Search

CN-121989957-A - Terrain mode switching method and device, target vehicle and storage medium

CN121989957ACN 121989957 ACN121989957 ACN 121989957ACN-121989957-A

Abstract

The invention relates to the technical field of vehicles, in particular to a terrain mode switching method and device, a target vehicle and a storage medium. The method comprises the steps of obtaining a target road surface image of a current road surface corresponding to a target vehicle, identifying the target road surface image, determining a first initial terrain mode corresponding to the current road surface, obtaining current vehicle dynamic data corresponding to the target vehicle, determining a second initial terrain mode corresponding to the current road surface based on the current vehicle dynamic data, determining a target terrain mode corresponding to the current road surface based on the first initial terrain mode and the second initial terrain mode, and switching the terrain mode corresponding to the target vehicle based on the target terrain mode. The vehicle performance is fully exerted by automatically adapting to a vehicle subsystem (power, suspension and the like), meanwhile, the driving operation difficulty is reduced, and the off-road safety and the trafficability are improved.

Inventors

  • BO ZHIBIN
  • MA XIAOLI

Assignees

  • 重庆长安汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260206

Claims (13)

  1. 1. A terrain mode switching method, the method comprising: acquiring a target road surface image of a current road surface corresponding to a target vehicle; Identifying the target pavement image and determining a first initial terrain mode corresponding to the current pavement; acquiring current vehicle dynamic data corresponding to the target vehicle; determining a second initial terrain mode corresponding to the current road surface based on the current vehicle dynamic data; Determining a target terrain mode corresponding to the current road surface based on the first initial terrain mode and the second initial terrain mode; and switching the terrain mode corresponding to the target vehicle based on the target terrain mode.
  2. 2. The method of claim 1, wherein the identifying the target road surface image and determining the first initial terrain mode corresponding to the current road surface comprises: Identifying the target pavement image to determine pavement material characteristics and pavement state characteristics corresponding to the current pavement; And determining a first initial terrain mode corresponding to the current road surface based on the road surface material characteristics and the road surface state characteristics.
  3. 3. The method of claim 2, wherein the target road surface image comprises a planar road surface image and a stereoscopic road surface image, and wherein determining the first initial terrain mode corresponding to the current road surface based on the road surface material characteristics and road surface state characteristics comprises: Identifying the stereoscopic pavement image and determining depth information corresponding to the current pavement; Acquiring three-dimensional point cloud data corresponding to the current road surface; Fusing the depth information with the three-dimensional point cloud data to generate a road surface three-dimensional feature corresponding to the current road surface; and determining the first initial terrain mode corresponding to the current road surface based on the road surface material characteristics, the road surface state characteristics and the road surface three-dimensional characteristics.
  4. 4. The method of claim 3, wherein the determining the first initial terrain mode corresponding to the current road surface based on the road surface material characteristics, the road surface state characteristics, and the road surface relief characteristics comprises: Acquiring current position information and current weather information corresponding to the target vehicle; Fusing the pavement material characteristics, the pavement state characteristics, the pavement three-dimensional characteristics, the current position information and the current weather information to generate a target feature vector; Calculating the similarity between the target feature vector and a standard feature vector corresponding to each terrain mode in a preset database; and selecting a terrain mode with the largest similarity from all terrain modes corresponding to the preset database as the first initial terrain mode according to the similarity.
  5. 5. The method of claim 1, wherein the current vehicle dynamics data includes a current vehicle tire slip angle, a current vehicle slip rate, a current vehicle longitudinal acceleration, a current vehicle lateral acceleration, and wherein determining the second initial terrain mode corresponding to the current road surface based on the current vehicle dynamics data comprises: Based on the current vehicle longitudinal acceleration and the current vehicle transverse acceleration, obtaining a calculated attachment coefficient corresponding to the target vehicle through mechanical calculation; and inputting the current vehicle tire slip angle, the current vehicle slip rate and the calculated attachment coefficient into a preset model, and outputting a second initial terrain mode corresponding to the current road surface.
  6. 6. The method of claim 1, wherein the determining the target terrain mode corresponding to the current road surface based on the first initial terrain mode and the second initial terrain mode comprises: Determining a first accuracy corresponding to the first initial terrain mode based on current weather information and current time information corresponding to the target vehicle; Determining a second accuracy corresponding to the second initial terrain mode based on a current vehicle tire slip angle and a current vehicle slip rate included in the current vehicle dynamic data; And determining a target terrain mode corresponding to the current pavement based on the first initial terrain mode, the first accuracy, the second initial terrain mode and the second accuracy.
  7. 7. The method of claim 6, wherein the determining the target terrain mode corresponding to the current road surface based on the first initial terrain mode, the first accuracy, the second initial terrain mode, and the second accuracy comprises: comparing the first accuracy with a first threshold corresponding to the first accuracy; comparing the second accuracy with a second threshold corresponding to the second accuracy; if the first accuracy is less than the first threshold, determining the second initial terrain mode as the target terrain mode; And if the second accuracy is smaller than the second threshold, determining the first initial terrain mode as the target terrain mode.
  8. 8. The method of claim 7, wherein the number of first initial terrain modes is 1 and the number of second initial terrain modes is greater than or equal to 1, wherein the determining the target terrain mode corresponding to the current road surface based on the first initial terrain mode, the first accuracy, the second initial terrain mode, and the second accuracy, further comprises: If the first accuracy is greater than or equal to the first threshold and the second accuracy is greater than or equal to the second threshold, detecting whether the first initial terrain mode is included in the second initial terrain mode; And if the second initial terrain mode comprises the first initial terrain mode, determining the first initial terrain mode as the target terrain mode.
  9. 9. The method of claim 8, wherein the determining the target terrain mode corresponding to the current road surface based on the first initial terrain mode, the first accuracy, the second initial terrain mode, and the second accuracy, further comprises: Comparing the first accuracy and the second accuracy if the first initial terrain mode is not included in the second initial terrain mode; and determining the initial terrain mode with the maximum accuracy value as the target terrain mode.
  10. 10. A terrain mode switching device, the device comprising: the first acquisition module is used for acquiring a target road surface image of a current road surface corresponding to the target vehicle; the first determining module is used for identifying the target pavement image and determining a first initial terrain mode corresponding to the current pavement; The second acquisition module is used for acquiring current vehicle dynamic data corresponding to the target vehicle; The second determining module is used for determining a second initial terrain mode corresponding to the current road surface based on the current vehicle dynamic data; a third determining module, configured to determine a target terrain mode corresponding to the current road surface based on the first initial terrain mode and the second initial terrain mode; and the switching module is used for switching the terrain mode corresponding to the target vehicle based on the target terrain mode.
  11. 11. A target vehicle comprising a vehicle body and an electronic device, the electronic device comprising a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the terrain mode switching method of any of claims 1-9.
  12. 12. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the terrain mode switching method of any of claims 1 to 9.
  13. 13. A computer program product comprising computer instructions for causing a computer to perform the terrain mode switching method of any of claims 1 to 9.

