should be noted that, step S405 is optional, that is, only the negative pressure system of the vehicle may be controlled according to the three-dimensional information of the driving environment and the current driving state, and the shock absorbing system may not be controlled according to the three-dimensional information of the driving environment and the current driving state.
In one embodiment, controlling the shock absorbing system includes: the vehicle control device may adjust the first suspension assembly to raise the vehicle body and/or adjust the second suspension assembly to lower the vehicle body prior to reaching the uphill grade; the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
Before the vehicle reaches the uphill, the vehicle control device can raise the front shock assembly of the shock absorbing system and lower the rear shock assembly of the shock absorbing system so as to further improve the running stability of the vehicle.
In one embodiment, the vehicle control device may increase the negative pressure value of the negative pressure system of the vehicle and increase the damping of the shock absorbing system when the vehicle passes an uphill, so that the vehicle control device may smoothly pass an uphill point to avoid bouncing of the vehicle.
In one embodiment, the controlling the shock absorbing system includes: before reaching the downhill slope, adjusting the first suspension assembly to lower the vehicle body, and/or adjusting the second suspension assembly to raise the vehicle body; the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly. The front suspension assembly and the rear suspension assembly may each include one, two or more suspension members.
Before the vehicle reaches the downhill, the vehicle control device can lower the front shock absorber of the shock absorber system and raise the rear shock absorber of the shock absorber system so as to further improve the running stability of the vehicle.
In one embodiment, the vehicle control device may reduce the negative pressure value of the negative pressure system of the vehicle and reduce the damping of the shock absorbing system when the vehicle passes downhill so that the vehicle control device may smoothly pass the downhill point to avoid bouncing of the vehicle.
In one embodiment, when the running environment is a turn, the vehicle control device may acquire a first direction in which the vehicle is turned while running on the turn; decreasing the damping of the first suspension assembly and/or increasing the damping of the second suspension assembly; the first shock assembly is a shock assembly of the vehicle in a first direction, and the second shock assembly is a shock assembly of the vehicle in a direction away from the first direction.
For example, when the vehicle is turning left, the vehicle control device may take the first direction of the turn to the left, thereby reducing the damping of the left side suspension assembly, and/or increasing the damping of the suspension assembly away from the left side. In this case, the first suspension assembly may be one, two or more suspension members on the left side of the vehicle, and the second suspension assembly may be one, two or more suspension members on the right side of the vehicle.
In one embodiment, when the driving environment is turning, the vehicle control device may acquire the driving speed of the vehicle through the wheel speed sensor, and when the driving speed is greater than a preset speed threshold, the vehicle control device may perform a spot brake process on the wheels of the vehicle in the first direction, so as to avoid the vehicle from turning over due to too high speed of the vehicle in the first direction, and improve the driving stability of the vehicle.
Therefore, by implementing the method described in fig. 4, the vehicle control device can control the negative pressure control system and the shock absorbing system of the vehicle according to the environmental information and the current running state, so that the vehicle can stably pass through various running environments, the running stability of the vehicle is improved, and higher running experience is brought to the user.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the invention. Specifically, the vehicle control device includes: a processor 501, a memory 502 and a negative pressure control system 503.
The negative pressure control system 503 is configured to control a negative pressure system of the vehicle to provide negative pressure to the vehicle.
The memory 502 may include volatile memory (volatile memory); memory 502 may also include non-volatile memory (nonvolatile memory); memory 502 may also include a combination of the types of memory described above. The processor 501 may be a central processing unit (central processing unit, CPU). The processor 501 may further comprise a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), or any combination thereof.
Optionally, the vehicle control device may further include a communication interface, where the communication interface is configured to send information to the server, such as sending a request for acquiring the high-precision map to the server.
Referring to fig. 6, fig. 6 is a schematic structural diagram of another vehicle control device according to an embodiment of the invention. Specifically, the vehicle control device includes: processor 601, memory 602, and negative pressure control system 603. The vehicle control device may further include a shock absorbing control system 604, where the shock absorbing control system 604 is configured to control a shock absorbing system of a vehicle to absorb shock to the vehicle.
In other embodiments, the vehicle control device may further include a sensor (not shown) for acquiring a driving environment in front of the vehicle and environmental information of the driving environment, where the sensor may include at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor, which are specifically described above and will not be repeated herein.
