CN110450788B

CN110450788B - Driving mode switching method, device, equipment and storage medium

Info

Publication number: CN110450788B
Application number: CN201910657305.2A
Authority: CN
Inventors: 张建; 张苏铁; 王御; 谢飞
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2019-07-19
Filing date: 2019-07-19
Publication date: 2021-03-02
Anticipated expiration: 2039-07-19
Also published as: CN110450788A

Abstract

The invention discloses a driving mode switching method, a driving mode switching device, driving mode switching equipment and a storage medium. The method comprises the following steps: acquiring a chassis bus message; analyzing the chassis bus message to obtain vehicle height data and vehicle speed data; according to the technical scheme, the driving mode is switched according to the vehicle height data and the vehicle speed data, so that the hardware cost of the identification function is reduced based on the bus signal of the original vehicle completely without adding an additional sensor; only bus signals are adopted, so that the anti-interference capability of the system is improved, and the stability is improved; the recognition precision is higher, and the portability and the universality are good.

Description

Driving mode switching method, device, equipment and storage medium

Technical Field

The embodiment of the invention relates to computer technology, in particular to a driving mode switching method, a driving mode switching device, driving mode switching equipment and a storage medium.

Background

In order to ensure the best overall vehicle performance under different road surfaces, a plurality of vehicle types on the market provide a plurality of driving modes for users to use, but a plurality of users do not have consciousness or subjective intention and ability to switch corresponding driving modes according to different road surfaces. Bumpy surfaces are a relatively common type of surface, such as country roads, which are prone to damage to the vehicle and give the driver and passengers a feeling of discomfort. Therefore, there is a need to develop a system capable of automatically recognizing a bumpy road surface, so as to ensure that the vehicle can be automatically switched to a rutting mode even if the vehicle is switched to the rutting mode due to negligence of a driver or in time, and ensure the running safety, the overall performance and the riding comfort of the bumpy road surface.

The bumpy road surface identification methods in the prior art include the following methods:

one method is that an anti-collision radar system and a gravity sensor which are carried by a vehicle are utilized to measure the distance between a chassis and a road surface and the driving azimuth angle of the vehicle, and when the change of the driving azimuth angle data exceeds a preset driving azimuth angle change value and the change of the distance between the chassis and the road surface exceeds a preset distance change value, the road surface is determined to be a bumpy road surface. Judging the steering state of the vehicle through an ADAS and a GPS system so as to avoid mistakenly identifying the azimuth angle change caused by the normal turning state as a bumpy road surface;

one is to install a detecting device to measure the distance from a certain point of the vehicle body to a certain point in front of the vehicle and the deviation data of the vehicle body relative to the reference direction, and when the detected data exceeds a preset distance change value, the road surface is determined to be a bumpy road surface. Judging the steering state of the vehicle through a navigation system to avoid mistakenly identifying azimuth angle change caused by a normal turning state as a bumpy road surface;

one method is that a plurality of laser sensors and dynamic tilt sensors are arranged on the roof of the vehicle, the combined angle of the two sensors in the running process of the vehicle is calculated, the degree of jolt of the current road surface is estimated through the change of the combined angle, and the gear of the vehicle is adjusted according to the degree of jolt, so that the dynamic performance of the vehicle is improved;

one is a road surface identification method based on the rotating speed of the window motor, which judges whether the vehicle is on a bumpy road surface by monitoring the rotating speed value of the window motor, processing the signal and comparing the signal with a threshold value.

The first disadvantage is that the deviation degree of the driving azimuth of the vehicle body is used as the judgment input of the bumpy road surface, so that the error identification is easy to occur, because many operations on a normal road surface also involve the change of the driving azimuth, although ADAS and GPS are introduced for error correction, the two input accuracies are not so high, so that a new error is introduced, and the identification accuracy is reduced;

the second and first ideas are much like the first idea, and have the disadvantage that the deviation data of the vehicle body with respect to the reference direction is easily recognized by mistake as the judgment input of the bumpy road surface, because many operations on the normal road surface involve the change of the driving azimuth angle, and although the navigation is introduced to judge whether the vehicle has the steering intention to correct the error, the navigation accuracy is not so high, so that a new error is introduced, and the recognition accuracy is reduced. In addition, the invention introduces a new detection device, increases the cost, and needs to be calibrated again once the vehicle height changes due to the tire pressure and the like.