Description

Terrain mode switching method and device, target vehicle and storage medium Technical Field The invention relates to the technical field of terrain mode switching, in particular to a terrain mode switching method and device, a target vehicle and a storage medium. Background The all-terrain system is a core technology of an off-road vehicle, and by regulating and controlling key subsystems such as electronic vehicle body stability, electronic power-assisted steering, suspension, power and the like, the driving, braking, stability and passing performance of the vehicle are enhanced aiming at different road conditions, and the safety driving requirements of complex scenes such as snowfield, mud field and the like are met. With the increase of all-terrain off-road vehicles, the mode selection is a new pain point, namely, the off-road performance of the vehicle is limited due to inexperience and difficult-to-adapt mode selection, and the hardware performance is reduced even abrasion and damage are caused by the wrong selection, so that the service life and the driving safety of the vehicle are influenced. However, the existing full-terrain mode automatic switching technology generally relies on visual and perceptual sensors such as cameras and radars to realize road condition recognition, and is greatly influenced by external environmental factors. Under severe weather such as heavy rain, heavy fog and the like, imaging definition of the camera is reduced, radar signals are easily interfered, road condition recognition accuracy is greatly reduced, under complex illumination conditions such as no illumination or backlight at night, the problem that the camera is easy to be overexposed or underexposed further aggravates recognition errors, reliable basis cannot be provided for mode switching, and even safety risks can be caused by misjudging road conditions in severe cases. In summary, the current automatic switching technology of all-terrain modes still fails to break through the limitation of single sensor identification, short plates exist on complex environment adaptability and identification reliability, and a technical scheme capable of considering multi-dimensional sensing and environment anti-interference capability is needed to meet the use requirements of all-terrain off-road vehicles in diversified practical scenes. Disclosure of Invention The invention provides a terrain mode switching method, a terrain mode switching device, a target vehicle and a storage medium, so as to meet the use requirements of all-terrain off-road vehicles in various actual scenes. In a first aspect, the invention provides a terrain mode switching method, which comprises the steps of obtaining a target road surface image of a current road surface corresponding to a target vehicle, identifying the target road surface image, determining a first initial terrain mode corresponding to the current road surface, obtaining current vehicle dynamic data corresponding to the target vehicle, determining a second initial terrain mode corresponding to the current road surface based on the current vehicle dynamic data, determining a target terrain mode corresponding to the current road surface based on the first initial terrain mode and the second initial terrain mode, and switching the terrain mode corresponding to the target vehicle based on the target terrain mode. In an alternative embodiment, the method for identifying the target pavement image and determining the first initial terrain mode corresponding to the current pavement comprises the steps of identifying the target pavement image and determining pavement material characteristics and pavement state characteristics corresponding to the current pavement, and determining the first initial terrain mode corresponding to the current pavement based on the pavement material characteristics and the pavement state characteristics. In an alternative embodiment, the target pavement image comprises a planar pavement image and a stereoscopic pavement image, and the first initial terrain mode corresponding to the current pavement is determined based on pavement material characteristics and pavement state characteristics, and comprises the steps of identifying the stereoscopic pavement image and determining depth information corresponding to the current pavement; the method comprises the steps of obtaining three-dimensional point cloud data corresponding to a current road surface, fusing depth information with the three-dimensional point cloud data to generate road surface three-dimensional characteristics corresponding to the current road surface, and determining a first initial terrain mode corresponding to the current road surface based on the road surface material characteristics, the road surface state characteristics and the road surface three-dimensional characteristics. In an alternative embodiment, the method for determining the first initial terrain mode corresponding to the current roa