CN115366600A

CN115366600A - Vehicle control method, device, computer equipment and computer program product

Info

Publication number: CN115366600A
Application number: CN202211019253.4A
Authority: CN
Inventors: 张伟伟; 郑烨峰; 梁伟; 牟鹏伟
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2022-08-24
Filing date: 2022-08-24
Publication date: 2022-11-22

Abstract

The application relates to a vehicle control method, a vehicle control device, a computer device and a computer program product. The method comprises the following steps: determining a vehicle chassis height based on a first height difference of the first radar and the ground; the first radar is arranged on a chassis frame of the vehicle; determining a current body height based on a second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is arranged at the highest point of the vehicle; determining the height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle and the current height of the vehicle body; and if the fact that the vehicle cannot pass through the height-limiting barrier with the current vehicle body height is determined according to the current vehicle body height and the height of the height-limiting barrier, and the fact that the vehicle can pass through the height-limiting barrier with the lowest vehicle body height is determined, the electronic control air suspension system is controlled to adjust the current vehicle body height of the vehicle to the lowest vehicle body height. By adopting the method, all types of height-limiting rods or bridge openings can be accurately detected, and the calculation amount is small, so that the calculation efficiency is improved.

Description

Vehicle control method, device, computer equipment and computer program product

Technical Field

The present application relates to the field of automotive technologies, and in particular, to a vehicle control method, apparatus, computer device, and computer program product.

Background

When the vehicle travels, when running into limit for height pole or bridge opening, if judge inaccurate to the height, have the risk of scraping the roof for the vehicle can't pass through. At present, in the vehicle driving process, there are two ways of measuring the height of a height limiting rod or a bridge opening arranged on a road in front, wherein the first way is as follows: constructing a recognition model, recognizing the input image data of the height-limiting indicator, and outputting a specific numerical value on the height-limiting indicator; the second method comprises the following steps: the depth-of-field image of the road in front is converted into three-dimensional point cloud, and the height of the height limiting rod on the road can be detected through a detection algorithm. However, in the first mode, because the recognition model has great limitations, the height of a non-standard height-limiting sign or a height-adjustable height-limiting rod cannot be measured; the second method has a large calculation amount for detecting the height-limiting rod in the three-dimensional point cloud, so that the calculation efficiency is low.

Disclosure of Invention

In view of the above, there is a need to provide a vehicle control method, apparatus, computer device and computer program product that can accurately detect all types of height-limiting rods or bridge openings.

In a first aspect, the present application provides a vehicle control method. The method comprises the following steps:

determining a vehicle chassis height based on a first height difference between the first radar and the ground; the first radar is arranged on a chassis frame of the vehicle;

determining a current body height based on a second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is arranged at the highest point of the vehicle;

determining the height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle and the current height of the vehicle body;

and if the fact that the vehicle cannot pass through the height-limiting barrier with the current vehicle body height is determined and the fact that the vehicle can pass through the height-limiting barrier with the lowest vehicle body height is determined according to the current vehicle body height and the height of the height-limiting barrier, controlling the electronic control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height.

In one embodiment, determining the height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle, and the current body height, includes:

acquiring a direction of the height-limiting obstacle relative to the second radar based on the second radar;

if the height-limiting barrier is in the first direction, acquiring a first function corresponding to the first direction, and determining the height of the height-limiting barrier based on the first function; the first function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

In one embodiment, the method further comprises:

if the height-limiting barrier is in the second direction, acquiring a second function corresponding to the second direction, and determining the height of the height-limiting barrier based on the second function; the second function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

In one embodiment, the method further comprises: the lowest height of the vehicle body is stored in the storage unit;

if the lowest height of the vehicle body is greater than the height of the height-limiting barrier, sound and light alarm is carried out and the vehicle is controlled to decelerate.

In one embodiment, if it is determined that the vehicle cannot pass through the height-limiting obstacle at the current body height and it is determined that the vehicle can pass through the height-limiting obstacle at the minimum body height according to the current body height and the height of the height-limiting obstacle, the electronically controlled air suspension system is controlled to adjust the body of the vehicle to the minimum body height, including:

if the current height of the vehicle body is greater than the height of the height-limiting barrier, judging whether the lowest height of the vehicle body is greater than the height of the barrier;

if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, judging whether the current speed of the vehicle is in a preset range;

and if the current speed of the vehicle is not in the preset range, controlling the vehicle to decelerate, and after the current speed of the vehicle is in the preset range, controlling the electric control air suspension system to adjust the current vehicle body height of the vehicle to be the lowest vehicle body height.