The third patent core is that the quantity, the position and the angle of a plurality of laser sensors and dynamic tilt angle sensors which are arranged on the roof are large in variable and complicated in calibration, the difficulty is high when the laser sensors and the dynamic tilt angle sensors are popularized to other vehicle types, the cost is high when the sensors are introduced, and once the vehicle height changes due to tire pressure and the like, the laser sensors and the dynamic tilt angle sensors need to be calibrated again;

and the fourth method is to obtain judgment basis through signal processing completely based on the existing signals, so that the cost is low, and the precision is not clear.

Disclosure of Invention

The embodiment of the invention provides a driving mode switching method, a driving mode switching device, driving mode switching equipment and a storage medium, so that the hardware cost of an identification function is reduced on the basis of an original vehicle bus signal completely without adding an additional sensor; only bus signals are adopted, so that the anti-interference capability of the system is improved, and the stability is improved; the recognition precision is higher, and the portability and the universality are good.

In a first aspect, an embodiment of the present invention provides a driving mode switching method, including:

acquiring a chassis bus message;

analyzing the chassis bus message to obtain vehicle height data and vehicle speed data;

and switching the driving modes according to the vehicle height data and the vehicle speed data.

Further, the switching of the driving mode according to the vehicle height data and the vehicle speed data comprises:

calculating the suspension fluctuation energy of unit mileage according to the vehicle height data and the vehicle speed data;

determining a target driving mode according to the suspension fluctuation energy;

and switching the driving modes according to the target driving mode.

Further, calculating the suspension fluctuation energy per unit mileage from the vehicle height data and the vehicle speed data comprises:

calculating the square of the vehicle height data to obtain suspension fluctuation energy in a time domain;

and calculating the suspension fluctuation energy of unit mileage according to the vehicle speed data and the suspension fluctuation energy in the time domain.

Further, determining a target driving pattern from the suspension fluctuation energy includes:

when the fluctuation energy of the suspension is larger than an entering threshold value, carrying out mileage accumulation, and when the mileage accumulation is larger than a set threshold value, entering a rutting mode;

and when the fluctuation energy of the suspension is smaller than the exit threshold value, accumulating the mileage, and when the accumulated mileage is larger than the set threshold value, exiting the rutting mode.

In a second aspect, an embodiment of the present invention further provides a driving mode switching apparatus, where the apparatus includes:

the acquisition module is used for acquiring chassis bus messages;

the analysis module is used for analyzing the chassis bus message to obtain vehicle height data and vehicle speed data;

and the switching module is used for switching the driving modes according to the vehicle height data and the vehicle speed data.

Further, the switching module is specifically configured to:

and switching the driving modes according to the target driving mode.

Further, the switching module is specifically configured to:

In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the driving mode switching method according to any one of the embodiments of the present invention when executing the program.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the driving mode switching method according to any one of the embodiments of the present invention.

The embodiment of the invention obtains the chassis bus message; analyzing the chassis bus message to obtain vehicle height data and vehicle speed data; switching driving modes according to the vehicle height data and the vehicle speed data so as to realize that hardware cost of an identification function is reduced based on bus signals of an original vehicle completely without adding an additional sensor; only bus signals are adopted, so that the anti-interference capability of the system is improved, and the stability is improved; the recognition precision is higher, and the portability and the universality are good.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a flowchart of a driving mode switching method according to a first embodiment of the present invention;

fig. 2A is a flowchart of a driving mode switching method according to a second embodiment of the present invention;

FIG. 2B is a diagram illustrating switching of driving modes in the second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a driving mode switching device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Example one

Fig. 1 is a flowchart of a driving mode switching method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of switching driving modes, and the method may be executed by a driving mode switching device according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, as shown in fig. 1, the method specifically includes the following steps:

and S110, acquiring a chassis bus message.

And S120, analyzing the chassis bus message to obtain vehicle height data and vehicle speed data.

The vehicle height data may be a vehicle height signal provided by an electronically controlled air suspension system ECAS, or may be a vehicle height signal provided by an adaptive headlamp AFS system, which is not limited in this embodiment of the present invention.

And the vehicle speed data is a vehicle speed signal obtained by analyzing the chassis bus message.

Specifically, vehicle height data and vehicle speed data are obtained by analyzing chassis bus messages, for example, vehicle height signals provided by an electronically controlled air suspension system ECAS or an adaptive headlamp AFS system may be used to analyze vehicle speed data.

And S130, switching the driving modes according to the vehicle height data and the vehicle speed data.

The driving mode switching may be to enter a rutting mode, to exit the rutting mode, or to keep the current mode unchanged, which is not limited in the embodiment of the present invention.

