WO2020062229A1 - 一种车辆控制方法、装置、车辆及存储介质 - Google Patents

一种车辆控制方法、装置、车辆及存储介质 Download PDF

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Publication number
WO2020062229A1
WO2020062229A1 PCT/CN2018/109067 CN2018109067W WO2020062229A1 WO 2020062229 A1 WO2020062229 A1 WO 2020062229A1 CN 2018109067 W CN2018109067 W CN 2018109067W WO 2020062229 A1 WO2020062229 A1 WO 2020062229A1
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WIPO (PCT)
Prior art keywords
vehicle
negative pressure
driving environment
controlling
driving
Prior art date
Application number
PCT/CN2018/109067
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English (en)
French (fr)
Inventor
周琦
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202311000501.5A priority Critical patent/CN116852929A/zh
Priority to PCT/CN2018/109067 priority patent/WO2020062229A1/zh
Priority to CN201880037716.5A priority patent/CN110770054B/zh
Publication of WO2020062229A1 publication Critical patent/WO2020062229A1/zh

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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
    • 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
    • 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

Definitions

  • Embodiments of the present invention relate to the technical field of vehicle control, and in particular, to a vehicle control method, device, vehicle, and storage medium.
  • Embodiments of the present invention provide a vehicle control method, device, vehicle, and storage medium, which can more actively implement active negative pressure control and suspension control, which is beneficial to improving vehicle driving stability and driving experience.
  • an embodiment of the present invention provides a vehicle control method, where the method includes:
  • an embodiment of the present invention provides a vehicle control device, including a memory and a processor;
  • the memory is used to store program instructions
  • the processor executes program instructions stored in the memory.
  • the processor executes program instructions stored in the memory.
  • the processor executes program instructions stored in the memory.
  • the processor executes program instructions stored in the memory.
  • an embodiment of the present invention provides a vehicle, including: a negative pressure system, a suspension system, and the vehicle control device according to the second aspect, wherein the negative pressure system is configured to provide a negative pressure, and the avoidance The shock system is used to cushion the vehicle.
  • an embodiment of the present invention provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program, and the computer program implements the vehicle control method according to the first aspect when executed by a processor.
  • the vehicle control device may actively control the negative pressure of the vehicle according to the driving environment, environmental information, and the current driving state.
  • the embodiments of the present invention can also actively control the suspension of the vehicle, thereby improving the stability of the vehicle, reducing the probability of traffic accidents, and realizing the automatic and intelligent control of the vehicle to provide users with a better driving experience.
  • FIG. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of another vehicle control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of another vehicle control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another vehicle control device according to an embodiment of the present invention.
  • the vehicle may be a car, a car, a truck, a robot, or the like.
  • the vehicle includes at least a negative pressure system, a sensor, and a suspension system.
  • the negative pressure system is used to provide the vehicle with a negative or positive pressure.
  • the suspension system is used to The vehicle is subjected to shock absorption to improve the stability of the vehicle, and the sensor can be used to obtain driving environment and environmental information of the driving environment in front of the vehicle.
  • the vehicle control device may be integrated in the vehicle, may be integrated in one or more locations of the vehicle, or may be a device deployed on the vehicle, such as an on-board device. Alternatively, the vehicle control device may be a device in the vehicle connected to the vehicle, such as a mobile phone, a tablet computer, or the like.
  • FIG. 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present invention.
  • the method may be executed by a vehicle control device.
  • the vehicle control method may include the following steps.
  • the driving environment in front of the vehicle and the environmental information of the driving environment may be acquired.
  • the special scene may include a specific road section and / or a specific time section
  • the specific road section may include a road section with a high probability of a traffic accident, or a road section with dense pedestrians or vehicles
  • the specific time section may refer to a driver The period of low attention (such as when the driver is fatigued) or the period of poor road lighting (such as at night).
  • the driving environment may refer to roads or non-roads, and non-roads include mountains, lawns, or off-road venues.
  • the driving environment may include at least one of an uphill, a downhill, a turn, a pit, or a bump.
  • the environmental information of the driving environment may include three-dimensional information of the driving environment.
  • the three-dimensional information refers to all information of the driving environment in space, such as the position, shape information in the earth coordinate system, the vehicle coordinate system, and the driving environment. Surface information of the surface.
  • the three-dimensional information may include the slope and length of the uphill or downhill; when the driving environment is a turn, the three-dimensional information may include the curvature of the turn and the turn length. 2.
  • the slope of the turn may also include the slope of the curve in the radial or tangential direction; when the driving environment is a pit or protrusion, the three-dimensional information may include the depth or height of the pit or protrusion, Shape area, length in the direction of vehicle travel.
  • the three-dimensional information may also include surface information of the surface of the driving environment, such as surface roughness or surface protrusion.
  • the front of the vehicle is the front of the vehicle
  • the front of the vehicle is the rear of the vehicle.
  • step S101 includes: obtaining at least one of a visual sensor, a laser sensor, a radar sensor, and an attitude sensor provided in the vehicle to obtain a driving environment in front of the vehicle and environmental information of the driving environment. .
  • the vision sensor may include monocular vision, binocular vision, or multi-eye vision
  • the laser sensor may include a ToF rangefinder, a lidar
  • the radar sensor may include an ultrasonic radar, a millimeter wave radar
  • the attitude sensor may include a GNSS position sensor, IMU inertial measurement unit, multi-axis attitude sensor.
  • the vehicle control device may call one of the target sensors to obtain the driving environment in front of the vehicle and environmental information of the driving environment.
  • the vehicle control device may obtain the driving environment and environmental information according to data from multiple sensors, and the accuracy of obtaining the driving environment and environmental information may be improved through multiple sensors.
  • step S101 includes: obtaining a driving environment in front of the vehicle and environmental information of the driving environment according to a high-precision map corresponding to the position of the vehicle.
  • FIG. 2 is a system architecture provided by an embodiment of the present application.
  • the system architecture includes a vehicle 10 and a server 11.
  • FIG. 2 takes the vehicle control device integrated in the vehicle 10 as an example, and for the sake of brief description, the execution steps of the vehicle control device are based on the vehicle 10.
  • the vehicle 10 sends an acquisition request for a high-precision map to the server 11, the acquisition request includes the current position information of the vehicle 10 and a destination address for driving, and the server 11 provides the vehicle with the vehicle according to the acquisition request.
  • Plan a driving route and send a high-precision map corresponding to the driving route to the vehicle 10.
  • the vehicle 10 receives the high-precision map, follows the driving route in the high-precision map, and obtains the driving environment in front of the driving through the high-precision map. And environmental information about the driving environment.
  • the high-precision map may also refer to a map stored in a vehicle in advance.
  • the vehicle 10 does not need to access a server, and can directly complete the content of the present invention according to the high-precision map stored by itself.
  • the vehicle 10 may obtain its own position information and / or surrounding environment information according to at least one of a vision sensor, a laser sensor, a radar sensor, and an attitude sensor, and match it with a high-precision map to obtain the surrounding area of the map. Driving environment.
  • this step can be implemented through a user interface, which includes a negative pressure control option, and the user can touch the negative pressure control option to trigger the vehicle to start a negative pressure system for controlling the negative pressure of the vehicle.
  • a user interface which includes a negative pressure control option
  • the user can touch the negative pressure control option to trigger the vehicle to start a negative pressure system for controlling the negative pressure of the vehicle.
  • a driving environment in front of the vehicle and environmental information of the driving environment are acquired, so as to implement automatic control of the negative pressure of the vehicle.
  • the user interface and trigger operations here can also be in the form of buttons, knobs, dials, etc., which are not limited here.
  • 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.
  • the vehicle control device may obtain the current running speed of the vehicle through the rotation speed of the wheels of the vehicle or through a speed sensor.