In one embodiment, the method further comprises:

acquiring the gradient of a running road surface of a vehicle;

and when the gradient is larger than the preset value, adjusting the current height of the vehicle body of the vehicle to the lowest height of the vehicle body.

In one embodiment, the method further comprises:

acquiring a height limit identification image of a height limit obstacle through a camera, and identifying a height limit value in the height limit identification image;

and comparing the height limiting value with the height value of the height limiting obstacle, and taking the height value with the smaller value as the final height of the height limiting obstacle.

In a second aspect, the present application further provides a vehicle control apparatus. The device comprises:

the first calculation module is used for determining the vehicle chassis height based on a first height difference between the first radar and the ground; the first radar is arranged on a chassis frame of the vehicle;

the second calculation module is used for determining the current vehicle body height based on a second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is arranged at the highest point of the vehicle;

the third calculation module is used for determining the height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle and the current height of the vehicle body;

and the control module is used for determining that the vehicle cannot pass through the height-limiting barrier by the current vehicle body height according to the current vehicle body height and the height of the height-limiting barrier, and controlling the electric control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height by determining that the vehicle can pass through the height-limiting barrier by the lowest vehicle body height.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

determining a vehicle chassis height based on a first height difference of the first radar and the ground; the first radar is arranged on a chassis frame of the vehicle;

determining the current body height based on a second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is installed at the highest point of the vehicle;

and if the fact that the vehicle cannot pass through the height-limiting barrier with the current vehicle body height is determined according to the current vehicle body height and the height of the height-limiting barrier, and the fact that the vehicle can pass through the height-limiting barrier with the lowest vehicle body height is determined, the electronic control air suspension system is controlled to adjust the current vehicle body height of the vehicle to the lowest vehicle body height.

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the vehicle control method, the vehicle control device, the computer equipment and the computer program product, the current vehicle body height is determined based on the second height difference between the second radar and the first radar and the vehicle chassis height, the height of the height limiting rod or the bridge opening is determined based on the third height difference between the second radar and the height limiting rod or the bridge opening and the current vehicle body height, the height of the height limiting rod or the bridge opening is measured by adopting the two radar ranging principle, all types of height limiting rods or bridge openings can be accurately detected, the calculated amount is small, and therefore the calculation efficiency is improved.

Drawings

FIG. 1 is a diagram of an exemplary vehicle control system;

FIG. 2 is a schematic flow chart diagram of a vehicle control method in one embodiment;

FIG. 3 is a schematic illustration of the installation of a first radar and a second radar in one embodiment;

FIG. 4 is a schematic flow chart diagram illustrating a method for determining the height of an elevation limiting barrier in accordance with another embodiment;

FIG. 5 is a schematic flow chart diagram of a method of determining a final height of a height-limiting obstacle in one embodiment;

FIG. 6 is a schematic illustration of a process for determining a gradient of a road surface on which a vehicle is traveling in one embodiment;

FIG. 7 is a schematic flow chart illustrating control of current body height based on vehicle speed, according to one embodiment;

FIG. 8 is a schematic flow chart of a most detailed embodiment of an embodiment;

FIG. 9 is a block diagram showing the construction of a vehicle control apparatus according to one embodiment;

FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The vehicle control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the first radar 102 is mounted on the chassis frame of the vehicle for measuring a first height difference of the first radar from the ground and transmitting the first height difference to the computer device 108. The second radar 104 is arranged at the highest point of the vehicle and mainly has two functions, wherein the first function is used for measuring the second height difference between the second radar and the first radar; the second function is used for measuring a third height difference between the second radar and the height-limiting obstacle; the second radar 104 transmits the measured second and third height differences to the computer device 108. The computer device 108 determines the vehicle chassis height according to the first height difference, determines the current vehicle body height based on the second height difference and the vehicle chassis height, determines the height of the height-limiting obstacle based on the third height difference and the current vehicle body height, determines that the vehicle cannot pass through the height-limiting obstacle at the current vehicle body height according to the current vehicle body height and the height of the height-limiting obstacle, and controls the electronic control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height if the vehicle can pass through the height-limiting obstacle at the lowest vehicle body height. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be placed on the cloud or other network server. The first radar 102 and the second radar 104 may be, but are not limited to, various solid-state laser radars, mechanical laser radars, and the like. The computer device 108 may be a personal computer, a laptop, a smartphone, a tablet, a smart car device, a portable wearable device, a server, and the like. The server may be implemented as a stand-alone server or as a server cluster consisting of a plurality of servers.