Optionally, in the above embodiment, the memory is configured to store program instructions. The processor may call program instructions stored in the memory for performing the steps of:
acquiring a running environment in front of a vehicle running and environment information of the running environment;
acquiring the current running state of the vehicle;
and controlling a negative pressure system of the vehicle according to the environment information and the current running state.
Alternatively, the processor may call program instructions stored in memory for performing the steps of:
and controlling a shock absorbing system of the vehicle according to the environment information and the current running state.
Alternatively, the processor may call program instructions stored in memory for performing the steps of:
Controlling a shock absorbing system of the vehicle according to the environmental information and the current running state;
wherein, the shock absorbing system comprises a first shock absorbing assembly and a second shock absorbing assembly.
Alternatively, the processor may call program instructions stored in memory for performing the steps of:
judging whether the running environment is a preset running environment or not;
and if the running environment is the preset running environment, executing the step of controlling a negative pressure system of the vehicle according to the environment information and the current running state.
Alternatively, the processor may call program instructions stored in memory for performing the steps of:
determining a first time when the vehicle arrives at the running environment according to the running speed of the vehicle and the distance;
and before the time reaches the first time, controlling the negative pressure system according to the environment information and the current running state.
Optionally, the driving environment is an uphill slope, and the processor may call program instructions stored in the memory, for executing the following steps:
according to the three-dimensional information of the running environment and the running speed, the negative pressure system is controlled to adjust the negative pressure applied to the vehicle, and/or the shock absorbing system of the vehicle is controlled to adjust the height of the vehicle body of the vehicle.
Optionally, the driving environment is an uphill slope.
Optionally, the three-dimensional information includes at least one of: slope, slope length.
Optionally, the driving environment is an uphill, and the processor may call program instructions stored in the memory for performing the steps of:
the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
Optionally, the driving environment is an uphill slope, and the processor may call program instructions stored in the memory, for executing the following steps:
before reaching the uphill, adjusting the first suspension assembly to raise the vehicle body and/or adjusting the second suspension assembly to lower the vehicle body;
the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
Optionally, the driving environment is a downhill.
Optionally, the three-dimensional information includes at least one of: slope, slope length.
Optionally, the driving environment is a downhill slope, and the processor may call program instructions stored in the memory, for performing the following steps:
the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
Optionally, the driving environment is a downhill slope, and the processor may call program instructions stored in the memory, for executing the following steps:
Before reaching the downhill slope, adjusting the first suspension assembly to lower the vehicle body, and/or adjusting the second suspension assembly to raise the vehicle body;
the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
Optionally, the driving environment is a turn.
Optionally, the three-dimensional information includes at least one of: curvature of the turn, length of the turn, slope of the turn.
Optionally, the driving environment is a turn, and the processor may call program instructions stored in the memory, for executing the following steps:
acquiring a first direction in which the vehicle turns while traveling on the turn;
the negative pressure system is controlled so that a negative pressure to which the vehicle is subjected in a first direction increases.
Optionally, the driving environment is a turn, and the processor may call program instructions stored in the memory, for executing the following steps:
acquiring a first direction in which the vehicle turns while traveling on the turn;
decreasing the damping of the first suspension assembly and/or increasing the damping of the second suspension assembly;
the first shock assembly is a shock assembly of the vehicle in a first direction, and the second shock assembly is a shock assembly of the vehicle in a direction away from the first direction.
Optionally, the driving environment is a pit.
Optionally, the three-dimensional information includes at least one of: the depth of the pit and the length of the pit in the running direction of the vehicle.
Optionally, the driving environment is a pit, and the processor may call program instructions stored in the memory, for executing the following steps:
the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
Optionally, the driving environment is a bump.
Optionally, the three-dimensional information includes at least one of: the height of the protrusion, the length of the protrusion in the vehicle running direction.
Optionally, the driving environment is a bump, and the processor may call program instructions stored in the memory, for executing the following steps:
the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
There is also provided in an embodiment of the invention a vehicle comprising a negative pressure system for providing a negative pressure to the vehicle, a shock absorbing system for shock absorbing the vehicle, and a vehicle control device in the previous embodiment for controlling the negative pressure system and in some embodiments also for controlling the shock absorbing system.
