CN-121973784-A - Active anti-splash control method and device for vehicle and vehicle

CN121973784ACN 121973784 ACN121973784 ACN 121973784ACN-121973784-A

Abstract

The invention discloses a vehicle active splash-proof control method and device and a vehicle, and relates to the technical field of vehicle control. The method comprises the steps of acquiring road information of a first road section and information of traffic participants through multi-sensor fusion and cloud cooperation, determining the type of road ponding according to the road information, determining the target control quantity of the vehicle according to the distance and relative speed between the vehicle and the traffic participants based on different conditions of small-range ponding or large-range ponding, and finally controlling the suspension height and the vehicle speed of the vehicle according to the target control quantity, so that driving experience is ensured, meanwhile, driving splashing is actively prevented from reaching pedestrians, and accuracy of avoiding pedestrians or non-motor vehicles is improved.

Inventors

HUANG YUANQING
ZHAN KEXU
JIANG HAIBO

Assignees

安徽开阳科技有限公司
奇瑞汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (10)

1. A method for active splash-proof control of a vehicle, characterized by being applied to a control unit of the vehicle, comprising: When the vehicle runs on a first road section, road information of the first road section and information of traffic participants are obtained, wherein the road information comprises a water accumulation position and a water accumulation area of the road; determining a road water accumulation type according to the road information, wherein the road water accumulation type comprises a small-range water accumulation or a large-range water accumulation; the target control quantity is used for indicating the suspension height and the vehicle speed of the vehicle, which are determined according to the distance and the relative speed between the vehicle and the traffic participant, based on the road water type; And controlling the vehicle according to the target control quantity.
2. The method of claim 1, wherein the obtaining the road information for the first road segment and the information for the traffic participant comprises: acquiring an initial image of a traffic participant on the first road section through a vehicle-mounted camera; Performing target feature extraction and target feature fusion processing on the initial image to obtain a target image; And determining the information of the traffic participant according to the target image.
3. The method of claim 1, wherein the vehicle communicates with a cloud, and the obtaining the road information for the first road segment comprises: acquiring historical road information of the first road segment from the cloud; acquiring a first road surface image of the first road section through a vehicle-mounted camera; and determining the road information according to the historical road information and the first road surface image.
4. The method of claim 1, wherein the determining a road water accumulation type from the road information comprises: acquiring a second road surface image of the first road section through a radar sensor; And determining the road ponding type according to the road information and the second road surface image.
5. The method of claim 4, wherein the determining the road water type is based on the road information and the second road surface image, the method comprising: Performing data fusion and pit feature extraction on the second pavement image to obtain pit contours and pit depths of the ponding road; and determining the road ponding type according to the road information, the pit outline and the pit depth.
6. The method of claim 1, wherein the generating the target control amount of the vehicle based on the road water type and traffic participant information comprises: The method comprises the steps of calculating a first control quantity of a vehicle according to the situation that a traffic participant is located at the side of the vehicle running direction based on the road water accumulation type which is a small-range water accumulation, wherein the first control quantity comprises the lifting height of a vehicle suspension, and the first control quantity is determined based on the distance and the relative speed between the vehicle and the traffic participant, the water accumulation area and the distance between the water accumulation position and the traffic participant.
7. The method of claim 1, wherein the generating the target control amount of the vehicle based on the road water type and traffic participant information, the method further comprises: And calculating a second control quantity of the vehicle according to the front or/and side of the traffic participant in the running direction of the vehicle based on the road water accumulation type as a large-range water accumulation, wherein the second control quantity comprises the lifting height of a vehicle suspension and the reduction quantity of the vehicle speed, and the second control quantity is determined based on the distance and the relative speed between the vehicle and the traffic participant and the water accumulation area.
8. The method according to any one of claims 1-7, wherein the target control amount of the vehicle is generated based on the road water type and traffic participant information, the method comprising: Determining a spray injection distance according to the speed of the vehicle; And determining a target control quantity of the vehicle according to the spray injection distance and the first control quantity or the second control quantity of the vehicle, wherein the target control quantity is used for indicating that the actual spray injection distance of the spray is smaller than the distance between the vehicle and a traffic participant.
9. An active splash-proof control device for a vehicle, applied to a control unit of the vehicle, the vehicle traveling on a first road segment, the device comprising: The system comprises an acquisition module, a traffic participant information acquisition module and a control module, wherein the acquisition module is used for acquiring road information of the first road section and information of the traffic participant, the road information comprises a water accumulation position and a water accumulation area of the road, and the information of the traffic participant comprises a position and a motion state of the traffic participant; The determining module is used for determining the road ponding type according to the road information, wherein the road ponding type comprises a small-range ponding and a large-range ponding; The system comprises a generation module, a target control quantity generation module and a control module, wherein the generation module is used for generating the target control quantity of the vehicle according to the road water type and the information of the traffic participants; And the control module is used for controlling the vehicle according to the target control quantity.
10. A vehicle, characterized in that the vehicle comprises: a control unit; Memory having stored thereon computer readable instructions which, when executed by the control unit, implement the method according to any of claims 1 to 8.