In one embodiment, as shown in fig. 2, a vehicle control method is provided, which is described by taking the method as an example applied to the computer device 108 in fig. 1, and comprises the following steps:

step 202, determining the height of a vehicle chassis based on a first height difference between a first radar and the ground; the first radar is mounted on a chassis frame of the vehicle.

The installation position of the first radar is shown in fig. 3, and the transmission direction of the pulse or millimeter wave of the first radar is perpendicular to the ground.

Specifically, a first radar is installed on a chassis frame of a vehicle, the first radar transmits pulse or millimeter waves perpendicular to the ground, the transmitting time is recorded, an echo signal is generated after the pulse or millimeter waves reach the ground, the receiving time of the echo signal received by the first radar is recorded, and a first height difference between the first radar and the ground is determined based on the transmitting time, the receiving time and the speed of the pulse or millimeter waves in air propagation, and can be approximately considered as the chassis height of the vehicle.

Step 204, determining the current body height based on the second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is mounted at the highest point of the vehicle.

Wherein the second radar mounting location is shown in figure 3. The highest point of the vehicle can be the highest point of the vehicle body, and can also be the highest point of goods loaded by the vehicle. The current body height is the sum of the second height difference and the vehicle chassis height.

The transmitting direction of the millimeter waves of the second radar is parallel to the ground, and the second radar is used for measuring a second height difference between the second radar and the first radar; a third height difference is measured between the second radar and the height-limiting obstacle.

Specifically, a second radar is installed at the highest point of the vehicle, detection is carried out on a horizontal angle of view and a vertical angle of view of the second radar, the second radar transmits pulses or millimeter waves perpendicular to the ground, the transmitting time is recorded, echo signals are generated after the pulses or millimeter waves detect the first radar, the receiving time of the second radar for receiving the echo signals is recorded, a second height difference between the second radar and the first radar is determined based on the transmitting time, the receiving time and the air propagation speed of the pulses or millimeter waves, and the sum of the second height difference and the vehicle chassis height is the current vehicle body height.

And step 206, determining the height of the height-limiting obstacle based on the third height difference between the second radar and the height-limiting obstacle and the current height of the vehicle body.

The first position relation is that the height of the second radar is greater than that of the height-limiting barrier, and at the moment, the height-limiting barrier is positioned below the second radar; the second positional relationship is that the height of the second radar is less than the height of the height-limiting obstacle, which is located above the second radar.

It should be noted that: the first height difference, the second height difference and the third height difference measured in the present embodiment are all measured based on the vehicle being on a level road surface.

Specifically, detecting a horizontal field angle and a vertical field angle of a second radar, transmitting pulses or millimeter waves by the second radar in parallel with the ground, recording transmitting time, generating echo signals after the pulses or millimeter waves detect a height-limiting obstacle, recording receiving time of the second radar for receiving the echo signals, and determining a third height difference between the second radar and the height-limiting obstacle based on the transmitting time, the receiving time and the air propagation speed of the pulses or millimeter waves; when the height limiting barrier is positioned below the second radar, the height of the height limiting barrier is equal to the difference between the current height of the vehicle body and the third height difference; and when the height limiting barrier is positioned above the second radar, the height of the height limiting barrier is equal to the difference between the third height difference and the current vehicle body height.

And 208, if the fact that the vehicle cannot pass through the height-limiting barrier at the current vehicle body height is determined according to the current vehicle body height and the height of the height-limiting barrier, and the fact that the vehicle can pass through the height-limiting barrier at the lowest vehicle body height is determined, controlling the electronic control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height.

The lowest height of the vehicle body is the lowest height of the vehicle which can be adjusted by the electronic control air suspension system; the minimum height of the vehicle body is a known parameter and is stored in a storage unit, wherein the storage unit can be a server or a memory of the controller.

When the calculated current height of the vehicle body is larger than the height of the height-limiting barrier, the vehicle cannot pass through the height-limiting barrier, at the moment, only the driving route can be replaced, the driving efficiency is reduced in such a way, and the freight cycle is prolonged. Therefore, in order to solve the above problems, in the present embodiment, the current vehicle height is adjusted through the electronically controlled air suspension system, and when the current vehicle height is greater than the height of the height-limiting obstacle, the electronically controlled air suspension system controls the current vehicle height to be reduced to the lowest vehicle height, so that the passing rate of the vehicle is increased, and the driving efficiency is improved.