In an embodiment of the present invention, a computer readable storage medium is further provided, where the computer readable storage medium stores a computer program, where the computer program when executed by a processor implements a vehicle control method described in the embodiment corresponding to fig. 2 to fig. 4 of the present invention, and may also implement a vehicle control device of the embodiment of the present invention described in fig. 5, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the vehicle control apparatus according to any one of the foregoing embodiments, such as a hard disk or a memory of a device. The computer-readable storage medium may be an external storage device of the vehicle control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided on the device. Further, the computer readable storage medium may also include both internal storage units and external storage devices of the device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
In an embodiment of the present invention, a vehicle is further provided, where the vehicle includes a negative pressure system and the vehicle control device described in fig. 5, where the negative pressure system is configured to provide negative pressure to the vehicle.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (58)
1. A vehicle control method characterized by comprising:
acquiring a running environment in front of a vehicle running and environment information of the running environment;
acquiring the current running state of the vehicle; judging whether the running environment in front of the running of the vehicle comprises a preset running environment or not;
If the running environment in front of the running of the vehicle comprises the preset running environment, controlling a negative pressure system of the vehicle according to the environment information and the current running state;
wherein the controlling the negative pressure system of the vehicle includes:
if the preset running environment comprises a pit, controlling the negative pressure system to reduce the negative pressure suffered by the vehicle, wherein the environment information comprises at least one environment parameter used for representing the depth of the pit and the length of the pit in the running direction of the vehicle, and the larger the numerical value of the environment parameter is, the larger the magnitude of the negative pressure reduction suffered by the vehicle is;
and if the preset running environment comprises a bulge, controlling the negative pressure system to enable the negative pressure born by the vehicle to rise, wherein the environment information comprises at least one environment parameter used for representing the height of the bulge and the length of the bulge in the running direction of the vehicle, and the larger the value of the environment parameter is, the larger the amplitude of the negative pressure born by the vehicle is.
2. The method of claim 1, wherein the controlling the negative pressure system of the vehicle further comprises one or more of:
If the preset running environment comprises an ascending slope, controlling the negative pressure system to enable the negative pressure to be reduced, wherein the environment information comprises at least one environment parameter used for representing the gradient and the gradient length, and the larger the value of the environment parameter is, the smaller the magnitude of the negative pressure reduction to be carried out on the vehicle is;
if the preset running environment comprises a downhill slope, controlling the negative pressure system to enable the negative pressure born by the vehicle to rise, wherein the environment information comprises at least one environment parameter used for representing the gradient and the gradient length, and the larger the numerical value of the environment parameter is, the larger the amplitude of the negative pressure born by the vehicle is;
and if the preset driving environment comprises turning, controlling the negative pressure system to enable the negative pressure on one side of the turning direction of the vehicle to be increased, wherein the environment information comprises at least one environment parameter used for representing turning curvature, turning length and turning inclination, and the larger the value of the environment parameter is, the larger the magnitude of the negative pressure increase on the vehicle is.
3. The method according to claim 1, wherein said controlling the negative pressure system of the vehicle according to the environmental information and the current running state comprises:
And controlling the vehicle to adjust a negative pressure system of the vehicle before reaching the preset running environment according to the environment information and the current running state.
4. A method according to any one of claims 1 to 3, further comprising: and controlling a shock absorbing system of the vehicle according to the environment information and the current running state.
5. The method of claim 4, wherein the controlling the shock system comprises one or more of:
if the preset running environment comprises an ascending slope and/or a pit, adjusting the front shock assembly of the vehicle to be lifted and/or adjusting the rear shock assembly of the vehicle to be lowered;
if the preset running environment comprises a downhill slope and/or a bulge, adjusting the front shock assembly of the vehicle to be lowered and/or adjusting the rear shock assembly of the vehicle to be raised;
if the predetermined driving environment includes a turn, damping of the suspension assembly on one side in the turning direction is reduced, and/or damping of the suspension assembly on the opposite side in the turning direction is increased.
6. The method of claim 4, the controlling a suspension system of the vehicle based on the environmental information and the current driving state, comprising:
And controlling the vehicle to control a shock absorbing system of the vehicle before reaching the preset running environment according to the environment information and the current running state.