  • the negative pressure of the vehicle may be reduced or increased according to the environmental information and the current driving state.
  • the vehicle control device stores the corresponding relationship between the target information and the negative pressure control strategy, and various negative pressure control strategies.
  • the vehicle control device can call the corresponding negative pressure control strategy according to the current target information.
  • the negative pressure control strategy controls the negative pressure of the vehicle, and the target information includes a driving environment, environmental information of the driving environment, and a driving state of the vehicle.
  • 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.
  • the vehicle control device determines whether the driving environment is a preset driving environment, and if the driving environment is not the preset driving environment, the negative pressure of the vehicle is not controlled; if the driving environment is the preset For the driving environment, step S103 is performed to control the negative pressure of the vehicle.
  • the preset driving environment includes at least one of uphill, downhill, turning, pit, or bump.
  • the vehicle control device can automatically control the negative pressure of the vehicle according to the driving environment, environmental information, and current driving status, improve the stability of the vehicle, reduce the probability of a traffic accident, and achieve Automation and intelligent control to provide users with a better driving experience.
  • FIG. 3 is a schematic flowchart of another vehicle control method according to an embodiment of the present invention.
  • the method may be executed by a vehicle control device.
  • the embodiment of the present invention is different from the embodiment of FIG. 1 in that the embodiment of the present invention prepares to pass the preset driving environment smoothly in advance by controlling the negative pressure system of the vehicle before reaching the preset driving environment.
  • the vehicle control method may include the following steps.
  • S301 Acquire a driving environment in front of a vehicle and environmental information of the driving environment, where the environmental information includes a distance from the current position of the vehicle to the driving environment.
  • the environmental information includes a distance from the current position of the vehicle to the driving environment.
  • the distance between the current position of the vehicle and the driving environment can be obtained through sensors, or the distance can be obtained through a high-precision map.
  • the environment information includes a distance from a current position of the vehicle to a driving environment, and a current driving state includes a driving speed.
  • the vehicle control device may determine the first time of the traveling environment according to the distance from the current position of the vehicle to the traveling environment and the current traveling speed.
  • the negative pressure system of the vehicle is controlled according to the environmental information and the current driving state.
  • the environmental information also includes three-dimensional information of the driving environment.
  • the vehicle control device may control the negative pressure system of the vehicle according to the environmental information and the current driving state, and prepare in advance to pass the driving environment in order to smoothly pass the driving environment.
  • the vehicle control device may control the negative pressure system of the vehicle according to the environmental information and the current driving state before the time reaches the first time of the first time.
  • the vehicle control device can control the negative pressure system of the vehicle according to the environmental information and the current driving state before the vehicle is driven to the driving environment, so as to prepare in advance for a smooth passage of the preset driving environment.
  • FIG. 4 is a schematic flowchart of another vehicle control method according to an embodiment of the present invention.
  • the method may be executed by a vehicle control device.
  • the embodiment of the present invention is different from the embodiment of FIG. 3 in that the embodiment of the present invention controls the vehicle's negative pressure system and suspension system through the environmental information and the current driving state to further improve the stability of the vehicle.
  • An embodiment of the present invention is shown in FIG. 4.
  • the vehicle control method may include the following steps.
  • S401 Acquire a driving environment in front of a vehicle and environmental information of the driving environment, where the environmental information includes a distance from the current position of the vehicle to the driving environment.
  • the driving environment and environmental information For how to obtain the driving environment and environmental information, refer to the description corresponding to S301, which is not repeated here.
  • step S404 includes: the vehicle control device may control the negative pressure system so that the negative pressure experienced by the vehicle is reduced.
  • the vehicle control device can control the negative pressure system so that the negative pressure to which the vehicle is subjected is reduced.
  • the environmental information includes the slope and slope length of the uphill slope
  • the current driving state includes the driving speed of the vehicle.
  • the greater the slope of the uphill and / or the longer the length of the slope the poorer the driving stability of the vehicle through such an uphill. Therefore, the greater the slope of the uphill and / or the longer the slope, the smaller the reduction of the negative pressure value can be, so that the vehicle is more close to the uphill driving and the driving stability is improved; the smaller the uphill gradient and / or The slope length is short, and the vehicle has good driving stability through such an uphill slope. Therefore, an excessively large negative pressure value is not needed to control the stability of the vehicle, and the negative pressure value can be reduced more.
  • the greater the vehicle's driving speed the higher the vehicle's driving speed is likely to cause the vehicle to roll over.
  • the higher the vehicle's driving speed the smaller the reduction of the negative pressure value can be, so that the vehicle is more suitable for driving uphill.
  • Improve the driving stability the smaller the vehicle's driving speed, the better the vehicle's driving stability. Therefore, no excessive negative pressure value is needed to control the vehicle's driving stability, and the negative pressure value can be reduced more.
  • the driving environment is downhill.
  • the three-dimensional information includes at least one of the following: slope and slope length.
  • the current driving state includes a driving speed of the vehicle.
  • step S404 includes controlling the negative pressure system so that the negative pressure to which the vehicle is subjected increases.
  • the vehicle control device can control the negative pressure system to increase the negative pressure to which the vehicle is subjected when the driving environment is a downhill, according to the environmental information and the current driving state.
  • the greater the downhill slope and / or the longer the slope length the poorer the driving stability of the vehicle through such downhill, so the greater the increase in negative pressure value, so that the vehicle is more close to the downhill driving and improves the driving
  • the smaller the slope and / or the shorter the length of the downhill the better the driving stability of the vehicle through such downhill, and no excessive negative pressure value is needed to control the stability of the vehicle, the negative
  • the greater the vehicle's driving speed the higher the vehicle's driving speed is likely to cause the vehicle to roll over. Therefore, the greater the increase in negative pressure value is, the more the vehicle will drive downhill and improve the driving stability.
  • the smaller the running speed the better the stability of the vehicle itself. Therefore, an excessive negative pressure value is not required to control the stability of the vehicle, and the smaller the increase in the negative pressure value is.
  • the driving environment is a turn
  • the three-dimensional information includes at least one of the following: a curvature of the turn, a turn length, and a slope of the turn.
  • step S404 includes: the vehicle control device may obtain a first direction of the turn when the vehicle is driving on the turn; and controlling the negative pressure system so that the negative pressure experienced by the vehicle in the first direction The pressure rises.
  • the vehicle control device may control the negative pressure system so that the vehicle The negative pressure received in the first direction is increased, that is, the negative pressure value of the vehicle in the turning direction is increased to improve the stability of the vehicle.
  • the larger the curvature and / or the length of the turn and / or the slope of the turn the poorer the driving stability of the vehicle when going through such a turn. Therefore, the larger the increase in the negative pressure value is, the more the vehicle will fit Driving inside turns to improve driving stability; the smaller the curvature and / or the length of the turn and / or the slope of the turn, the better the driving stability of the vehicle when going through such a turn, so no excessive negative pressure value is needed To control the stability of the vehicle, the smaller the increase in the negative pressure value.
  • the greater the vehicle's driving speed the higher the vehicle's driving speed is likely to cause the vehicle to deviate from the curve, so the larger the negative pressure value is, the greater the increase of the negative pressure value to make the vehicle drive closer to the inside of the turn and improve the driving stability;
  • the smaller the running speed the better the stability of the vehicle itself. Therefore, an excessive negative pressure value is not required to control the stability of the vehicle, and the smaller the increase in the negative pressure value is.
  • the driving environment is a pit
  • the three-dimensional information includes at least one of the following: the depth of the pit and the length of the pit in the driving direction of the vehicle.
  • step S404 includes controlling the negative pressure system so that the negative pressure experienced by the vehicle is reduced.
  • the vehicle control device may according to the environmental information And the current driving state, controlling the negative pressure system so that the negative pressure to which the vehicle is subjected is reduced.
