WO2021008583A1

WO2021008583A1 - Vehicle, vehicle control system and method

Info

Publication number: WO2021008583A1
Application number: PCT/CN2020/102368
Authority: WO
Inventors: 张磊
Original assignee: 比亚迪股份有限公司
Priority date: 2019-07-17
Filing date: 2020-07-16
Publication date: 2021-01-21
Also published as: CN112238855A; CN112238855B

Abstract

A vehicle and a vehicle control system and method, relating to the technical field of vehicles. The system (10) comprises: a sensing device (100), used for acquiring environmental information around the vehicle; a controller (200), used for controlling the vehicle to enter a pre-rain or pre-snow pattern if it is raining or snowing around the vehicle and the traction and braking force of the vehicle will not cause slipping or idling of the vehicle or if it is not raining or snowing around the vehicle but there are water, snow or ice on the road surface or rail surface and the traction and braking force of the vehicle will not cause slipping or idling of the vehicle.

Description

Vehicle and vehicle control system and method

Cross references to related applications

The present disclosure requires the priority of the Chinese Patent Publication with the publication number 201910645245.2 filed on July 17, 2019, entitled "Vehicles and Vehicle Control Systems and Methods", the entire contents of which are incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the field of vehicle technology, and in particular to a vehicle and a vehicle control system and method.

Background technique

In related technologies, unmanned rail vehicles for rail transit are provided with a normal mode and a rain and snow mode. In the rain and snow mode, the on-board controller can use vehicle parameters suitable for rain and snow to control the rail vehicle. However, in this technology, when the rail vehicle is in the rain and snow mode, the vehicle parameters are obtained based on the slip or idling of the rail vehicle itself. The judgment has hysteresis, which reduces the safety of the rail vehicle and the passenger experience is poor.

Summary of the invention

The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first purpose of the present disclosure is to propose a vehicle control system, which can determine in advance whether there will be idling based on the environmental information of the vehicle and whether there is water or snow on the road or track where the vehicle is located. Or skidding, effectively improving the safety of the vehicle and enhancing the passenger experience.

The second objective of the present disclosure is to propose a vehicle control method.

The third purpose of the present disclosure is to propose a vehicle.

The fourth purpose of the present disclosure is to propose an electronic device.

The fifth objective of the present disclosure is to provide a computer-readable storage medium.

In order to achieve the above objective, an embodiment of the first aspect of the present disclosure proposes a vehicle control system, including: a sensing device for acquiring environmental information around the vehicle, the environmental information including whether it is raining or snowing around the vehicle And whether there is water, snow or icing on the road or track where the vehicle is located; the controller is used if it is raining or snowing around the vehicle and the traction and braking force of the vehicle will not cause If the vehicle is slipping or idling, the vehicle is controlled to enter the pre-rain and snow mode; or, if it is not raining or snowing around the vehicle, there is water, snow, or ice on the road or track where the vehicle is located Phenomenon, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, the vehicle is controlled to enter the pre-rain and snow mode; in the pre-rain and snow mode, the vehicle is controlled according to the first operating parameters Performing control, the first operating parameter is lower than the normal operating parameter in the normal mode and higher than the second operating parameter in the rain and snow mode.

According to the vehicle control system of the embodiment of the present disclosure, the environmental information around the vehicle can be acquired through the sensing device, and it is raining or snowing around the vehicle through the controller, and the traction and braking force of the vehicle will not cause the vehicle to slip or spin. Then control the vehicle to enter the pre-rain and snow mode; or, if it is not raining or snowing around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle If skidding or idling, the vehicle is controlled to enter the pre-rain and snow mode. As a result, the vehicle can determine in advance whether idling or skidding will occur based on the environmental information, thereby controlling the vehicle to enter the pre-rain and snow mode, and controlling the vehicle according to the first operating parameters, which not only improves vehicle safety, but also ensures driving safety. Improve user experience.

In order to achieve the above objective, an embodiment of the second aspect of the present disclosure proposes a vehicle control method, including: acquiring environmental information around the vehicle, the environmental information including whether it is raining or snowing around the vehicle and where the vehicle is located Whether there is water, snow or icing on the road or track; if it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle The vehicle enters the pre-rain and snow mode; or, if it is not raining or snowing around the vehicle, there is water, snow, or icing on the road or track where the vehicle is located, and the traction and control of the vehicle If the power does not cause the vehicle to slip or idling, the vehicle is controlled to enter the pre-rain and snow mode; in the pre-rain and snow mode, the vehicle is controlled according to the first operating parameter, and the first operating parameter is low The normal operating parameter in the normal mode is higher than the second operating parameter in the rain and snow mode.