7. The method according to claim 1, wherein the acquiring the running environment in front of the vehicle and the environment information of the running environment includes:
the running environment in front of the vehicle and the environmental information of the running environment are acquired by at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor provided in the vehicle.
8. The method according to claim 1, wherein the acquiring the running environment in front of the vehicle and the environment information of the running environment includes:
and acquiring a running environment in front of the vehicle and environment information of the running environment according to a high-precision map corresponding to the position of the vehicle.
9. The method of claim 1, wherein the environmental information includes a distance of the current location of the vehicle to the driving environment, the current driving state including a driving speed, the method further comprising:
determining a first time when the vehicle arrives at the running environment according to the running speed of the vehicle and the distance;
The controlling the negative pressure system of the vehicle according to the environmental information and the current running state comprises the following steps:
and before the time reaches the first time, controlling the negative pressure system according to the environment information and the current running state.
10. The method of claim 9, wherein the environmental information further comprises three-dimensional information of the driving environment, the method further comprising:
according to the three-dimensional information of the running environment and the running speed, the negative pressure system is controlled to adjust the negative pressure applied to the vehicle, and/or the shock absorbing system of the vehicle is controlled to adjust the height of the vehicle body of the vehicle.
11. The method of claim 10, wherein the driving environment is an uphill slope.
12. The method of claim 11, wherein the three-dimensional information comprises at least one of: slope, slope length.
13. The method of claim 11, wherein the controlling the negative pressure system comprises: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
14. The method of claim 11, wherein the controlling the shock system comprises: before reaching the uphill, adjusting the first suspension assembly to raise the vehicle body and/or adjusting the second suspension assembly to lower the vehicle body;
The first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
15. The method of claim 10, wherein the driving environment is a downhill.
16. The method of claim 15, wherein the three-dimensional information comprises at least one of: slope, slope length.
17. The method of claim 15, wherein the controlling the negative pressure system comprises: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
18. The method of claim 15, wherein the controlling the suspension system comprises: before reaching the downhill slope, adjusting the first suspension assembly to lower the vehicle body, and/or adjusting the second suspension assembly to raise the vehicle body;
the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
19. The method of claim 10, wherein the driving environment is a turn.
20. The method of claim 19, wherein the three-dimensional information includes at least one of: curvature of the turn, length of the turn, slope of the turn.
21. The method of claim 19, wherein the controlling the negative pressure system comprises:
acquiring a first direction in which the vehicle turns while traveling on the turn;
the negative pressure system is controlled so that a negative pressure to which the vehicle is subjected in a first direction increases.
22. The method of claim 19, wherein the controlling the suspension system comprises:
acquiring a first direction in which the vehicle turns while traveling on the turn;
decreasing the damping of the first suspension assembly and/or increasing the damping of the second suspension assembly;
the first shock assembly is a shock assembly of the vehicle in a first direction, and the second shock assembly is a shock assembly of the vehicle in a direction away from the first direction.
23. The method of claim 10, wherein the travel environment is a pit.
24. The method of claim 23, wherein the three-dimensional information comprises at least one of: the depth of the pit and the length of the pit in the running direction of the vehicle.
25. The method of claim 23, wherein the controlling the negative pressure system comprises: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
26. The method of claim 10, wherein the driving environment is a bump.
27. The method of claim 26, wherein the three-dimensional information comprises at least one of: the height of the protrusion, the length of the protrusion in the vehicle running direction.
28. The method of claim 26, wherein the controlling the negative pressure system comprises: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
29. A vehicle control apparatus characterized by comprising: a negative pressure control system, a memory, and a processor;
the negative pressure control system is used for controlling the negative pressure system of the vehicle to provide negative pressure for the vehicle;
the memory is used for storing program instructions;
the processor executes the program instructions stored by the memory, and when the program instructions are executed, the processor is configured to perform the steps of:
acquiring a running environment in front of a vehicle running and environment information of the running environment;
acquiring the current running state of the vehicle;
judging whether the running environment in front of the running of the vehicle comprises a preset running environment or not;
if the running environment in front of the running of the vehicle comprises the preset running environment, controlling a negative pressure system of the vehicle according to the environment information and the current running state;
Wherein the controlling the negative pressure system of the vehicle includes:
if the preset running environment comprises a pit, controlling the negative pressure system to reduce the negative pressure suffered by the vehicle, wherein the environment information comprises at least one environment parameter used for representing the depth of the pit and the length of the pit in the running direction of the vehicle, and the larger the numerical value of the environment parameter is, the larger the magnitude of the negative pressure reduction suffered by the vehicle is;
and if the preset running environment comprises a bulge, controlling the negative pressure system to enable the negative pressure born by the vehicle to rise, wherein the environment information comprises at least one environment parameter used for representing the height of the bulge and the length of the bulge in the running direction of the vehicle, and the larger the value of the environment parameter is, the larger the amplitude of the negative pressure born by the vehicle is.