Specifically, the switching of the driving mode according to the vehicle height data and the vehicle speed data can be directly determined to be the switching of the switching mode into the rutting mode, the switching mode out of the rutting mode or the switching mode keeping unchanged according to the vehicle height data and the vehicle speed data; the embodiment of the present invention also provides that when the vehicle height data and the vehicle speed data satisfy a certain condition, the accumulated driving distance value is calculated according to the vehicle speed data, and whether to enter the rutting mode or not is determined according to the accumulated driving distance value, which is not limited in this respect.

According to the technical scheme of the embodiment, a chassis bus message is obtained; analyzing the chassis bus message to obtain vehicle height data and vehicle speed data; switching driving modes according to the vehicle height data and the vehicle speed data so as to realize that hardware cost of an identification function is reduced based on bus signals of an original vehicle completely without adding an additional sensor; only bus signals are adopted, so that the anti-interference capability of the system is improved, and the stability is improved; the recognition precision is higher, and the portability and the universality are good.

Example two

Fig. 2A is a flowchart of a driving mode switching method according to a second embodiment of the present invention, which is optimized based on the above-mentioned second embodiment, in which performing driving mode switching according to the vehicle height data and the vehicle speed data includes: calculating the suspension fluctuation energy of unit mileage according to the vehicle height data and the vehicle speed data; determining a target driving mode according to the suspension fluctuation energy; and switching the driving modes according to the target driving mode.

As shown in fig. 2A, the method of this embodiment specifically includes the following steps:

s210, acquiring a chassis bus message.

And S220, analyzing the chassis bus message to obtain vehicle height data and vehicle speed data.

And S230, calculating the suspension fluctuation energy of unit mileage according to the vehicle height data and the vehicle speed data.

The suspension fluctuation energy per unit mileage is a necessary parameter for judging whether to enter the rutting mode or exit the rutting mode.

Specifically, suspension fluctuation energy in a time domain is calculated according to vehicle height data, and then suspension fluctuation energy in unit mileage is calculated according to vehicle speed data and the suspension fluctuation energy in the time domain.

Optionally, calculating the suspension fluctuation energy per unit mileage according to the vehicle height data and the vehicle speed data includes:

and calculating the square of the vehicle height data to obtain the suspension fluctuation energy in the time domain.

Specifically, high-pass filtering is carried out on a vehicle height signal provided by an electric control air suspension system ECAS or a self-adaptive headlamp AFS system, low-frequency components are removed, and then the signal is squared to obtain suspension fluctuation energy in a time domain.

Specifically, the accumulated suspension fluctuation energy of 1m mileage is calculated according to the vehicle speed signal, the time domain signal is converted into a space domain signal, the influence of the vehicle speed on the suspension fluctuation degree is reduced, otherwise, when the vehicle speed is high, the driving mileage per unit time is high, the accumulated energy is inevitably larger than the suspension fluctuation in a low-speed state, and the judgment precision is influenced.

And S240, determining a target driving mode according to the suspension fluctuation energy.

Specifically, the fluctuation energy of the suspension is compared with a preset entering threshold value and a preset exiting threshold value, and then the target driving mode is determined according to the comparison result, for example, if the fluctuation energy of the suspension is greater than the entering threshold value, the vehicle enters a rutting mode; and if the fluctuation energy of the suspension is smaller than the exit threshold value, exiting the rutting mode.

Optionally, the determining a target driving mode according to the suspension fluctuation energy comprises:

Specifically, in order to prevent misjudgment, mileage accumulation is performed after the fluctuation energy of the suspension is judged to be greater than an entering threshold value, if the data of the mileage accumulation is greater than a set threshold value, a rutting mode is entered, after the fluctuation energy of the suspension is judged to be less than an exiting threshold value, the mileage accumulation is performed, and if the data of the mileage accumulation is greater than the set threshold value, the rutting mode is exited; for example, the judgment can be carried out through the fluctuation energy of the suspension and the driving mileage of a unit mileage, and when the fluctuation energy of the suspension is greater than an entering threshold value and meets the accumulation of a certain driving mileage, the rutting mode is entered; when the fluctuation energy of the suspension is smaller than the exit threshold value and meets the accumulation of a certain driving mileage, exiting the rut mode; when the suspension fluctuation energy is between the exit threshold and the entry threshold, no identification is made.

And S250, switching the driving mode according to the target driving mode.

Specifically, after the rut mode enabling signal is confirmed, the rut mode performance of the whole vehicle is decomposed into mode switching instructions of each electronic control subsystem (including but not limited to an engine management system EMS, a transmission control unit TCU, an electric power steering system EPS, a vehicle body electronic stability system ESP, a torque on demand distribution system TOD, and an electronic control air suspension system ECAS), and the driving mode switching of the rut mode is completed.