According to the vehicle control method of the embodiment of the present disclosure, it is possible to obtain environmental information around the vehicle, and when it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle to enter the pre-rain Snow mode; or, if it is not raining or snowing around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, then control The vehicle enters the pre-rain and snow mode. As a result, the vehicle can determine whether idling or skidding will occur in advance based on the environmental information, thereby controlling the vehicle to enter the pre-rain and snow mode, and controlling the vehicle according to the first operating parameters, which not only improves vehicle safety, but also ensures driving Security and enhance user experience.

To achieve the above objective, an embodiment of the third aspect of the present disclosure proposes a vehicle, which includes the vehicle control system described above.

According to the vehicle of the embodiment of the present disclosure, through the above-mentioned vehicle control system, the vehicle can determine in advance whether idling or skidding will occur according to the environmental information, thereby controlling the vehicle to enter the pre-rain and snow mode, and performing the control on the vehicle according to the first operating parameters. Control can not only improve vehicle safety, but also ensure driving safety and enhance user experience.

In order to achieve the foregoing objective, an embodiment of the fourth aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored on the memory and running on the processor, and the processor executes The program implements the aforementioned vehicle control method.

In order to achieve the foregoing objective, an embodiment of the fifth aspect of the present disclosure proposes a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the foregoing vehicle control method is implemented.

The additional aspects and advantages of the present disclosure will be partially given in the following description, and some will become obvious from the following description, or be understood through the practice of the present disclosure.

Description of the drawings

The above and/or additional aspects and advantages of the present disclosure will become obvious and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, in which:

Fig. 1 is a block diagram of a control system of a vehicle according to an embodiment of the present disclosure;

Fig. 2 is a flowchart of determining a driving mode of a vehicle according to an embodiment of the present disclosure;

Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present disclosure;

Fig. 4 is a schematic block diagram of a vehicle according to an embodiment of the present disclosure.

Detailed ways

The embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present disclosure, but should not be construed as limiting the present disclosure.

The following describes the vehicle and the vehicle control system and method proposed according to the embodiments of the present disclosure with reference to the accompanying drawings.

Fig. 1 is a block diagram of a vehicle control system according to an embodiment of the present disclosure. As shown in FIG. 1, the control system 10 of the vehicle includes: a sensing device 100 and a controller 200.

The sensing device 100 is used to obtain environmental information around the vehicle. The environmental information includes whether it is raining or snowing around the vehicle and whether there is water, snow, or icing on the road or track where the vehicle is located.

According to an embodiment of the present disclosure, the sensing device 100 may include any one or a combination of the following devices: a rain and snow sensor, a camera, and a lidar, but is not limited thereto.

Specifically, the sensing device 100 may be a rain and snow sensor, or the sensing device 100 may be a combination of a rain and snow sensor and a camera, or the sensing device 100 may be a combination of a rain and snow sensor, a camera, and a lidar. Among them, the rain and snow sensor is used to detect and calculate the rainfall or snowfall around the vehicle in real time, and transmit the collected data to the controller 200; the camera can be used to detect whether there is accumulation on the road or track where the vehicle is located. Water or snow, and transfer the collected data to the controller 200. In addition, the controller 200 can also report the determined weather conditions and road or track conditions to the cloud platform, so that the cloud platform can adjust the operation diagram of the segment where the vehicle is located. The controller 200 can pass 5G (5th generation mobile networks, the first The fifth generation mobile communication technology) network and cloud platform for information interaction. It should be noted that the combination example of the above-mentioned sensing device 100 is only exemplary, and not as a limitation to the present disclosure.

The controller 200 is used to control the vehicle to enter the pre-rain and snow mode if it is raining or snowing around the vehicle and the traction and braking force of the vehicle will not cause the vehicle to slip or idling; or, if it is not raining or snowing around the vehicle, If there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle to enter the pre-rain and snow mode; in the pre-rain and snow mode, follow The first operating parameter controls the vehicle. The first operating parameter is lower than the normal operating parameter in the normal mode and higher than the second operating parameter in the rain and snow mode.