Specifically, when the current vehicle body height is greater than the height of the height-limiting obstacle, it is determined that the vehicle cannot pass through the height-limiting obstacle at the current vehicle body height, and at the moment, the relationship between the lowest vehicle body height and the height of the height-limiting obstacle is further determined; if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, the fact that the vehicle can pass through the height-limiting barrier by the lowest height of the vehicle body is judged, and at the moment, the computer device 108 controls the electric control air suspension system to adjust the current height of the vehicle body to the lowest height of the vehicle body; if the lowest height of the vehicle body is larger than the height of the height-limiting obstacle, the fact that the vehicle cannot pass through the height-limiting obstacle at the lowest height of the vehicle body is judged, and at the moment, the computer device 108 conducts sound-light alarm and controls the vehicle to decelerate.

According to the vehicle control method, the current vehicle height is determined based on the second height difference between the second radar and the first radar and the vehicle chassis height, the height of the height-limited obstacle is determined based on the third height difference between the second radar and the height-limited obstacle and the current vehicle height, the height of the height-limited obstacle is measured by adopting the two radar ranging principle, all types of height-limited obstacles can be accurately detected, the calculated amount is small, and therefore the calculation efficiency is improved.

In one embodiment, since the corresponding functions for calculating the height of the height-limiting obstacle are different when the height of the height-limiting obstacle is in different directions relative to the second radar, in order to accurately calculate the height of the height-limiting obstacle, the second radar is configured to output not only the third height difference between the second radar and the height-limiting obstacle, but also the direction of the height-limiting obstacle relative to the second radar, and determine the height of the height-limiting obstacle according to different scenarios.

As shown in fig. 4, determining the height of the height-limiting obstacle based on the third height difference between the second radar and the height-limiting obstacle, and the current body height, includes:

step 402, acquiring a direction of the elevation-limiting obstacle relative to the second radar based on the second radar.

The third height difference output by the second radar not only contains a numerical value, but also comprises azimuth information of the height-limiting obstacle relative to the second radar. For example, the second radar outputs a third height difference, and azimuth information of the elevation limit obstacle with respect to the second radar, based on which the elevation limit obstacle is determined to be below or above the second radar.

It should be noted that: the manner in which the second radar outputs the azimuth information of the height-limiting obstacle with respect to the second radar is prior art and will not be described again here.

Specifically, the computer device 108 acquires the third height difference output by the second radar and the azimuth information of the height-restricting obstacle with respect to the second radar, and determines whether the height-restricting obstacle is below or above the second radar based on the direction of the height-restricting obstacle with respect to the second radar.

Step 404, if the height-limiting obstacle is in the first direction, acquiring a first function corresponding to the first direction, and determining the height of the height-limiting obstacle based on the first function; the first function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

If the height-limiting barrier is in the second direction, acquiring a second function corresponding to the second direction, and determining the height of the height-limiting barrier based on the second function; the second function comprises a mapping relation between the height of the height-limiting barrier, the third height difference and the current vehicle body height.

The first direction is below the second radar, and the first direction is above the second radar. Recording the first height difference, the second height difference and the third height difference as h1, h2 and h3 respectively; recording the current height of the vehicle body as h, wherein h = h1+ h2; the height of the height-limiting barrier is denoted as H. The first function is H = H1+ H2-H3. The second function is H = H1+ H2+ H3.

In this embodiment, the problem that the height of the height-limiting obstacle cannot be accurately calculated due to the unknown position relationship between the height of the height-limiting obstacle and the height of the second radar is solved through the azimuth information of the height-limiting obstacle, which is output by the second radar, relative to the second radar.

In one embodiment, due to the complex running environment of the vehicle, the precision of radar ranging is affected by the surrounding environment and the congested traffic environment, so that the running speed of the vehicle is affected and the safety problem caused by deceleration of the vehicle is avoided. To solve the above problem, as shown in fig. 5, the method of this embodiment further includes:

and 502, acquiring a height limit identification image of the height limit obstacle through the camera, and identifying a height limit value in the height limit identification image.

As shown in fig. 3, the camera is mounted on the front windshield of the vehicle and is used for identifying the height limit value in the height limit prompt mark of the height limit obstacle. The height limit identification image is an image of a height limit prompt identification shot by a camera. And identifying the height limit value in the height limit identification image through an image identification algorithm.