  • the greater the vehicle's driving speed the higher the vehicle's driving speed is, and it is more likely to cause the vehicle to roll over.
  • the lower the negative pressure is the smaller the magnitude of the negative pressure will be to make the vehicle drive closer to the ground and improve the driving stability.
  • the smaller the stability of the vehicle is the smaller the positive pressure value is not needed to control the stability of the vehicle, and the larger the negative pressure decreases.
  • the driving environment is a bump
  • the three-dimensional information includes at least one of the following: the height of the bump, and the length of the bump in the driving direction of the vehicle.
  • step S404 includes: controlling the negative pressure system includes controlling the negative pressure system so that the negative pressure to which the vehicle is subjected increases.
  • the vehicle control device may control the negative pressure according to the environmental information and the current driving state.
  • the system increases the negative pressure to which the vehicle is subjected.
  • the higher the height of the protrusions and / or the longer the length of the protrusions in the driving direction of the vehicle the poorer the driving stability of the vehicle through such protrusions, the greater the decrease in the increase in negative pressure value.
  • the driving stability is improved; the lower the height of the bump and / or the shorter the length of the bump in the driving direction of the vehicle, the more stable the vehicle is when driving through such a bump.
  • the greater the vehicle's driving speed the higher the vehicle's driving speed is likely to cause the vehicle to roll over.
  • the increase in the negative pressure value is reduced more, so that the vehicle is more attached to the convex driving and the driving stability is improved;
  • the smaller the speed of the vehicle the better the stability of the vehicle itself. Therefore, no excessive negative pressure value is needed to control the stability of the vehicle, and the smaller the decrease in the increase in negative pressure value.
  • step S405 is optional, that is, only the negative pressure system of the vehicle can be controlled according to the three-dimensional information of the driving environment and the current driving state, and the suspension system is not controlled according to the three-dimensional information of the driving environment and the current driving state.
  • controlling the suspension system includes: a vehicle control device may adjust the first suspension component to raise the vehicle body before reaching the uphill, and / or adjust the second suspension component The vehicle body is lowered; wherein the first suspension component is a front suspension component, and the second suspension component is a rear suspension component.
  • the vehicle control device may raise the front suspension component of the suspension system and lower the rear suspension component of the suspension system to further improve the stability of the vehicle.
  • the vehicle control device when the vehicle passes uphill, can increase the negative pressure value of the vehicle's negative pressure system and increase the damping of the suspension system so that the vehicle control device can smoothly pass the uphill point and avoid the vehicle bouncing. .
  • the controlling the suspension system includes: adjusting the first suspension component to lower the vehicle body before reaching the downhill, and / or adjusting the second suspension component to raise A vehicle body; wherein the first suspension component is a front suspension component, and the second suspension component is a rear suspension component.
  • Each of the front suspension assembly and the rear suspension assembly may include one, two or more suspension members.
  • the vehicle control device may reduce the front suspension of the suspension system and raise the rear suspension of the suspension system to further improve the stability of the vehicle.
  • the vehicle control device when the vehicle passes downhill, can reduce the negative pressure value of the vehicle's negative pressure system and reduce the damping of the suspension system, so that the vehicle control device can smoothly pass the downhill point and avoid the vehicle bouncing. .
  • the vehicle control device may obtain a first direction in which the vehicle is turning on the turn; reduce the damping of the first suspension component, and / or increase the The damping of the second suspension component; wherein the first suspension component is a suspension component of the vehicle in a first direction, and the second suspension component is a suspension of the vehicle in a direction away from the first direction.
  • Suspension components when the driving environment is a turn, the vehicle control device may obtain a first direction in which the vehicle is turning on the turn; reduce the damping of the first suspension component, and / or increase the The damping of the second suspension component; wherein the first suspension component is a suspension component of the vehicle in a first direction, and the second suspension component is a suspension of the vehicle in a direction away from the first direction.
  • the vehicle control device may obtain that the first direction of the turn is to the left, thereby reducing the damping of the left suspension component, and / or increasing the damping away from the left suspension component.
  • the first suspension component may be one, two or more suspension components on the left side of the vehicle
  • the second suspension component may be one, two or more suspension components on the right side of the vehicle.
  • the vehicle control device may obtain the vehicle's driving speed through a wheel speed sensor.
  • the vehicle control device may detect the wheels of the vehicle in the first direction. Carry out point brake processing to prevent the vehicle from moving too fast in the first direction, causing the vehicle to roll over, and improving the driving stability of the vehicle.
  • the vehicle control device can control the negative pressure control system and the suspension system of the vehicle according to the environmental information and the current driving state, so that the vehicle can smoothly pass through various driving environments and improve the vehicle.
  • the driving stability brings a higher driving experience to the user.
  • FIG. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
  • 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 used to control the negative pressure system of the vehicle to provide negative pressure to the vehicle.
  • the memory 502 may include a volatile memory; the memory 502 may also include a non-volatile memory; the memory 502 may further include a combination of the foregoing types of memories.
  • the processor 501 may be a central processing unit (CPU).
  • the processor 501 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • 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 obtaining a high-precision map to the server.
  • FIG. 6 is a schematic structural diagram of another vehicle control device according to an embodiment of the present invention.
  • the vehicle control device includes a processor 601, a memory 602, and a negative pressure control system 603.
  • the vehicle control device may further include a suspension control system 604, which is used to control a suspension system of the vehicle to perform suspension for the vehicle.
  • 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, wherein the sensor may include a vision At least one of the sensor, the laser sensor, the radar sensor, and the attitude sensor has been specifically exemplified and described above, and details are not described herein again.
  • the memory is used to store program instructions.
  • the processor may call a program instruction stored in the memory, and is configured to perform the following steps:
  • the processor may call a program instruction stored in the memory, for performing the following steps:
  • the processor may call a program instruction stored in the memory, for performing the following steps:
  • the suspension system includes a first suspension component and a second suspension component.
  • the processor may call a program instruction stored in the memory, for performing the following steps:
  • the step of controlling the negative pressure system of the vehicle according to the environmental information and the current driving state is performed.
  • the processor may call a program instruction stored in the memory, for performing the following steps:
  • the negative pressure system is controlled according to the environmental information and the current driving state.
  • the driving environment is uphill
  • the processor may call program instructions stored in the memory to perform the following steps:
  • the driving environment is uphill.
  • the three-dimensional information includes at least one of the following: slope and slope length.
  • the driving environment is uphill
  • the processor may call program instructions stored in the memory to perform the following steps:
  • the negative pressure system is controlled so that the negative pressure experienced by the vehicle is reduced.
  • the driving environment is uphill
  • the processor may call program instructions stored in the memory to perform the following steps:
  • the first suspension component is a front suspension component
  • the second suspension component is a rear suspension component
  • the driving environment is downhill.
  • the three-dimensional information includes at least one of the following: slope and slope length.
  • the driving environment is a downhill slope
  • the processor may call a program instruction stored in a memory to perform the following steps:
  • the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
  • the driving environment is downhill
  • the processor may call a program instruction stored in a memory for performing the following steps:
  • the first suspension component is a front suspension component
  • the second suspension component is a rear suspension component
  • the driving environment is a turn.
  • the three-dimensional information includes at least one of the following: a curvature of a turn, a turn length, and a slope of a turn.
  • the driving environment is a turn
  • the processor may call a program instruction stored in a memory to perform the following steps:
  • the negative pressure system is controlled so that the negative pressure experienced by the vehicle in the first direction increases.
  • the driving environment is a turn
  • the processor may call a program instruction stored in a memory to perform the following steps:
  • the first suspension component is a suspension component of the vehicle in a first direction
  • the second suspension component is a suspension component of the vehicle in a direction away from the first direction
  • the driving environment is a pit.
  • the three-dimensional information includes at least one of the following: the depth of the pit and the length of the pit in the driving direction of the vehicle.