According to an embodiment of the present disclosure, the first operating parameter, the normal operating parameter, and the second operating parameter all include: a maximum operating speed, a maximum traction force, and a maximum braking force.

It should be understood that when it rains or snows, the road surface or rail surface is slippery, which will cause the adhesion of the road surface or rail surface to decrease. If the vehicle is still driving according to the normal vehicle parameters, it may be idling or slipping. There was a traffic accident.

Specifically, there are two situations for controlling the vehicle to enter the pre-rain and snow mode: (1) It is raining or snowing around the vehicle, but in this environment, the traction and braking force of the vehicle will not cause the vehicle to slip or spin; (2) ) There is no rain or snow around the vehicle, but due to previous rain or snow, there is water, snow or icing on the road or track where the vehicle is located, and in this environment, the traction and braking force of the vehicle are not It will cause the vehicle to skid or spin. Among them, the data model can be built in advance. For example, the data model can be built by computer deep learning and saving data of rain and snow mode related scenes. Commonly used computer deep learning frameworks include caffe, pytorch, TensorFlow, etc. After the data model is established, the data detected by the sensing device 100 can be input into the data model to compare the data to determine whether the traction and braking force of the vehicle will cause the vehicle to slip or spin in the current environment. If the traction and braking force of the vehicle will not cause the vehicle to slip or spin, control the vehicle to enter the pre-rain and snow mode. Among them, computer deep learning belongs to the field of artificial intelligence, which requires computers to perform deep learning and training in various scenarios, and correct and improve them in actual operation.

It should be noted that in the pre-rain and snow mode, the embodiments of the present disclosure can control the vehicle to control the vehicle according to the first operating parameter, for example, control the current operating speed of the vehicle to decrease by 10%, assuming that the current vehicle speed is 70km/h, when After the vehicle enters the pre-rain and snow mode, control the vehicle to drive at 63km/h.

In summary, according to the vehicle control system proposed in the embodiments of the present disclosure, the environmental information around the vehicle can be acquired through the sensing device, and the controller controls the vehicle according to the environmental information. Therefore, by controlling the speed of the vehicle according to the environmental information around the vehicle, the safety of the vehicle is effectively improved, and the passenger experience is improved.

According to an embodiment of the present disclosure, the controller 200 is also used to control the vehicle to enter normal state if it does not rain or snow around the vehicle, and there is no water, snow, or icing on the road or track where the vehicle is located. Mode, in the normal mode, the vehicle is controlled according to normal operating parameters.

Specifically, the sensing device 100 can detect whether it is raining or snowing around the vehicle, or whether there is water, snow, or icing on the road or track where the vehicle is located, and the controller 200 can collect the detection data of the sensing device 100. If there is no rain or snow around the vehicle, and there is no water, snow or icing on the road or track where the vehicle is located, the vehicle is controlled to be in the normal mode, that is, the vehicle is controlled in accordance with normal operating parameters, thereby greatly Improve vehicle safety and reduce traffic accidents.

According to an embodiment of the present disclosure, the controller 200 is also used to: if it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will cause the vehicle to slip or spin, control the vehicle to enter the rain and snow mode, and in the rain and snow mode Control the vehicle according to the second operating parameters; or, if there is no rain or snow around the vehicle, there is water, snow, or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will be affected. If the vehicle is slipping or idling, the vehicle is controlled to enter the rain and snow mode. In the rain and snow mode, the vehicle is controlled according to the second operating parameter.

Specifically, there are two situations for controlling the vehicle to enter the rain and snow mode: (1) It is raining or snowing around the vehicle, and in this environment, the traction and braking force of the vehicle can cause the vehicle to slip or spin; (2) the vehicle There is no rain or snow around, but due to previous rain or snow, there is water or snow on the road or track where the vehicle is located, and in this environment, the traction and braking force of the vehicle can cause the vehicle to slip or spin. Therefore, the embodiment of the present disclosure can construct a data model in advance. For example, the data model can be established by computer deep learning and save the data of rain and snow mode related scenes. After the data model is established, the data detected by the sensing device 100 can be Input to the data model to compare the data to determine whether the traction and braking force of the vehicle will cause the vehicle to slip or idling under the current environment. If the traction and braking force of the vehicle will cause the vehicle to slip or idling, control The vehicle enters the rain and snow mode.