It should be noted that: the method for identifying the height-limit value in the height-limit identification image through the image identification algorithm belongs to the prior art, and is not described in detail herein.

Specifically, a camera is installed on a front windshield of the vehicle, and an image recognition algorithm is adopted to perform image recognition on a height limit identification image of a height limit prompt identification shot by the camera, so that a height limit value in the height limit identification image is obtained.

And step 504, comparing the height limit value with the height value of the height limit obstacle, and taking the height value with the small value as the final height of the height limit obstacle.

Wherein, the height of the height-limiting barrier is the calculated height value.

Specifically, the height limit value and the height of the height limit obstacle are compared, and the height value with the smaller value is selected as the final height of the height limit obstacle from the safety point of view.

In the embodiment, the height limit value in the height limit identification image is identified by adopting an image identification algorithm, the height limit value in the height limit identification image is compared with the calculated height of the height limit obstacle, and the height value with a small value is selected as the final height of the height limit obstacle from the safety perspective, so that the safety is improved.

In one embodiment, the above-mentioned method for measuring the height of the height-limiting obstacle by using the radar can only be applied when the vehicle runs on a horizontal road, and when the vehicle runs on a road with a slope, the above-mentioned method for measuring the height of the height-limiting obstacle cannot accurately measure the height of the height-limiting obstacle. To solve the above problem, as shown in fig. 6, the method of this embodiment further includes:

step 602, the gradient of the road surface on which the vehicle runs is obtained.

The gradient sensor is used for measuring the gradient of a running road surface of the vehicle and is arranged on a vehicle chassis.

And step 604, when the gradient is larger than the preset value, adjusting the current height of the vehicle body of the vehicle to the lowest height of the vehicle body.

When the slope value measured by the slope sensor is less than or equal to 5 degrees, the slope is small, and the height of the height-limited barrier is measured by adopting a radar. When the gradient value measured by the gradient sensor is greater than 5 °, the computer device 108 reminds the driver through the meter to adjust the current body height of the vehicle to the lowest body height.

In the embodiment, when the gradient of the running road surface of the vehicle is greater than the preset value, the current height of the vehicle body of the vehicle is adjusted to the lowest height of the vehicle body, and the problem that the vehicle cannot pass through a height-limiting barrier due to the fact that the current height of the vehicle body is not adjusted when the vehicle passes through the height-limiting barrier from the road surface with the gradient is avoided.

In one embodiment, in order to solve the above problem, where adjusting the height of the vehicle during high-speed driving of the vehicle is prone to cause a safety problem, as shown in fig. 7, determining that the vehicle cannot pass through the height-limiting obstacle at the current height of the vehicle body and that the vehicle can pass through the height-limiting obstacle at the lowest height of the vehicle body, based on the current height of the vehicle body and the height of the height-limiting obstacle, and controlling the electronically controlled air suspension system to adjust the height of the vehicle body to the lowest height of the vehicle body, the method includes:

and step 702, if the current height of the vehicle body is greater than the height of the height-limiting obstacle, judging whether the lowest height of the vehicle body is greater than the height of the obstacle.

Specifically, if the current body height is greater than the height of the height-limiting obstacle, it is determined that the vehicle cannot pass through the height-limiting obstacle at the current body height. At this time, the relationship between the minimum height of the vehicle body and the height of the height-limiting obstacle needs to be further judged. If the minimum height of the vehicle body is larger than the height of the height-limiting obstacle, the fact that the vehicle cannot pass through the height-limiting obstacle even when the current height of the vehicle body is adjusted is determined, the computer device 108 gives an instrument alarm, and under the condition that the driver does not decelerate, the computer device 108 controls the vehicle to decelerate until the vehicle stops. If the minimum height of the vehicle body is less than the height of the height-limiting obstacle, it is determined that the vehicle can pass through the height-limiting obstacle with the minimum height of the vehicle body, and the current height of the vehicle body needs to be adjusted to pass through the height-limiting obstacle, and step 704 is performed.

And 704, if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, judging whether the current speed of the vehicle is in a preset range.

Specifically, if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, it is determined that the vehicle can pass through the height-limiting barrier only by adjusting the current height of the vehicle body, and it is further determined whether the current speed of the vehicle is within the preset range, and if the current speed is within the preset range, the computer device 108 controls the electrically controlled air suspension system to adjust the current height of the vehicle body to the lowest height of the vehicle body. If the current speed is not within the preset range, go to step 706.