  • the driving environment is a pit
  • the processor may call a program instruction stored in a memory to perform the following steps:
  • the negative pressure system is controlled so that the negative pressure experienced by the vehicle is reduced.
  • the driving environment is convex.
  • the three-dimensional information includes at least one of the following: a height of a protrusion, and a length of the protrusion in a driving direction of the vehicle.
  • the driving environment is convex
  • the processor may call program instructions stored in the memory to perform the following steps:
  • the negative pressure system is controlled so that the negative pressure to which the vehicle is subjected increases.
  • a vehicle is further provided.
  • the vehicle includes a negative pressure system, a suspension system, and the vehicle control device in the foregoing embodiment, wherein the negative pressure system is configured to provide the vehicle with a negative pressure.
  • the suspension system is used to perform suspension for the vehicle
  • the vehicle control device is used to control the negative pressure system, and in some embodiments is also used to control the suspension system.
  • a computer-readable storage medium is also provided in the embodiment of the present invention.
  • the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the corresponding implementation of the present invention shown in FIGS.
  • the vehicle control method described in the example can also implement the vehicle control device of the embodiment of the invention described in FIG. 5, which is not described again here.
  • the computer-readable storage medium may be an internal storage unit of the vehicle control device according to any one of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the vehicle control device, such as a plug-in hard disk, a Smart Media Card (SMC), and a Secure Digital (SD) device. ) Cards, flash cards, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage 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 or will be output.
  • a vehicle is further provided.
  • the vehicle includes a negative pressure system and the vehicle control device described in FIG. 5, wherein the negative pressure system is configured to provide the vehicle with a negative pressure.
  • the program may be stored in a computer-readable storage medium.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

Abstract

一种车辆控制方法、车辆、装置及存储介质，其中，方法包括：获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；获取所述车辆的当前行驶状态；根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统，提高车辆行驶的稳定性。

Description

一种车辆控制方法、装置、车辆及存储介质 技术领域
本发明实施例涉及车辆控制技术领域，尤其涉及一种车辆控制方法、装置、车辆及存储介质。
背景技术
随着机械制造技术的发展，为满足人们对车辆性能的需求，一些车辆开始配备主动负压系统。在一些方程式赛车、性能跑车上，会加装有扩散器为车辆提供负压，即向下的压力，以提供更大的抓地力从而使得车辆在高速行驶中能更稳定。
然而，车辆上一些常用的扩散器仅通过其机械结构来梳理空气流动以提供负压，并不能提供主动负压控制。而一些通过调整扩散器的机械结构实现主动负压控制的系统，通常只通过驾驶员操作才能实现主动调整。随着车辆越来越智能化，车辆的负压控制开始不满足人们的需求，因此，有必要提供一种更加智能化的车辆负压控制，以为人们提供更为智能、舒适的驾乘体验。
发明内容
本发明实施例提供了一种车辆控制方法、装置、车辆及存储介质，可以更加智能地实现主动负压控制，以及避震控制，有利于提高车辆的行驶稳定性，提高驾乘体验。
第一方面，本发明实施例提供了一种车辆控制方法，所述方法包括：
获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；
获取所述车辆的当前行驶状态；
根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
第二方面，本发明实施例提供了一种车辆控制装置，包括存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；
获取所述车辆的当前行驶状态；
根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
第三方面，本发明实施例提供了一种车辆，包括：负压系统、避震系统和第二方面所述的车辆控制装置，其中，所述负压系统用于提供负压，所述避震系统用于为车辆进行避震。
第四方面，本发明实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现第一方面所述车辆控制方法。
本发明实施例中，车辆控制装置可以根据行驶环境、环境信息和当前行驶状态主动控制车辆的负压。本发明实施例还可以主动控制车辆的避震，从而提高车辆行驶的稳定性，降低交通事故发生的概率，并可实现车辆的自动化、智能化控制，为用户提供更好的行车体验。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种车辆控制方法的流程示意图；
图2是本发明实施例提供的一种车辆控制系统的结构示意图；
图3是本发明实施例提供的另一种车辆控制方法的流程示意图；
图4是本发明实施例提供的又一种车辆控制方法的流程示意图；
图5是本发明实施例提供的一种车辆控制装置的结构示意图；
图6是本发明实施例提供的另一种车辆控制装置的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为了提高车辆的行驶稳定性，本申请实施例提供了一种车辆控制方法及车辆控制装置。其中，车辆可以为轿车、汽车、货车或机器车等等，所述车辆至少包括负压系统、传感器及避震系统，负压系统用于为车辆提供负压或正压，避震系统用于为车辆进行避震，以提高车辆行驶的稳定性，所述传感器可用于获取车辆行驶前方的行驶环境和行驶环境的环境信息。所述车辆控制装置可以集成于车辆内部，可以集成在车辆的一处或多处位置，或者是部署于车辆上的装置，例如，车载设备等。或者，所述车辆控制装置可以是与车辆连接的处于车辆中的装置，例如手机、平板电脑等。