It should be noted that in the rain and snow mode, the embodiments of the present disclosure can control the vehicle according to the second operating parameter, for example, control the vehicle to adjust on the basis of the first operating parameter, such as setting the vehicle speed in the first operating parameter Decrease 10% on the basis of, for example, when the vehicle runs according to the first operating parameter, the vehicle speed is 60km/h. When the vehicle enters the rain and snow mode, the vehicle is controlled to run at 54km/h.

In addition, after controlling the vehicle to enter the rain and snow mode, the sensing device 100 can continue to detect the surrounding environment information of the vehicle, if the weather around the vehicle turns to not raining or snowing, and there is no water or snow on the road or track where the vehicle is located. Or icing, then control the vehicle to enter the normal mode again, and control the vehicle according to the normal operating parameters; if the weather around the vehicle is rainy and snowy, but there is no water or snow on the road or track where the vehicle is located, or the vehicle The surrounding weather has turned to no rain or snow, but there is water, snow or icing on the road or track where the vehicle is located. If the traction and braking force of the vehicle at this time will not cause the vehicle to slip or idling, control the vehicle Enter the pre-rain and snow mode, and control the vehicle according to the first operating parameters. As a result, the vehicle can make decisions on its own based on environmental perception, and by controlling the vehicle to switch between the rain and snow mode, the pre-rain and snow mode, and the normal mode, not only the real-time performance of the mode switching is higher, but also the safety of the vehicle can be improved and ensured Driving safety.

According to an embodiment of the present disclosure, the environmental information further includes: the amount of rain or snow around the vehicle and the amount of water or snow accumulated on the road or track where the vehicle is located. The controller 200 is also used to: according to the amount of rain, snow, and accumulation The amount of water, snow or icing determines the level of the rain and snow mode; the second speed is determined according to the level of the rain and snow mode.

It is understandable that, in order to further improve the safety of the vehicle, the embodiment of the present disclosure can establish the data model in advance through computer deep learning and save the data of the rain and snow mode related scenes. Commonly used computer deep learning frameworks include caffe and pytorch. , TensorFlow, etc., and set the level of rain and snow mode in advance, so as to determine the current environment based on the amount of rain or snow around the vehicle, and the amount of water, snow or icing on the road or track where the vehicle is located According to the level of the rain and snow mode, the second speed is determined according to the level of the rain and snow mode, which further improves the safety of the vehicle.

For example, after deep learning through the computer and saving the data of the rain and snow mode related scenes in advance, 4 rain and snow mode levels can be set. When the rain and snow mode is level 4, the second speed of the control vehicle is in the first The first speed is reduced by 10%; when the rain and snow mode is level 3, the second speed of the vehicle is reduced by 20% based on the first speed; when the rain and snow mode is level 2, the vehicle is controlled The second speed is reduced by 40% on the basis of the first speed; when the rain and snow mode is level 1, the second speed of the vehicle is controlled to be reduced by 80% on the basis of the first speed, thereby further ensuring the safety of the vehicle Sex. It should be noted that when the rain and snow mode is at level 1, a reminder can be issued, and it can even stop driving with the control vehicle to ensure safety.

According to an embodiment of the present disclosure, the controller 200 is specifically configured to compare the correspondence between environmental information, traction force, braking force, and pre-stored environmental information obtained through machine deep learning, traction force, braking force, and slip or idling data. Yes, determine if the vehicle is skidding or idling.

Specifically, a learning model can be constructed in advance, for example, the learning model can be established by machine learning. The learning model includes environmental information, traction, braking force, and slip or idling data. For example, a certain traction can be set , Braking force, by changing the environmental information to obtain the corresponding relationship between environmental information, traction, braking force and slip or idling data; or setting the environmental information unchanged, obtain environmental information, traction, braking force and slip or idling through traction and braking force Correspondence of data; it should be noted that the correspondence between environmental information, traction, braking force, and slip or idling data obtained through machine deep learning is only exemplary, and is not a limitation of the present disclosure.