In a specific example, a system for a vehicle to automatically recognize a bumpy road surface, as shown in fig. 2B, includes: the system comprises a suspension fluctuation degree calculation module, a rut mode enabling judgment module and a driving mode switching module. A suspension fluctuation degree calculation module: firstly, high-pass filtering is carried out on a vehicle body height signal provided by an electric control air suspension system ECAS or a self-adaptive headlamp AFS system, low-frequency components are removed, and then the signal is squared to obtain suspension fluctuation energy in a time domain; and then, calculating the accumulated suspension fluctuation energy every 1m of driving according to the vehicle speed signal, converting the time domain signal into a space domain signal, and reducing the influence of the vehicle speed on the fluctuation degree of the suspension, otherwise, when the vehicle speed is high, the driving mileage per unit time is high, the accumulated energy is inevitably greater than the suspension fluctuation in a low-speed state, and the judgment precision is influenced. A rut mode enabling determination module: judging through the fluctuation energy of the suspension and the driving mileage of a unit mileage, and entering a rutting mode when the fluctuation energy of the suspension is greater than an entering threshold value and meets a certain driving mileage accumulation; when the fluctuation energy of the suspension is smaller than the exit threshold value and meets the accumulation of a certain driving mileage, exiting the rut mode; when the suspension fluctuation energy is between the exit threshold and the entry threshold, no identification is made. A driving mode switching module: after the confirmation of the rutting mode enabling signal is obtained, the rutting mode performance of the whole vehicle is decomposed into mode switching instructions of each electric control subsystem (including but not limited to an engine management system EMS, a transmission control unit TCU, an electric power steering system EPS, a vehicle body electronic stability system ESP, a torque demand distribution system TOD and an electric control air suspension system ECAS), and the driving mode switching of the rutting mode is completed.

The basic principle of automatic identification of the embodiment of the invention is to estimate the road bumping degree by using the suspension stroke characteristics; in order to avoid the influence of the vehicle speed on the accumulated calculation of the fluctuation energy of the suspension, converting a time domain signal into a space domain signal, calculating the fluctuation energy of the suspension accumulated in each 1m mileage of the vehicle, and judging whether the condition of identifying the vehicle as a rut mode is met or not according to the calculated fluctuation energy of the suspension; only the height signal of the vehicle body provided by the electric control air suspension system ECAS or the self-adaptive headlamp AFS system and the speed and speed signals of the vehicle body provided by the electronic stability system ESP are needed, the signals are few, the stability is high, no additional sensor is added, and the cost is saved.

EXAMPLE III

Fig. 3 is a schematic structural diagram of a driving mode switching device according to a third embodiment of the present invention. The present embodiment may be applicable to the case of driving mode switching, and the apparatus may be implemented in a software and/or hardware manner, and may be integrated into any device that provides a function of driving mode switching, as shown in fig. 3, where the driving mode switching apparatus specifically includes: an acquisition module 310, a parsing module 320, and a switching module 330.

The acquisition module is used for acquiring a chassis bus message;

Optionally, the switching module is specifically configured to:

and switching the driving modes according to the target driving mode.

Optionally, the switching module is specifically configured to:

The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the computer device 12 of the present embodiment, the display 24 is not provided as a separate body but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, implementing a driving mode switching method provided by an embodiment of the present invention: acquiring a chassis bus message; analyzing the chassis bus message to obtain vehicle height data and vehicle speed data; and switching the driving modes according to the vehicle height data and the vehicle speed data.

EXAMPLE five

Fifth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the driving mode switching method according to any of the embodiments of the present invention: acquiring a chassis bus message; analyzing the chassis bus message to obtain vehicle height data and vehicle speed data; and switching the driving modes according to the vehicle height data and the vehicle speed data.

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A driving mode switching method characterized by comprising:

acquiring a chassis bus message;

switching driving modes according to the vehicle height data and the vehicle speed data;

wherein switching the driving mode according to the vehicle height data and the vehicle speed data comprises:

and switching the driving modes according to the target driving mode.

2. The method of claim 1, wherein calculating suspension fluctuation energy per unit of mileage from the vehicle height data and vehicle speed data comprises:

3. The method of claim 2, wherein determining a target driving pattern from the suspension fluctuation energy comprises:

4. A driving mode switching apparatus, characterized by comprising:

the acquisition module is used for acquiring chassis bus messages;

the switching module is used for switching the driving modes according to the vehicle height data and the vehicle speed data;

wherein, the switching module is specifically configured to:

and switching the driving modes according to the target driving mode.

5. The apparatus of claim 4, wherein the switching module is specifically configured to:

6. The apparatus of claim 5, wherein the switching module is specifically configured to:

7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-3 when executing the program.

8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-3.