And step 706, if the current speed of the vehicle is not within the preset range, controlling the vehicle to decelerate, and after the current speed of the vehicle is within the preset range, controlling the electric control air suspension system to adjust the vehicle body of the vehicle to the lowest height of the vehicle body.

Specifically, if the current speed of the vehicle is not within the preset range, the computer device 108 controls the vehicle to decelerate, and after the current speed of the vehicle is within the preset range, the computer device 108 controls the electronically controlled air suspension system to adjust the current height of the vehicle body of the vehicle to the lowest height of the vehicle body.

According to the method and the device, before the current vehicle body height is adjusted, whether the current vehicle speed is within a safety range or not is judged, if not, the vehicle is controlled to decelerate, and after the current vehicle speed is within the safety range, the electronic control air suspension system is controlled to adjust the vehicle body of the vehicle to the lowest vehicle body height, so that the safety problem caused by adjusting the vehicle height in the high-speed driving process is avoided.

In one embodiment, the present embodiment provides the most detailed embodiment of the vehicle control method, as shown in fig. 8, specifically including the following steps:

step 802, determining a vehicle chassis height based on a first height difference between a first radar and the ground; the first radar is mounted on a vehicle chassis frame.

Step 804, determining a current body height based on a second height difference between a second radar and the first radar and the vehicle chassis height; the second radar is mounted at the highest point of the vehicle.

Step 806, determining a height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle and the current body height.

And 808, acquiring a height limit identification image of the height limit obstacle through a camera, and identifying a height limit value in the height limit identification image.

Step 810, comparing the height limit value with the height of the height limit obstacle, and taking the height value with a small value as the final height of the height limit obstacle.

Step 812, comparing the current vehicle body height with the final height of the height-limiting barrier; if the current vehicle body height is smaller than the final height of the height-limiting obstacle, executing step 814; if the current vehicle body height is greater than the final height of the height-limiting obstacle, step 816 is executed.

And 814, determining that the vehicle can pass through the height-limiting barrier at the current vehicle body height, and enabling the vehicle to pass through the height-limiting barrier at the normal speed.

Step 816, determining that the vehicle cannot pass through the height-limiting obstacle at the current vehicle body height, and judging whether the lowest vehicle body height is greater than the final height of the height-limiting obstacle; if the lowest height of the vehicle body is greater than the final height of the height-limiting obstacle, executing step 818; if the lowest height of the vehicle body is less than the height of the obstacle, step 820 is executed.

And 818, determining that the vehicle cannot pass through the height-limiting barrier even when the current vehicle body height is adjusted, performing sound-light alarm, and controlling the vehicle to decelerate until the vehicle stops under the condition that the driver does not decelerate.

Step 820, determining that the vehicle can pass through a height-limiting obstacle at the lowest height of the vehicle body, and judging whether the current speed of the vehicle is in a preset range; if the current speed of the vehicle is not within the preset range, go to step 822; if the current speed of the vehicle is within the predetermined range, step 824 is performed.

Step 822, controlling the vehicle to decelerate, and executing step 824 after the current speed of the vehicle is in a preset range.

Step 824, controlling an electronic control air suspension system to adjust the body of the vehicle to the lowest height of the body.

In the embodiment, the current vehicle body height is determined based on the second height difference between the second radar and the first radar and the vehicle chassis height, the height of the height-limiting obstacle is determined based on the third height difference between the second radar and the height-limiting obstacle and the current vehicle body height, and the height of the height-limiting obstacle is measured by adopting the principle of ranging through two radars, so that all types of height-limiting obstacles can be accurately detected, the calculated amount is small, and the calculation efficiency is improved;

the problem that the height of the height-limiting obstacle cannot be accurately calculated due to the fact that the position relation between the height of the height-limiting obstacle and the height of the second radar is unknown is solved through the azimuth information, relative to the second radar, of the height-limiting obstacle output by the second radar;

the height limit value in the height limit identification image is identified by adopting an image identification algorithm, the height limit value in the height limit identification image is compared with the calculated height of the height limit obstacle, and the height value with the small value is selected as the final height of the height limit obstacle from the safety perspective, so that the safety is improved;

before the current vehicle body height is adjusted, whether the current vehicle speed is within a safety range or not is judged, if not, the vehicle is controlled to decelerate, and after the current vehicle speed is within the safety range, the electric control air suspension system is controlled to adjust the vehicle body of the vehicle to the lowest vehicle body height, so that the safety problem caused by adjusting the vehicle height in the high-speed driving process is avoided.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a vehicle control device for realizing the vehicle control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so specific limitations in one or more vehicle control device embodiments provided below can be referred to the limitations on the vehicle control method in the foregoing, and are not described again here.