As a result, the corresponding relationship between the environmental information, traction force, braking force and slip or idling data obtained through machine deep learning is stored in advance. After the environmental information, traction force, and braking force collected by the sensing device 100, the collected The environmental information, traction force, and braking force are compared with the corresponding relationship between the environmental information, traction force, braking force and slip or idling data obtained through machine deep learning, so as to determine whether the vehicle will slip or idling, and realize the appearance of the vehicle. Anticipating skidding or idling in advance can effectively improve the safety of the vehicle.

According to an embodiment of the present disclosure, the controller 200 is further configured to: if the sensing device 100 does not work normally, control the vehicle to enter the rain and snow mode according to the slip or idling data of the vehicle.

It is understandable that under special circumstances, such as when the sensing device 100 fails and cannot work normally, the controller 200 can also control the vehicle to enter the rain and snow mode according to the slip or idling data of the vehicle. Among them, the mapping relationship between the vehicle wheel speed and the vehicle slip or idling can be established in advance. After the current vehicle wheel speed is calculated according to the vehicle wheel speedometer (such as a speed or acceleration sensor), the vehicle slip can be determined by querying the above mapping relationship. Or idling data.

For those skilled in the art to further understand the aforementioned vehicle control system, the judgment of the vehicle control mode will be described in detail below.

In a specific embodiment of the present disclosure, as shown in Figure 2, the vehicle driving mode determination involved in the vehicle control method of the embodiment of the present disclosure includes the following steps:

S201: It is judged whether it is raining or snowing around the vehicle, if so, step S202 is executed, otherwise, step S205 is executed.

S202: Determine whether the vehicle will spin or slip, if yes, execute step S203, otherwise, execute step S204.

S203: Control the vehicle to enter the rain and snow mode.

S204: Control the vehicle to enter the pre-rain and snow mode.

S205: Determine whether there is water or snow on the road or track where the vehicle is located, if yes, execute step S206, otherwise, execute step S207.

S206: It is judged whether the vehicle will idling or slipping, if yes, skip to step S203, otherwise, skip to step S204.

S207: Control the vehicle to enter the normal mode.

Therefore, according to the environment information of the vehicle and the road or track where the vehicle is located, the vehicle is controlled to enter the corresponding driving mode, and the vehicle can make decisions on its own according to the environment perception, and the real-time trigger and cancellation are higher, which effectively improves the vehicle Security.

According to the vehicle control method proposed in the embodiments of the present disclosure, the environmental information around the vehicle can be acquired through the sensing device, and it is raining or snowing around the vehicle through the controller, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling. , Control the vehicle to enter the pre-rain and snow mode; or, if there is no rain or snow around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle When skidding or idling, the vehicle is controlled to enter the pre-rain and snow mode; in the pre-rain and snow mode, the vehicle is controlled according to the first operating parameter, which is lower than the normal operating parameters in the normal mode and higher than in the rain and snow mode The second operating parameter. As a result, the vehicle can judge in advance whether there will be idling or skidding based on the environmental information, and make its own decision based on environmental perception, and control the vehicle to switch between the rain and snow mode, the pre-rain and snow mode, and the normal mode. Not only does the mode switching have a better real-time performance High, and can improve the safety of the vehicle, and can ensure driving safety.

Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present disclosure. As shown in Figure 3, the vehicle control method includes:

S1: Acquire environmental information around the vehicle. The environmental information includes whether it is raining or snowing around the vehicle and whether there is water, snow, or icing on the road or track where the vehicle is located.

S2, if it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle to enter the pre-rain and snow mode; or, if it is not raining or snowing around the vehicle, the road where the vehicle is located Or there is water, snow or icing on the track, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle to enter the pre-rain and snow mode; in the pre-rain and snow mode, follow the first operation The parameters control the vehicle, and the first operating parameter is lower than the normal operating parameter in the normal mode and higher than the second operating parameter in the rain and snow mode.

According to an embodiment of the present disclosure, it further includes: if there is no rain or snow around the vehicle, and there is no water, snow or icing on the road or track where the vehicle is located, controlling the vehicle to enter the normal mode and follow the normal Operating parameters control the vehicle.

According to an embodiment of the present disclosure, it further includes: if it is raining or snowing around the vehicle, and the traction and braking force of the vehicle may cause the vehicle to skid or idling, controlling the vehicle to enter the rain and snow mode. In the rain and snow mode, according to the first 2. Operating parameters control the vehicle; or, if it is not raining or snowing around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will cause the vehicle to slip or slip. When idling, the vehicle is controlled to enter the rain and snow mode. In the rain and snow mode, the vehicle is controlled according to the second operating parameters.