30. The vehicle control device of claim 29, wherein the controlling the negative pressure system of the vehicle further comprises one or more of:
if the preset running environment comprises an ascending slope, controlling the negative pressure system to enable the negative pressure to be reduced, wherein the environment information comprises at least one environment parameter used for representing the gradient and the gradient length, and the larger the value of the environment parameter is, the smaller the magnitude of the negative pressure reduction to be carried out on the vehicle is;
If the preset running environment comprises a downhill slope, controlling the negative pressure system to enable the negative pressure born by the vehicle to rise, wherein the environment information comprises at least one environment parameter used for representing the gradient and the gradient length, and the larger the numerical value of the environment parameter is, the larger the amplitude of the negative pressure born by the vehicle is;
and if the preset driving environment comprises turning, controlling the negative pressure system to enable the negative pressure on one side of the turning direction of the vehicle to be increased, wherein the environment information comprises at least one environment parameter used for representing turning curvature, turning length and turning inclination, and the larger the value of the environment parameter is, the larger the magnitude of the negative pressure increase on the vehicle is.
31. The vehicle control apparatus according to claim 29, characterized in that the controlling the negative pressure system of the vehicle according to the environmental information and the current running state includes:
and controlling the vehicle to adjust a negative pressure system of the vehicle before reaching the preset running environment according to the environment information and the current running state.
32. The vehicle control apparatus according to any one of claims 29 to 31, characterized in that the apparatus further comprises a shock control system for controlling a shock system of the vehicle;
The processor is further configured to perform the steps of:
and controlling a shock absorbing system of the vehicle according to the environment information and the current running state.
33. The vehicle control apparatus of claim 32, wherein the controlling the suspension system comprises one or more of:
if the preset running environment comprises an ascending slope and/or a pit, adjusting the front shock assembly of the vehicle to be lifted and/or adjusting the rear shock assembly of the vehicle to be lowered;
if the preset running environment comprises a downhill slope and/or a bulge, adjusting the front shock assembly of the vehicle to be lowered and/or adjusting the rear shock assembly of the vehicle to be raised;
if the predetermined driving environment includes a turn, damping of the suspension assembly on one side in the turning direction is reduced, and/or damping of the suspension assembly on the opposite side in the turning direction is increased.
34. The vehicle control apparatus according to claim 32, said controlling a shock absorbing system of the vehicle according to the environmental information and the current running state, comprising:
and controlling the vehicle to control a shock absorbing system of the vehicle before reaching the preset running environment according to the environment information and the current running state.
35. The vehicle control apparatus according to claim 29, characterized in that the acquiring of the running environment in front of the vehicle and the environment information of the running environment includes:
the running environment in front of the vehicle and the environmental information of the running environment are acquired by at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor provided in the vehicle.
36. The vehicle control apparatus according to claim 29, characterized in that the acquiring of the running environment in front of the vehicle and the environment information of the running environment includes:
and acquiring a running environment in front of the vehicle and environment information of the running environment according to a high-precision map corresponding to the position of the vehicle.
37. The vehicle control apparatus according to claim 29, wherein the environment information includes a distance of the current position of the vehicle to the running environment, the current running state includes a running speed, the processor is further configured to execute the steps of:
determining a first time when the vehicle arrives at the running environment according to the running speed of the vehicle and the distance;
the controlling the negative pressure system of the vehicle according to the environmental information and the current running state comprises the following steps:
And before the time reaches the first time, controlling the negative pressure system according to the environment information and the current running state.
38. The vehicle control apparatus according to claim 37, wherein the environment information further includes three-dimensional information of the running environment, the processor further configured to execute the steps of:
according to the three-dimensional information of the running environment and the running speed, the negative pressure system is controlled to adjust the negative pressure applied to the vehicle, and/or the shock absorbing system of the vehicle is controlled to adjust the height of the vehicle body of the vehicle.