下面进一步对本申请所提供的车辆控制方法及相关设备进行介绍。
请参见图1，图1是本发明实施例提供的一种车辆控制方法的流程示意图，可选的，所述方法可以由车辆控制装置执行。如图1所示，所述车辆控制方法可以包括如下步骤。
S101、获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息。
可选的，当检测到车辆处于行驶状态时，或当检测到所述车辆行驶于特殊场景时，可以获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息。例如，所述特殊场景可包括特定路段和/或特定时间段，所述特定路段可包括交通事故发生概率较高的路段、行人或车辆比较密集的路段；所述特定时间段可以是指驾驶员注意力比较低的时间段(如驾驶员处于疲劳状态的时间段)或道路光线较差的时间段(如夜晚)。
其中，行驶环境可以是指道路或非道路，非道路包括山体、草坪或越野场地等等。可选的，行驶环境可包括上坡、下坡、转弯、凹坑或凸起等中的至少一种。可选的，行驶环境的环境信息可包括行驶环境的三维信息，三维信息指的是行驶环境在空间上的所有信息，例如在地球坐标系、车辆坐标系下的位置、形状信息，以及行驶环境表面的表面信息。举例说明，当行驶环境为上坡或下坡时，所述三维信息可以包括上坡或下坡的坡度、坡长；当行驶环境为转弯时，所述三维信息可以包括转弯的曲率、转弯长度、转弯的斜度，还可以包括所述弯道在径向或切向上的斜度；当行驶环境为凹坑或凸起时，所述三维信息可以包括凹坑或凸起的深度或高度、形状面积、在车辆行驶方向上的长度。对于不同的行驶环境，三维信息还可以包括行驶环境表面的表面信息，例如表面粗糙程度或表面凸起等。
需要说明的是，当车辆向前行驶时，行驶前方是指车辆车头前方，当车辆处于倒车行驶状态时，行驶前方是指车辆的车尾后方。
在一个实施例中，步骤S101包括：通过所述车辆中设置的视觉传感器、激光传感器、雷达传感器、姿态传感器中的至少一种来获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
例如，视觉传感器可以包括单目视觉、双目视觉或是多目视觉，激光传感器可以包括ToF测距仪、激光雷达，雷达传感器可以包括超声波雷达、毫米波雷达，姿态传感器可以包括GNSS位置传感器、IMU惯性测量单元、多轴姿态传感器。可以理解的是，传感器并不限于上述例举的种类，与其实现相同或相似的功能的传感器均可行。车辆控制装置可以调用其中一个目标传感器获取所述车辆前方的行驶环境及所述行驶环境的环境信息。或者车辆控制装置可以根据多个传感器的数据获取行驶环境及环境信息，通过多个传感器可以提高获取行驶环境及环境信息的准确度。
在一个实施例中，步骤S101包括：根据所述车辆的位置对应的高精度地图获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
例如，如图2所示，图2为本申请实施例提供的一种系统架构，所述系统架构包括车辆10及服务器11。图2以车辆控制装置集成于车辆10中为例，为简述说明将车辆控制装置的执行步骤以车辆10为主体。在一个实施例中，车辆10向服务器11发送关于高精度地图的获取请求，所述获取请求包括所述车辆10当前的位置信息及行驶的目的地址，服务器11根据所述获取请求为所述车辆规划行驶路线，并将行驶路线对应的高精度地图发送至车辆10，车辆10接收所述高精度地图，按照高精度地图中的行驶路线行驶，并通过所述高精度地图获取行驶前方的行驶环境及行驶环境的环境信息。
可以理解的是，所述高精度地图还可以是指预先存储于车辆中的地图，此时，车辆10不需要访问服务器，可以直接根据自身所存储的高精度地图来完成本发明的内容。例如，车辆10可以根据视觉传感器、激光传感器、雷达传感器、姿态传感器中的至少一种来获取自身的位置信息和/或周围的环境信息，并与高精度地图进行匹配从而获取地图中自身周围的行驶环境。
在一个实施例中，可以通过用户界面实现本步骤，所述用户界面包括负压控制选项，用户可以触控所述负压控制选项以触发车辆启动用于控制车辆负压 的负压系统。具体的，在启动所述负压系统之后，获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息，以便实现自动控制车辆的负压。这里的用户界面及触发操作，还可以是按钮、旋杆、拨轮等形式，此处并不作限制。
S102、获取所述车辆的当前行驶状态。
可选的，所述车辆的当前行驶状态包括行驶速度和\或当前负压系统为车辆提供的负压值。具体的，车辆控制装置可以通过车辆的车轮转动速度或通过速度传感器来获取所述车辆的当前行驶速度。
S103、根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
具体地，可根据所述环境信息和所述当前行驶状态，降低或增加所述车辆的负压。
在一个实施例中，车辆控制装置中存储有目标信息与负压控制策略之间对应关系，及多种负压控制策略，车辆控制装置可以根据当前的目标信息调用对应的负压控制策略，通过负压控制策略对车辆的负压进行控制，所述目标信息包括行驶环境、行驶环境的环境信息及车辆的行驶状态。
在一个实施例中，车辆控制装置可判断所述行驶环境是否为预设行驶环境，若所述行驶环境为所述预设行驶环境，则步骤S103。
当车辆行驶在比较平坦的行驶环境中时，车辆本身行驶的稳定性较高，这种情况下可以不对车辆的负压进行控制；当车辆行驶在非平坦的行驶环境中，或者车辆在高速行驶时，由于行驶环境的不稳定性或车辆的高速效应，导致车辆行驶具有不稳定性，因此，这种情况下需要对车辆的负压进行控制。具体的，车辆控制装置判断所述行驶环境是否为预设行驶环境，若所述行驶环境不是所述预设行驶环境，则不对车辆的负压进行控制；若所述行驶环境为所述预设行驶环境，则执行步骤S103对车辆的负压进行控制，预设行驶环境包括上坡、下坡、转弯、凹坑或凸起等中的至少一种。
可见，通过实施图1所描述的方法，车辆控制装置可以根据行驶环境、环境信息和当前行驶状态自动控制车辆的负压，提高车辆行驶的稳定性，降低交通事故发生的概率，并可实现车辆的自动化、智能化控制，为用户提供更好的行车体验。
请参见图3，图3是本发明实施例提供的另一种车辆控制方法的流程示意图，可选的，所述方法可以由车辆控制装置执行。本发明实施例与图1实施例的区别在于，本发明实施例在到达预设行驶环境之前，通过控制车辆的负压系统，以提前做好平稳通过预设行驶环境的准备。本发明实施例如图3所示，所述车辆控制方法可以包括如下步骤。
S301、获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息，所述环境信息包括所述车辆当前位置到所述行驶环境的距离。如何获取行驶环境和环境信息请参见S101对应的说明，以及，可以通过传感器来获取车辆当前位置到所述行驶环境的距离，或者通过高精度地图来获取所述距离。
S302、获取所述车辆的当前行驶状态。如何获取当前行驶状态请参见S102对应的说明，在此不赘述。
S303、根据车辆的行驶速度和所述距离确定车辆到达行驶环境的第一时间。所述环境信息包括车辆当前位置到行驶环境的距离，当前行驶状态包括行驶速度。
车辆控制装置可以根据车辆当前位置到行驶环境的距离及当前的行驶速度确定到的行驶环境的第一时间。
S304在时间到达第一时间之前，根据环境信息和当前行驶状态，控制车辆的负压系统。
环境信息还包括行驶环境的三维信息。在时间达到第一时间之前，车辆控制装置可以根据所述环境信息和所述当前行驶状态，控制车辆的负压系统，提前做好通过行驶环境的准备，以便平稳地通过行驶环境。例如，车辆控制装置可以在时间到达第一时间的前2分钟，车辆控制装置可以根据所述环境信息和所述当前行驶状态，控制车辆的负压系统。
可见，通过实施图3所描述的方法，车辆控制装置可以在车辆行驶到行驶环境之前，根据环境信息及当前行驶状态控制车辆的负压系统，以提前做好平稳通过预设行驶环境的准备，
请参见图4，图4是本发明实施例提供的另一种车辆控制方法的流程示意图，可选的，所述方法可以由车辆控制装置执行。本发明实施例与图3实施例的区别在于，本发明实施例通过环境信息及当前行驶状态控制车辆的负压系统 及避震系统，进一步提高车辆行驶的稳定性。本发明实施例如图4所示，所述车辆控制方法可以包括如下步骤。
S401、获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息，所述环境信息包括所述车辆当前位置到所述行驶环境的距离。如何获取行驶环境和环境信息请参见S301对应的说明，在此不赘述。
S402、获取所述车辆的当前行驶状态，当前行驶状态包括行驶速度。如何获取当前行驶状态请参见S102对应的说明，在此不赘述。
S403、根据车辆的行驶速度和所述距离确定车辆到达行驶环境的第一时间。
S404、在时间到达第一时间之前，根据行驶环境的三维信息和当前行驶状态，控制车辆的负压系统。
在一个实施例中，当行驶环境为上坡时，步骤S404包括：车辆控制装置可以控制所述负压系统以使得所述车辆受到的负压降低。