According to an embodiment of the present disclosure, the environmental information further includes: the amount of rain or snow around the vehicle and the amount of water, snow, or icing on the road or track where the vehicle is located. The above-mentioned vehicle control method further includes: Determine the level of the rain and snow mode according to the amount of rainfall or snow, and the amount of water, snow or icing; determine the second operating parameter according to the level of the rain and snow mode.

According to an embodiment of the present disclosure, the above-mentioned vehicle control method further includes: mapping environmental information, traction force, braking force, and pre-stored environmental information obtained through machine deep learning, traction force, braking force, and slip or idling data. The relationship is compared to determine whether the vehicle is skidding or idling.

According to an embodiment of the present disclosure, the above-mentioned vehicle control method further includes: if the environmental information is not acquired, controlling the vehicle to enter the rain and snow mode according to the slip or idling data of the vehicle.

It should be noted that the foregoing explanation of the embodiment of the control system of the vehicle is also applicable to the control method of the vehicle of this embodiment, and will not be repeated here.

According to the vehicle control method proposed in the embodiments of the present disclosure, it is possible to obtain information about the environment around the vehicle, and to control the vehicle to enter the preset state when it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling. Rain and snow mode; or, if it is not raining or snowing around the vehicle, there is water, snow, or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle to slip or spin, then Control the vehicle to enter the pre-rain and snow mode; in the pre-rain and snow mode, control the vehicle according to the first operating parameter, the first operating parameter is lower than the normal operating parameter in the normal mode and higher than the second operating parameter in the rain and snow mode . As a result, the vehicle can judge in advance whether there will be idling or skidding based on the environmental information, and make its own decision based on environmental perception, and control the vehicle to switch between the rain and snow mode, the pre-rain and snow mode, and the normal mode. Not only does the mode switching have a better real-time performance High, and can improve the safety of the vehicle, and can ensure driving safety.

As shown in FIG. 4, an embodiment of the present disclosure proposes a vehicle 20, which includes the vehicle control system 10 described above.

According to the vehicle proposed in the embodiment of the present disclosure, through the above-mentioned vehicle control system, the vehicle can determine in advance whether idling or skidding will occur according to environmental information, and make decisions based on environmental perception, and control the vehicle in the rain and snow mode and the pre-rain and snow mode. And switching under the normal mode, not only the real-time performance of mode switching is high, but also the safety of the vehicle can be improved, and the driving safety can be ensured. .

The embodiment of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the above-mentioned vehicle control method is implemented.

The embodiment of the present disclosure proposes a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned vehicle control method is realized.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply the pointed device or element It must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present disclosure, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly defined and defined, the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structures, materials or characteristics are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without mutual contradiction.

Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present disclosure. A person of ordinary skill in the art can comment on the foregoing within the scope of the present disclosure. The embodiment undergoes changes, modifications, substitutions and modifications.

Claims

A vehicle control system includes:

Sensing equipment for acquiring environmental information around the vehicle, the environmental information including whether it is raining or snowing around the vehicle and whether there is water, snow, or icing on the road or track where the vehicle is located;

The controller is used for controlling the vehicle to enter the pre-rain and snow mode if it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling; If it is not raining or snowing around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, then The vehicle is controlled to enter the pre-rain and snow mode; in the pre-rain and snow mode, the vehicle is controlled according to a first operating parameter, and the first operating parameter is lower than the normal operating parameter in the normal mode and higher than the rain The second operating parameter in snow mode.
The control system according to claim 1, wherein the first operating parameter, the normal operating parameter, and the second operating parameter all include:

Maximum operating speed, maximum traction and maximum braking force.
The control system according to claim 1, wherein the controller is further used for:

If it does not rain or snow around the vehicle, and there is no water, snow, or icing on the road or track where the vehicle is located, the vehicle is controlled to enter the normal mode, and in the normal mode, The vehicle is controlled according to the normal operating parameters.
The control system according to claim 1, wherein the controller is further used for:

If it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will cause the vehicle to slip or idling, control the vehicle to enter the rain and snow mode. In the rain and snow mode, follow The second operating parameter controls the vehicle; or,