39. The vehicle control apparatus according to claim 38, characterized in that the running environment is an ascending slope.
40. The vehicle control device of claim 39, wherein the three-dimensional information includes at least one of: slope, slope length.
41. The vehicle control apparatus according to claim 39, characterized in that the controlling the negative pressure system includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
42. The vehicle control apparatus of claim 39, wherein the controlling the suspension system comprises: before reaching the uphill, adjusting the first suspension assembly to raise the vehicle body and/or adjusting the second suspension assembly to lower the vehicle body;
The first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
43. The vehicle control apparatus according to claim 38, characterized in that the running environment is a downhill.
44. The vehicle control apparatus of claim 43, wherein the three-dimensional information includes at least one of: slope, slope length.
45. The vehicle control apparatus according to claim 43, wherein said controlling said negative pressure system includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
46. The vehicle control apparatus of claim 43, wherein said controlling said suspension system comprises: before reaching the downhill slope, adjusting the first suspension assembly to lower the vehicle body, and/or adjusting the second suspension assembly to raise the vehicle body;
the first shock assembly is a front shock assembly, and the second shock assembly is a rear shock assembly.
47. The vehicle control apparatus according to claim 38, characterized in that the running environment is a turn.
48. The vehicle control device of claim 47, wherein the three-dimensional information includes at least one of: curvature of the turn, length of the turn, slope of the turn.
49. The vehicle control apparatus according to claim 47, characterized in that the controlling the negative pressure system includes:
acquiring a first direction in which the vehicle turns while traveling on the turn;
the negative pressure system is controlled so that a negative pressure to which the vehicle is subjected in a first direction increases.
50. The vehicle control apparatus of claim 47, wherein the controlling the suspension system comprises:
acquiring a first direction in which the vehicle turns while traveling on the turn;
decreasing the damping of the first suspension assembly and/or increasing the damping of the second suspension assembly;
the first shock assembly is a shock assembly of the vehicle in a first direction, and the second shock assembly is a shock assembly of the vehicle in a direction away from the first direction.
51. The vehicle control apparatus according to claim 38, characterized in that the running environment is a pit.
52. The vehicle control apparatus of claim 51, wherein the three-dimensional information includes at least one of: the depth of the pit and the length of the pit in the running direction of the vehicle.
53. The vehicle control apparatus according to claim 51, characterized in that the controlling the negative pressure system includes: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected is reduced.
54. The vehicle control apparatus according to claim 38, characterized in that the running environment is a bump.
55. The vehicle control apparatus of claim 54, wherein the three-dimensional information includes at least one of: the height of the protrusion, the length of the protrusion in the vehicle running direction.
56. The vehicle control apparatus of claim 54, wherein the controlling the negative pressure system comprises: the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
57. A vehicle comprising a negative pressure system for providing negative pressure to the vehicle, a shock absorbing system for shock absorbing the vehicle, and a vehicle control apparatus as claimed in any one of claims 29 to 56.
58. A computer-readable storage medium, comprising: the computer-readable storage medium stores a computer program for executing the vehicle control method according to any one of claims 1 to 28 when executed by a processor.
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| CN114148137A (en) * | 2020-03-13 | 2022-03-08 | 北京百度网讯科技有限公司 | Vehicle running stability control method, device, equipment and storage medium |
| CN111959620A (en) * | 2020-07-23 | 2020-11-20 | 南昌大学 | A anti side air current interference device of bionical fin structure for passenger train |
| CN112092563A (en) * | 2020-09-11 | 2020-12-18 | 广州小鹏汽车科技有限公司 | Vehicle control method, control device, vehicle-mounted terminal and vehicle |
| CN113147308A (en) * | 2021-03-30 | 2021-07-23 | 浙江工业大学 | Suspension pre-aiming control method based on binocular vision technology and suspension control device |
| CN114228499A (en) * | 2021-12-09 | 2022-03-25 | 华人运通(上海)云计算科技有限公司 | Electric automobile control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110770054A (en) | 2020-02-07 |
| WO2020062229A1 (en) | 2020-04-02 |
| CN116852929A (en) | 2023-10-10 |
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