当所述行驶环境为上坡时，由于车辆在上坡上行驶时速度相对较低，车辆行驶的稳定性相对较高，即车辆的负压系统的负压值较小时，车辆就能够平稳通过上坡。因此，车辆控制装置可以控制所述负压系统以使得所述车辆受到的负压降低。
在一个实施例中，环境信息包括上坡的坡度、坡长，当前行驶状态包括所述车辆的行驶速度。
通常，上坡的坡度越大和/或坡长较长，车辆通过此类上坡的行驶稳定性较差。因此，上坡的坡度越大和/或坡长较长，负压值的降低幅度可以越小，以使车辆更贴于上坡行驶，提高行驶的稳定性；上坡的坡度越小和/或坡长较短，车辆通过此类上坡的行驶稳定性较好，因此不需要过大的负压值来控制车辆行驶的稳定性，负压值的降低幅度可以越大。通常，车辆的行驶速度越大，车辆的行驶速度较大容易导致车辆侧翻，因此，车辆的行驶速度越大，负压值的降低幅度可以越小，以使车辆更贴于上坡行驶，提高行驶的稳定性；车辆的行驶速度越小，车辆本身行驶的稳定性较好，因此不需要过大的负压值来控制车辆行驶的稳定性，负压值的降低幅度可以越大。
在一个实施例中，所述行驶环境为下坡。所述三维信息至少包括如下一种：坡度、坡长。
在一个实施例中，当前行驶状态包括车辆的行驶速度。
在一个实施例中，所述行驶环境为下坡，步骤S404包括：控制所述负压系统以使得所述车辆受到的负压升高。
当所述行驶环境为下坡时，由于车辆在下坡上行驶时速度相对较高，车辆行驶的稳定性相对较低，车辆容易侧翻，即需要较大的负压值，来增加车辆通过下坡的稳定性。因此，车辆控制装置可以在行驶环境为下坡时，根据所述环境信息和所述当前行驶状态，控制所述负压系统以使得所述车辆受到的负压升高。
通常，下坡的坡度越大和/或坡长越长，车辆通过此类下坡的行驶稳定性较差，因此负压值增加的幅度越大，以使车辆更贴于下坡行驶，提高行驶的稳定性；下坡的坡度越小和/或坡长越短，车辆通过此类下坡的行驶稳定性较好，则不需要过大的负压值来控制车辆行驶的稳定性，则负压值增加的幅度越小。通常，车辆的行驶速度越大，车辆的行驶速度较大容易导致车辆侧翻，因此，负压值增加的幅度越大，以使车辆更贴于下坡行驶，提高行驶的稳定性；车辆的行驶速度越小，车辆本身行驶的稳定性较好，因此不需要过大的负压值来控制车辆行驶的稳定性，负压值增加的幅度越小。
在一个实施例中，所述行驶环境为转弯，所述三维信息至少包括如下一种：转弯的曲率、转弯长度、转弯的斜度。
在一个实施例中，步骤S404包括：车辆控制装置可以获取所述车辆在所述转弯上行驶所转弯的第一方向；控制所述负压系统以使得所述车辆在第一方向上受到的负压升高。
当行驶环境为转弯时，车辆的行驶方向容易偏离转弯方向，因此，可以根据行驶环境、所述环境信息和所述当前行驶状态，车辆控制装置可以控制所述负压系统以使得所述车辆在第一方向上受到的负压升高，即增加车辆在转弯方向上的负压值，以提高车辆行驶的稳定性。
通常，转弯的曲率和/或转弯长度和/或转弯的斜度越大，车辆通过此类转弯时的行驶稳定性较差，因此，负压值增加的幅度越大，以使车辆更贴于转弯内侧行驶，提高行驶的稳定性；转弯的曲率和/或转弯长度和/或转弯的斜度越小，车辆通过此类转弯时的行驶稳定性较好，因此不需要过大的负压值来控制车辆行驶的稳定性，负压值增加的幅度越小。通常，车辆的行驶速度越大，车 辆的行驶速度较大容易导致车辆偏离弯道，因此负压值增加的幅度越大，以使车辆更贴于转弯内侧行驶，提高行驶的稳定性；车辆的行驶速度越小，车辆本身行驶的稳定性较好，因此不需要过大的负压值来控制车辆行驶的稳定性，负压值增加的幅度越小。
在一个实施例中，所述行驶环境为凹坑，所述三维信息至少包括如下一种：凹坑的深度、凹坑在所述车辆行驶方向上的长度。
在一个实施例中，所述行驶环境为凹坑，步骤S404包括：控制所述负压系统以使得所述车辆受到的负压降低。
当所述行驶环境为凹坑时，由于车辆的车轮容易陷入凹坑中，因此，为了避免车辆的车轮陷入凹坑中，以使车辆能够平稳通过凹坑，车辆控制装置可以根据所述环境信息和所述当前行驶状态，控制所述负压系统以使得所述车辆受到的负压降低。
通常，凹坑的深度越深和/或凹坑在所述车辆行驶方向上的长度越长，车辆通过此类凹坑的难度越大，因此，负压降低的幅度越大；凹坑的深度越浅和/或凹坑在所述车辆行驶方向上的长度越短，车辆通过此类凹坑的难度较小，负压降低的幅度越小，以便车辆平稳地通过凹坑。通常，车辆的行驶速度越大，车辆的行驶速度较大容易导致车辆侧翻，因此，负压降低的幅度越小，以使车辆更贴于地面行驶，提高行驶的稳定性；车辆的行驶速度越小，车辆本身行驶的稳定性较好，因此不需要较小的正压值来控制车辆行驶的稳定性，负压降低的幅度越大。
在一个实施例中，所述行驶环境为凸起，所述三维信息至少包括如下一种：凸起的高度、凸起在所述车辆行驶方向上的长度。
在一个实施例中，所述行驶环境为凸起，步骤S404包括：所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压升高。
当所述行驶环境为凸起时，车辆通过凸起的难度较大，车辆行驶的稳定性较差，因此，车辆控制装置可以根据所述环境信息和所述当前行驶状态，控制所述负压系统以使得所述车辆受到的负压升高。
通常，凸起的高度越高和/或凸起在所述车辆行驶方向上的长度越长，车辆通过此类凸起的行驶稳定性较差，因此负压值升高的降低幅度越大，以使车辆更贴于凸起行驶，提高行驶的稳定性；凸起的高度越低和/或凸起在所述车 辆行驶方向上的长度越短，车辆通过此类凸起的行驶稳定性较好，则不需要过大的负压值来控制车辆行驶的稳定性，因此，负压值升高的降低幅度越小。通常，车辆的行驶速度越大，车辆的行驶速度较大容易导致车辆侧翻，因此，负压值升高的降低幅度越大，以使车辆更贴于凸起行驶，提高行驶的稳定性；车辆的行驶速度越小，车辆本身行驶的稳定性较好，因此，不需要过大的负压值来控制车辆行驶的稳定性，负压值升高的降低幅度越小。
S405、在时间到达第一时间之前，根据行驶环境的三维信息和当前行驶状态，控制所述避震系统。
需要说明的是，步骤S405为可选的，即可以根据行驶环境的三维信息和当前行驶状态只控制车辆的负压系统，根据行驶环境的三维信息和当前行驶状态不控制避震系统。
在一个实施例中，控制所述避震系统包括：车辆控制装置可以在到达所述上坡之前，调整所述第一避震组件以抬高车身，和/或调整所述第二避震组件以降低车身；其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
车辆在到达所述上坡之前，车辆控制装置可以将所述避震系统的前避震组件抬高，将所述避震系统的后避震组件降低，以便进一步提高车辆行驶的稳定性。
在一个实施例中，当车辆通过上坡时，车辆控制装置可以增加车辆的负压系统的负压值，并增加避震系统的阻尼，以便车辆控制装置可以平稳通过上坡点，避免车辆弹跳。
在一个实施例中，所述控制所述避震系统包括：在到达所述下坡之前，调整所述第一避震组件以降低车身，和/或调整所述第二避震组件以升高车身；其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。前避震组件和后避震组件均可以包括一个、两个或多个避震件。
车辆在到达所述下坡之前，车辆控制装置可以将所述避震系统的前避震降低，将所述避震系统的后避震抬高，以便进一步提高车辆行驶的稳定性。
在一个实施例中，当车辆通过下坡时，车辆控制装置可以降低车辆的负压系统的负压值，并降低避震系统的阻尼，以便车辆控制装置可以平稳通过下坡点，避免车辆弹跳。
在一个实施例中，当行驶环境为转弯时，车辆控制装置可以获取所述车辆在所述转弯上行驶所转弯的第一方向；降低所述第一避震组件的阻尼，和/或增加所述第二避震组件的阻尼；其中，所述第一避震组件为所述车辆在第一方向上的避震组件，所述第二避震组件为所述车辆在背离第一方向上的避震组件。
例如，当车辆左转时，车辆控制装置可以获取转弯的第一方向为左方，从而降低左侧避震组件的阻尼，和/或增加背离左侧的避震组件的阻尼。此时，第一避震组件可以是车辆左侧的一个、两个或多个避震件，第二避震组件可以是车辆右侧的一个、两个或多个避震件。
在一个实施例中，当行驶环境为转弯时，车辆控制装置可以通过轮速传感器获取车辆的行驶速度，当行驶速度大于预设速度阈值时，车辆控制装置可以对车辆在第一方向上的车轮进行点刹处理，以避免车辆在第一方向上的速度过快，导致车辆侧翻，提高车辆的行驶稳定性。
可见，通过实施图4所描述的方法，车辆控制装置可以根据环境信息及当前行驶状态，对车辆的负压控制系统及避震系统进行控制，以便于车辆可以平稳通过多种行驶环境，提高车辆行驶的稳定性，给用户带来较高的行驶体验。
请参见图5，图5是本发明实施例提供的一种车辆控制装置的结构示意图。具体的，所述车辆控制装置包括：处理器501、存储器502及负压控制系统503。
负压控制系统503用于控制车辆的负压系统为车辆提供负压。
所述存储器502可以包括易失性存储器(volatile memory)；存储器502也可以包括非易失性存储器(non-volatile memory)；存储器502还可以包括上述种类的存储器的组合。所述处理器501可以是中央处理器(central processing unit，CPU)。所述处理器501还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
可选的，所述车辆控制装置还可包括通信接口，其中，通信接口，用于向服务器发送信息，如向服务器发送高精度地图的获取请求。