If there is no rain or snow around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will cause the vehicle to slip or spin, Then, the vehicle is controlled to enter the rain and snow mode, and in the rain and snow mode, the vehicle is controlled according to the second operating parameter.
The control system according to claim 4, wherein the environmental information further comprises: the amount of rain or snow around the vehicle and the amount of water, snow or ice on the road or track where the vehicle is located, The controller is also used for:

Determining the level of the rain and snow mode according to the amount of rain or snow and the amount of water, snow, or icing;

The second operating parameter is determined according to the level of the rain and snow mode.
The control system according to claim 4, wherein the controller is further used for:

If the sensing device is not working normally, the wheel speed of the vehicle is obtained, the slip or idling data of the vehicle is determined according to the wheel speed, and the slip or idling data of the vehicle is controlled to control the vehicle to enter the vehicle. Describe rain and snow mode.
The control system according to any one of claims 1-6, wherein the controller is specifically configured to:

Obtain the corresponding relationship between the pre-stored environmental information, traction force, braking force and slip or idling data obtained through machine deep learning;

According to the environmental information, the traction force, the braking force and the corresponding relationship, it is determined whether the vehicle is slipping or idling.
The control system according to claim 1, wherein the sensing device includes any one or a combination of the following devices:

Rain and snow sensors, cameras and lidar.
A vehicle control method, including:

Acquiring environmental information around the vehicle, the environmental information including whether it is raining or snowing around the vehicle and whether there is water, snow, or icing on the road or track where the vehicle is located;

If it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, control the vehicle to enter the pre-rain and snow mode; or, if the vehicle is not around Rain or snow, water, snow, or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will not cause the vehicle to slip or idling, then the vehicle is controlled to enter Pre-rain and snow mode; in the pre-rain and snow mode, the vehicle is controlled according to a first operating parameter, which is lower than the normal operating parameter in the normal mode and higher than the first operating parameter in the rain and snow mode 2. Operating parameters.
The control method according to claim 9, wherein the first operating parameter, the normal operating parameter, and the second operating parameter all include:

Maximum operating speed, maximum traction and maximum braking force.
The control method according to claim 9, further comprising:

If it does not rain or snow around the vehicle, and there is no water, snow, or icing on the road or track where the vehicle is located, the vehicle is controlled to enter the normal mode, and in the normal mode, The vehicle is controlled according to the normal operating parameters.
The control method according to claim 9, further comprising:

If it is raining or snowing around the vehicle, and the traction and braking force of the vehicle will cause the vehicle to slip or idling, control the vehicle to enter the rain and snow mode. In the rain and snow mode, follow The second operating parameter controls the vehicle; or,

If it is not raining or snowing around the vehicle, there is water, snow or icing on the road or track where the vehicle is located, and the traction and braking force of the vehicle will cause the vehicle to slip or spin, Then, the vehicle is controlled to enter the rain and snow mode, and in the rain and snow mode, the vehicle is controlled according to the second operating parameter.
The control method according to claim 12, wherein the environmental information further comprises: the amount of rain or snow around the vehicle and the amount of water, snow or ice on the road or track where the vehicle is located, The method also includes:

Determining the level of the rain and snow mode according to the amount of rain or snow and the amount of water, snow, or icing;

The second operating parameter is determined according to the level of the rain and snow mode.
The control method according to claim 12, further comprising:

If the environmental information is not obtained, the wheel speed of the vehicle is obtained, the slip or idling data of the vehicle is determined according to the wheel speed, and the slip or idling data of the vehicle is controlled to enter the vehicle Describe rain and snow mode.
The control method according to any one of claims 9-14, further comprising:

Obtain the corresponding relationship between the pre-stored environmental information, traction force, braking force and slip or idling data obtained through machine deep learning;

According to the environmental information, the traction force, the braking force and the corresponding relationship, it is determined whether the vehicle is slipping or idling.
A vehicle, comprising: the vehicle control system according to any one of claims 1-8.
An electronic device, comprising: a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and when the processor executes the program, it implements any of claims 9-15 The vehicle control method described in one item.
A computer-readable storage medium with a computer program stored thereon, which, when executed by a processor, realizes the vehicle control method according to any one of claims 9-15.