In one embodiment, as shown in fig. 9, there is provided a vehicle control apparatus including: a first computing module 100, a second computing module 200, a third computing module 300, and a control module 400, wherein:

a first calculation module 100 for determining a vehicle chassis height based on a first height difference of a first radar from the ground; the first radar is arranged on a chassis frame of the vehicle;

a second calculating module 200, configured to determine a current body height based on a second height difference between the second radar and the first radar, and the vehicle chassis height; the second radar is arranged at the highest point of the vehicle;

a third calculating module 300, configured to determine a height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle, and the current body height;

and the control module 400 is used for determining that the vehicle cannot pass through the height-limiting barrier at the current vehicle body height according to the current vehicle body height and the height of the height-limiting barrier, and controlling the electronic control air suspension system to adjust the current vehicle body height of the vehicle to the minimum vehicle body height when determining that the vehicle can pass through the height-limiting barrier at the minimum vehicle body height.

In one embodiment, the third calculation module 300 is further configured to acquire a direction of the elevation-limiting obstacle relative to the second radar based on the second radar; if the height-limiting barrier is in the first direction, acquiring a first function corresponding to the first direction, and determining the height of the height-limiting barrier based on the first function; the first function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

In one embodiment, the third calculation module 300 is further configured to, when the height-limiting obstacle is in the second direction, obtain a second function corresponding to the second direction, and determine the height of the height-limiting obstacle based on the second function; the second function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

In one embodiment, the control module 400 is also used for storing the lowest height of the vehicle body in the storage unit; if the lowest height of the vehicle body is greater than the height of the height-limiting barrier, sound and light alarm is carried out and the vehicle is controlled to decelerate.

In one embodiment, the control module 400 is further configured to determine whether the lowest height of the vehicle body is greater than the height of the height-limited obstacle when the current vehicle body height is greater than the height of the height-limited obstacle; if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, judging whether the current speed of the vehicle is in a preset range; and if the current speed of the vehicle is not in the preset range, controlling the vehicle to decelerate, and after the current speed of the vehicle is in the preset range, controlling the electric control air suspension system to adjust the current vehicle body height of the vehicle to be the lowest vehicle body height.

In one embodiment, the control module 400 is further configured to obtain a grade of a road surface on which the vehicle is traveling; and when the gradient is larger than the preset value, adjusting the current height of the vehicle body of the vehicle to the lowest height of the vehicle body.

In one embodiment, the control module 400 is further configured to acquire a height-limiting identification image of a height-limiting obstacle through the camera, and identify a height-limiting value in the height-limiting identification image; and comparing the height limiting value with the height of the height limiting barrier, and taking the height value with small value as the final height of the height limiting barrier.

The respective modules in the vehicle control apparatus described above may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer apparatus includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle control method. The display unit of the computer equipment is used for forming a visual and visible picture, and can be a display screen, a projection device or a virtual reality imaging device, the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the configuration shown in fig. 10 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

In one embodiment, the processor, when executing the computer program, further performs the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of:

the lowest height of the vehicle body is stored in the storage unit;

and if the current speed of the vehicle is not in the preset range, controlling the vehicle to decelerate, and controlling the electric control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height after the current speed of the vehicle is in the preset range.

acquiring the gradient of a running road surface of a vehicle;

and when the gradient is greater than the preset value, adjusting the current height of the vehicle body to the lowest height of the vehicle body.

acquiring a height limit identification image of a height limit barrier through a camera, and identifying a height limit value in the height limit identification image;

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

determining the current body height based on a second height difference between the second radar and the first radar and the vehicle chassis height; the second radar is arranged at the highest point of the vehicle;

In one embodiment, the computer program when executed by the processor further performs the steps of:

if the height-limiting barrier is in the first direction, acquiring a first function corresponding to the first direction, and determining the height of the height-limiting barrier based on the first function; the first function comprises a mapping relation between the height of the height-limiting barrier, the third height difference and the current vehicle body height.

the lowest height of the vehicle body is stored in the storage unit;

if the lowest height of the vehicle body is larger than the height of the height-limited barrier, sound-light alarm is carried out and the vehicle is controlled to decelerate.