请参见图6，图6是本发明实施例提供的另一种车辆控制装置的结构示意图。具体的，所述车辆控制装置包括：处理器601、存储器602及负压控制系统603。所述车辆控制装置还可包括避震控制系统604，避震控制系统604用于控制车辆的避震系统为所述车辆进行避震。
在另一些实施例中，车辆控制装置在前述的基础上，还可以包括传感器(图未示出)，用于获取车辆前方的行驶环境及所述行驶环境的环境信息，其中，传感器可以包括视觉传感器、激光传感器、雷达传感器、姿态传感器中的至少一种，具体的在前面已经例举说明，此处不再赘述。
可选地，在上述实施例中，所述存储器用于存储程序指令。所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；
获取所述车辆的当前行驶状态；
根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
可选地，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
根据所述环境信息和所述当前行驶状态，控制所述车辆的避震系统。
可选地，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
根据所述环境信息和所述当前行驶状态，控制所述车辆的避震系统；
其中，所述避震系统包括第一避震组件和第二避震组件。
可选地，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
判断所述行驶环境是否为预设行驶环境；
若所述行驶环境为所述预设行驶环境，则执行所述根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统的步骤。
可选地，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
根据所述车辆的行驶速度和所述距离确定所述车辆到达所述行驶环境的第一时间；
在时间到达所述第一时间之前，根据所述环境信息和所述当前行驶状态， 控制所述负压系统。
可选的，所述行驶环境为上坡，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
根据所述行驶环境的三维信息和所述行驶速度，控制所述负压系统以调整所述车辆受到的负压，和/或控制所述车辆的避震系统以调整所述车辆的车身高度。
可选的，所述行驶环境为上坡。
可选的，所述三维信息至少包括如下一种：坡度、坡长。
可选地，所述行驶环境为上坡，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
控制所述负压系统以使得所述车辆受到的负压降低。
可选的，所述行驶环境为上坡，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
在到达所述上坡之前，调整所述第一避震组件以抬高车身，和/或调整所述第二避震组件以降低车身；
其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
可选的，所述行驶环境为下坡。
可选的，所述三维信息至少包括如下一种：坡度、坡长。
可选地，所述行驶环境为下坡，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
控制所述负压系统以使得所述车辆受到的负压升高。
可选的，所述行驶环境为下坡，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
在到达所述下坡之前，调整所述第一避震组件以降低车身，和/或调整所述第二避震组件以升高车身；
其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
可选的，所述行驶环境为转弯。
可选的，所述三维信息至少包括如下一种：转弯的曲率、转弯长度、转弯的斜度。
可选的，所述行驶环境为转弯，所述处理器可以调用存储器中存储的程序 指令，用于执行如下步骤：
获取所述车辆在所述转弯上行驶所转弯的第一方向；
控制所述负压系统以使得所述车辆在第一方向上受到的负压升高。
可选的，所述行驶环境为转弯，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
获取所述车辆在所述转弯上行驶所转弯的第一方向；
降低所述第一避震组件的阻尼，和/或增加所述第二避震组件的阻尼；
其中，所述第一避震组件为所述车辆在第一方向上的避震组件，所述第二避震组件为所述车辆在背离第一方向上的避震组件。
可选的，所述行驶环境为凹坑。
可选的，所述三维信息至少包括如下一种：凹坑的深度、凹坑在所述车辆行驶方向上的长度。
可选的，所述行驶环境为凹坑，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
控制所述负压系统以使得所述车辆受到的负压降低。
可选的，所述行驶环境为凸起。
可选的，所述三维信息至少包括如下一种：凸起的高度、凸起在所述车辆行驶方向上的长度。
可选的，所述行驶环境为凸起，所述处理器可以调用存储器中存储的程序指令，用于执行如下步骤：
控制所述负压系统以使得所述车辆受到的负压升高。
在本发明的实施例中还提供了一种车辆，所述车辆包括负压系统、避震系统和前述实施例中的车辆控制装置，其中，所述负压系统用于为所述车辆提供负压，所述避震系统用于为所述车辆进行避震，所述车辆控制装置用于控制所述负压系统，在一些实施例中还用于控制所述避震系统。
在本发明的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图2-图4所对应实施例中描述的车辆控制方法，也可实现图5所述发明实施例的车辆控制装置，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的车辆控制装置的 内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述车辆控制装置的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
在本发明的实施例中还提供了一种车辆，所述车辆包括负压系统及图5所述的车辆控制装置，其中，负压系统，用于为车辆提供负压。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，所述程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (52)

  1. 一种车辆控制方法，其特征在于，包括：
    获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；
    获取所述车辆的当前行驶状态；
    根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述环境信息和所述当前行驶状态，控制所述车辆的避震系统；
    其中，所述避震系统包括第一避震组件和第二避震组件。
  3. 根据权利要求1所述的方法，其特征在于，所述获取车辆前方的行驶环境及所述行驶环境的环境信息，包括：
    通过所述车辆中设置的视觉传感器、激光传感器、雷达传感器、姿态传感器中的至少一种来获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
  4. 根据权利要求1所述的方法，其特征在于，所述获取车辆前方的行驶环境及所述行驶环境的环境信息，包括：
    根据所述车辆的位置对应的高精度地图获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
  5. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    判断所述行驶环境是否为预设行驶环境；
    若所述行驶环境为所述预设行驶环境，则执行所述根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统的步骤。
  6. 根据权利要求1所述的方法，其特征在于，所述环境信息包括所述车辆当前位置到所述行驶环境的距离，所述当前行驶状态包括行驶速度，所述方法还包括：
    根据所述车辆的行驶速度和所述距离确定所述车辆到达所述行驶环境的 第一时间；
    所述根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统，包括：
    在时间到达所述第一时间之前，根据所述环境信息和所述当前行驶状态，控制所述负压系统。
  7. 根据权利要求6所述的方法，其特征在于，所述环境信息还包括所述行驶环境的三维信息，所述方法还包括：
    根据所述行驶环境的三维信息和所述行驶速度，控制所述负压系统以调整所述车辆受到的负压，和/或控制所述车辆的避震系统以调整所述车辆的车身高度。
  8. 根据权利要求7所述的方法，其特征在于，所述行驶环境为上坡。
  9. 根据权利要求8所述的方法，其特征在于，所述三维信息至少包括如下一种：坡度、坡长。
  10. 根据权利要求8所述的方法，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压降低。