Description

Active anti-splash control method and device for vehicle and vehicle Technical Field The application relates to the technical field of vehicle control, in particular to a vehicle active splash-proof control method and device and a vehicle. Background At present, the active anti-splash effect of a vehicle is mainly achieved according to alarm prompt of sensor signals, a driver actively performs corresponding avoidance actions, but in most cases, reasonable avoidance actions cannot be performed only through the alarm prompt, at present, the driver accurately controls the vehicle according to alarm signal levels, and the realization of the technology is premised on sacrificing driving experience. Therefore, how to actively prevent water splashing of the driving to pedestrians under the condition of sacrificing the driving experience to the minimum degree is a problem to be solved. Disclosure of Invention Therefore, the embodiment of the application provides a vehicle active splash-proof control method and device and a vehicle, which can realize that driving and riding experience is ensured, and meanwhile, water is prevented from being splashed to pedestrians by driving more accurately. The application adopts the following technical scheme. In a first aspect, an embodiment of the present application provides a method for controlling active splash-proof of a vehicle, applied to a control unit of the vehicle, the method including: When the vehicle runs on a first road section, road information of the first road section and information of traffic participants are acquired, the road information comprises water accumulation positions and water accumulation areas of the road, the information of the traffic participants comprises positions and motion states of the traffic participants, a road water accumulation type is determined according to the road information, the road water accumulation type comprises small-range water accumulation or large-range water accumulation, a target control amount of the vehicle is generated according to the road water accumulation type and the information of the traffic participants, the target control amount is used for indicating suspension height and speed of the vehicle, which are determined according to the distance and relative speed between the vehicle and the traffic participants, based on the road water accumulation type, and the vehicle is controlled according to the target control amount. In some embodiments, the acquiring the road information and the traffic participant information for the first road segment includes: The method comprises the steps of obtaining an initial image of a traffic participant on a first road section through a vehicle-mounted camera, carrying out target feature extraction and target feature fusion processing on the initial image to obtain a target image, and determining information of the traffic participant according to the target image. In some embodiments, the vehicle communicates with a cloud, and the obtaining the road information of the first road segment includes: the method comprises the steps of obtaining historical road information of a first road section from a cloud, obtaining a first road surface image of the first road section through a vehicle-mounted camera, and determining the road information according to the historical road information and the first road surface image. In some embodiments, the determining the road water accumulation type according to the road information comprises: And determining the road ponding type according to the road information and the second road surface image. In some embodiments, the determining the road water type according to the road information and the second road surface image includes: performing data fusion and pit feature extraction on the second pavement image to obtain pit contours and pit depths of the ponding road; and determining the road ponding type according to the road information, the pit outline and the pit depth. In some embodiments, the generating the target control amount of the vehicle according to the road water type and the information of the traffic participants includes: The method comprises the steps of calculating a first control quantity of a vehicle according to the situation that a traffic participant is located at the side of the vehicle running direction based on the road water accumulation type which is a small-range water accumulation, wherein the first control quantity comprises the lifting height of a vehicle suspension, and the first control quantity is determined based on the distance and the relative speed between the vehicle and the traffic participant, the water accumulation area and the distance between the water accumulation position and the traffic participant. In some embodiments, the generating the target control amount of the vehicle according to the road water type and the information of the traffic participants includes: And calculating a second control