acquiring the gradient of a running road surface of a vehicle;

acquiring a height limit identification image of a height limit obstacle through a camera, and identifying a height limit value in the height limit identification image; and comparing the height limiting value with the height value of the height limiting obstacle, and taking the height value with the smaller value as the final height of the height limiting obstacle.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:

acquiring the direction of the height-limiting obstacle relative to the second radar based on the second radar;

the lowest height of the vehicle body is stored in the storage unit;

if the lowest height of the vehicle body is smaller than the height of the height-limiting barrier, judging whether the current speed of the vehicle is in a preset range or not;

acquiring the gradient of a running road surface of a vehicle;

acquiring a height limit identification image of a height limit obstacle through a camera, and identifying a height limit value in the height limit identification image; and comparing the height limiting value with the height of the height limiting barrier, and taking the height value with small value as the final height of the height limiting barrier.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant country and region.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A vehicle control method, characterized by comprising:

determining a vehicle chassis height based on a first height difference of the first radar and the ground; the first radar is mounted on a chassis frame of the vehicle;

determining a current body height based on a second height difference of a second radar and the first radar and the vehicle chassis height; the second radar is installed at the highest point of the vehicle;

determining a height of a height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle and the current body height;

and if the vehicle cannot pass through the height-limiting barrier by the current vehicle body height and the vehicle can pass through the height-limiting barrier by the lowest vehicle body height, controlling an electric control air suspension system to adjust the current vehicle body height of the vehicle to the lowest vehicle body height.

2. The method of claim 1, wherein determining the height of the height-limiting obstacle based on a third height difference of the second radar and the height-limiting obstacle, and the current body height comprises:

if the height-limiting barrier is in a first direction, acquiring a first function corresponding to the first direction, and determining the height of the height-limiting barrier based on the first function; the first function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

3. The method according to any one of claim 2, characterized in that the method comprises:

if the height-limiting barrier is in a second direction, acquiring a second function corresponding to the second direction, and determining the height of the height-limiting barrier based on the second function; the second function comprises a mapping relation between the height of the height-limiting obstacle, the third height difference and the current vehicle body height.

4. The method of claim 1, wherein the lowest height of the vehicle body is stored in a storage unit;

the method further comprises the following steps:

and if the lowest height of the vehicle body is greater than the height of the height-limiting barrier, performing sound-light alarm and controlling the vehicle to decelerate.

5. The method of claim 1, wherein determining that the vehicle cannot pass the height-limiting obstacle at the current body height and determining that the vehicle can pass the height-limiting obstacle at the lowest body height based on the current body height and the height of the height-limiting obstacle, and controlling an electronically controlled air suspension system to adjust the current body height of the vehicle to the lowest body height comprises:

if the current height of the vehicle body is larger than the height of the height-limiting barrier, judging whether the lowest height of the vehicle body is larger than the height of the barrier;

and if the current speed of the vehicle is not in a preset range, controlling the vehicle to decelerate, and controlling an electric control air suspension system to adjust the vehicle body of the vehicle to the lowest height of the vehicle body after the current speed of the vehicle is in the preset range.

6. The method of claim 1, further comprising:

acquiring the gradient of a running road surface of the vehicle;

and when the gradient is larger than a preset value, adjusting the current height of the vehicle body of the vehicle to the lowest height of the vehicle body.

7. The method according to any one of claims 1 to 6, further comprising:

acquiring a height limit identification image of the height limit barrier through a camera, and identifying a height limit value in the height limit identification image;

and comparing the height limit value with the height of the height limit obstacle, and taking the height value with small value as the final height of the height limit obstacle.

8. A vehicle control apparatus, characterized by comprising:

a first calculation module for determining a vehicle chassis height based on a first height difference of the first radar and the ground; the first radar is mounted on a chassis frame of the vehicle;

the second calculation module is used for determining the current body height based on a second height difference between a second radar and the first radar and the vehicle chassis height; the second radar is installed at the highest point of the vehicle;

a third calculation module for determining a height of the height-limiting obstacle based on a third height difference between the second radar and the height-limiting obstacle, and the current body height;

and the control module is used for determining that the vehicle cannot pass through the height-limiting barrier by the current vehicle body height according to the current vehicle body height and the height of the height-limiting barrier, and controlling the electric control air suspension system to adjust the current vehicle body height of the vehicle to the minimum vehicle body height when determining that the vehicle can pass through the height-limiting barrier by the minimum vehicle body height.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by a processor.