  11. 根据权利要求8所述的方法，其特征在于，所述控制所述避震系统包括：在到达所述上坡之前，调整所述第一避震组件以抬高车身，和/或调整所述第二避震组件以降低车身；
    其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
  12. 根据权利要求7所述的方法，其特征在于，所述行驶环境为下坡。
  13. 根据权利要求12所述的方法，其特征在于，所述三维信息至少包括如下一种：坡度、坡长。
  14. 根据权利要求12所述的方法，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压升高。
  15. 根据权利要求12所述的方法，其特征在于，所述控制所述避震系统包括：在到达所述下坡之前，调整所述第一避震组件以降低车身，和/或调整所述第二避震组件以升高车身；
    其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
  16. 根据权利要求7所述的方法，其特征在于，所述行驶环境为转弯。
  17. 根据权利要求16所述的方法，其特征在于，所述三维信息至少包括如下一种：转弯的曲率、转弯长度、转弯的斜度。
  18. 根据权利要求16所述的方法，其特征在于，所述控制所述负压系统包括：
    获取所述车辆在所述转弯上行驶所转弯的第一方向；
    控制所述负压系统以使得所述车辆在第一方向上受到的负压升高。
  19. 根据权利要求16所述的方法，其特征在于，所述控制所述避震系统包括：
    获取所述车辆在所述转弯上行驶所转弯的第一方向；
    降低所述第一避震组件的阻尼，和/或增加所述第二避震组件的阻尼；
    其中，所述第一避震组件为所述车辆在第一方向上的避震组件，所述第二避震组件为所述车辆在背离第一方向上的避震组件。
  20. 根据权利要求7所述的方法，其特征在于，所述行驶环境为凹坑。
  21. 根据权利要求20所述的方法，其特征在于，所述三维信息至少包括如下一种：凹坑的深度、凹坑在所述车辆行驶方向上的长度。
  22. 根据权利要求20所述的方法，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压降低。
  23. 根据权利要求7所述的方法，其特征在于，所述行驶环境为凸起。
  24. 根据权利要求23所述的方法，其特征在于，所述三维信息至少包括如下一种：凸起的高度、凸起在所述车辆行驶方向上的长度。
  25. 根据权利要求23所述的方法，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压升高。
  26. 一种车辆控制装置，其特征在于，包括：负压控制系统、存储器和处理器；
    所述负压控制系统，用于控制所述车辆的负压系统为所述车辆提供负压；
    所述存储器，用于存储程序指令；
    所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
    获取车辆行驶前方的行驶环境以及所述行驶环境的环境信息；
    获取所述车辆的当前行驶状态；
    根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统。
  27. 根据权利要求26所述的车辆控制装置，其特征在于，所述装置还包括避震控制系统，所述避震控制系统用于控制所述车辆的避震系统；
    所述处理器还用于执行如下步骤：
    根据所述环境信息和所述当前行驶状态，控制所述车辆的避震系统；
    其中，所述避震系统包括第一避震组件和第二避震组件。
  28. 根据权利要求26所述的车辆控制装置，其特征在于，所述获取车辆前方的行驶环境及所述行驶环境的环境信息，包括：
    通过所述车辆中设置的视觉传感器、激光传感器、雷达传感器、姿态传感 器中的至少一种来获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
  29. 根据权利要求26所述的车辆控制装置，其特征在于，所述获取车辆前方的行驶环境及所述行驶环境的环境信息，包括：
    根据所述车辆的位置对应的高精度地图获取所述车辆前方的行驶环境及所述行驶环境的环境信息。
  30. 根据权利要求26所述的车辆控制装置，其特征在于，所述处理器还用于执行如下步骤：
    判断所述行驶环境是否为预设行驶环境；
    若所述行驶环境为所述预设行驶环境，则执行所述根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统的步骤。
  31. 根据权利要求26所述的车辆控制装置，其特征在于，所述环境信息包括所述车辆当前位置到所述行驶环境的距离，所述当前行驶状态包括行驶速度，所述处理器还用于执行如下步骤：
    根据所述车辆的行驶速度和所述距离确定所述车辆到达所述行驶环境的第一时间；
    所述根据所述环境信息和所述当前行驶状态，控制所述车辆的负压系统，包括：
    在时间到达所述第一时间之前，根据所述环境信息和所述当前行驶状态，控制所述负压系统。
  32. 根据权利要求31所述的车辆控制装置，其特征在于，所述环境信息还包括所述行驶环境的三维信息，所述处理器还用于执行如下步骤：
    根据所述行驶环境的三维信息和所述行驶速度，控制所述负压系统以调整所述车辆受到的负压，和/或控制所述车辆的避震系统以调整所述车辆的车身高度。
  33. 根据权利要求32所述的车辆控制装置，其特征在于，所述行驶环境 为上坡。
  34. 根据权利要求33所述的车辆控制装置，其特征在于，所述三维信息至少包括如下一种：坡度、坡长。
  35. 根据权利要求33所述的车辆控制装置，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压降低。
  36. 根据权利要求33所述的车辆控制装置，其特征在于，所述控制所述避震系统包括：在到达所述上坡之前，调整所述第一避震组件以抬高车身，和/或调整所述第二避震组件以降低车身；
    其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
  37. 根据权利要求32所述的车辆控制装置，其特征在于，所述行驶环境为下坡。
  38. 根据权利要求37所述的车辆控制装置，其特征在于，所述三维信息至少包括如下一种：坡度、坡长。
  39. 根据权利要求37所述的车辆控制装置，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压升高。
  40. 根据权利要求37所述的车辆控制装置，其特征在于，所述控制所述避震系统包括：在到达所述下坡之前，调整所述第一避震组件以降低车身，和/或调整所述第二避震组件以升高车身；
    其中，所述第一避震组件为前避震组件，所述第二避震组件为后避震组件。
  41. 根据权利要求32所述的车辆控制装置，其特征在于，所述行驶环境为转弯。
  42. 根据权利要求41所述的车辆控制装置，其特征在于，所述三维信息至少包括如下一种：转弯的曲率、转弯长度、转弯的斜度。
  43. 根据权利要求41所述的车辆控制装置，其特征在于，所述控制所述负压系统包括：
    获取所述车辆在所述转弯上行驶所转弯的第一方向；
    控制所述负压系统以使得所述车辆在第一方向上受到的负压升高。
  44. 根据权利要求41所述的车辆控制装置，其特征在于，所述控制所述避震系统包括：
    获取所述车辆在所述转弯上行驶所转弯的第一方向；
    降低所述第一避震组件的阻尼，和/或增加所述第二避震组件的阻尼；
    其中，所述第一避震组件为所述车辆在第一方向上的避震组件，所述第二避震组件为所述车辆在背离第一方向上的避震组件。
  45. 根据权利要求32所述的车辆控制装置，其特征在于，所述行驶环境为凹坑。
  46. 根据权利要求45所述的车辆控制装置，其特征在于，所述三维信息至少包括如下一种：凹坑的深度、凹坑在所述车辆行驶方向上的长度。
  47. 根据权利要求45所述的车辆控制装置，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压降低。
  48. 根据权利要求32所述的车辆控制装置，其特征在于，所述行驶环境为凸起。
  49. 根据权利要求48所述的车辆控制装置，其特征在于，所述三维信息至少包括如下一种：凸起的高度、凸起在所述车辆行驶方向上的长度。
  50. 根据权利要求48所述的车辆控制装置，其特征在于，所述控制所述负压系统包括：控制所述负压系统以使得所述车辆受到的负压升高。
  51. 一种车辆，其特征在于，所述车辆包括负压系统、避震系统和如权利要求26～50中任意一项所述的车辆控制装置，其中，所述负压系统用于为所述车辆提供负压，所述避震系统用于为所述车辆进行避震。
  52. 一种计算机可读存储介质，其特征在于，包括：所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时用于执行如权利要求1至25任一项所述车辆控制方法。
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