CN112849131B - Vehicle tire burst control method and system and automobile - Google Patents
Vehicle tire burst control method and system and automobile Download PDFInfo
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- CN112849131B CN112849131B CN202110349498.2A CN202110349498A CN112849131B CN 112849131 B CN112849131 B CN 112849131B CN 202110349498 A CN202110349498 A CN 202110349498A CN 112849131 B CN112849131 B CN 112849131B
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- vehicle
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- tire burst
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
Abstract
The invention aims to provide a vehicle tire burst control method, a vehicle tire burst control system and an automobile, so that tire burst control can be quickly responded when a vehicle has a tire burst. The vehicle tire burst control method comprises the following steps: step S1, when a vehicle is in a centering automatic driving mode, acquiring a tire pressure sensor signal, a wheel speed sensor signal, a vehicle course angle signal and a vehicle speed sensor signal; s2, determining whether the vehicle has a tire burst or not based on the tire pressure sensor signal, the wheel speed sensor signal, the vehicle course angle signal and the vehicle speed sensor signal; and S3, if the vehicle has a tire burst, starting a danger indicator lamp, controlling the vehicle to continuously keep in centering running, and simultaneously controlling the vehicle to carry out speed reduction control.
Description
Technical Field
The invention belongs to the technical field of intelligent driving of automobiles, and particularly relates to a vehicle tire burst control method and system and an automobile.
Background
When the automobile is burst, particularly in the process of high-speed running, the automobile is easy to cause traffic accidents of destroying the automobile and death people. The main reason is that the burst tire has a sudden and unpredictable nature, and the tire releases air in a very short time (less than 0.1 s) resulting in the vehicle yawing to the burst side. If nothing is done, a guardrail or other vehicle may be knocked; if an inexperienced driver is encountered, taking excessive or erroneous actions due to confusion, such as slamming over the direction or hard braking, can result in an uncontrolled vehicle collision, or tire runout, wheel rim jamming and rollover.
The vehicle in the automatic driving mode can normally handle high-speed tire burst accidents, and finally the vehicle control right is safely returned to a driver or automatically reaches a minimum risk state, so that the personal and property safety of the vehicle and passengers is ensured.
In the prior art, the tire burst monitoring of the vehicle is mainly to judge whether the vehicle has a tire burst through a signal whether a tire provided by a tire pressure sensor is in a quick leakage state, but because of the sensitivity problem of the tire pressure sensor, the tire pressure sensor cannot timely feed back the signal that the tire is in the quick leakage state, and the vehicle cannot rapidly control the tire burst based on the actual tire burst condition, so that the vehicle has safety defects.
Disclosure of Invention
The invention aims to provide a vehicle tire burst control method, a vehicle tire burst control system and an automobile, so that tire burst control can be quickly responded when a vehicle has a tire burst.
The technical scheme of the invention is as follows:
the embodiment of the invention provides a vehicle tire burst control method, which comprises the following steps:
step S1, when a vehicle is in a centering automatic driving mode, acquiring a tire pressure sensor signal, a wheel speed sensor signal, a vehicle course angle signal and a vehicle speed sensor signal;
s2, determining whether the vehicle has a tire burst or not based on the tire pressure sensor signal, the wheel speed sensor signal, the vehicle course angle signal and the vehicle speed sensor signal;
and S3, if the vehicle has a tire burst, starting a danger indicator lamp, controlling the vehicle to continuously keep in centering running, and simultaneously controlling the vehicle to carry out speed reduction control.
Preferably, the method further comprises:
s4, judging whether the vehicle speed of the vehicle is reduced below a preset vehicle speed or not; if yes, entering step S5;
s5, sending a takeover request for reminding a driver to take over;
s6, if the driver takes over the vehicle based on the taking over request, the centering automatic driving mode is exited;
and S7, if the driver does not take over the vehicle, triggering the vehicle to run into the emergency lane and stop.
Preferably, in step S2, the step of determining whether the vehicle is flat includes:
judging whether the tire pressure sensor information contains information that the tire is in a quick leakage state;
if yes, determining that the vehicle has a tire burst;
if not, if the difference between the increasing speed of the wheel in the preset time period and the increasing speed of the vehicle speed in the preset time period is determined to exceed a preset speed threshold value and the offset of the course angle of the vehicle in the preset time period is greater than a preset angle, the vehicle is determined to have a tire burst.
The embodiment of the invention provides a vehicle tire burst control system, which comprises:
an autonomous driving controller, comprising: the automatic driving state management module, the tire burst monitoring module and the tire burst processing module are connected with the automatic driving state management module;
the tire burst monitoring module is used for acquiring a tire pressure sensor signal, a wheel speed sensor signal, a vehicle speed sensor signal and a camera sensor signal, and judging whether a vehicle has a tire burst or not based on the tire pressure state of the tire pressure sensor signal, wheel speed information in the wheel speed sensor signal, vehicle speed information in the vehicle speed sensor signal and vehicle steering angle information in the camera sensor signal;
the automatic driving state management module sends out a tire burst control enabling signal when receiving the tire burst signal sent by the tire burst monitoring module;
and the tire burst processing module performs tire burst control based on the tire burst control enabling signal.
Wherein, the flat tire processing module includes:
a longitudinal control unit for giving a power control command to a power actuator of the vehicle and a brake control command to a brake actuator of the vehicle, causing the power actuator to perform an oil-receiving coasting operation, and causing the brake actuator to perform a braking operation;
the transverse control unit is used for sending a steering control command to a steering actuator of the vehicle so that the steering actuator keeps the vehicle to run in a centering way;
the vehicle body control unit is used for sending a danger indicator lamp control command to a danger indicator lamp of the vehicle to enable the danger indicator lamp to be lightened;
and the human-computer interaction control unit is used for sending an alarm prompt command to the alarm indicator of the vehicle so as to enable the alarm indicator to give an alarm prompt.
The embodiment of the invention also provides an automobile which comprises the vehicle tire burst control system.
The beneficial effects of the invention are as follows:
(1) And the tire burst scene is processed more systematically and comprehensively, and the safety of automatic driving is improved.
(2) The scheme is low in cost, and new hardware cost is not added to the current automatic driving scheme.
Drawings
FIG. 1 is a block diagram of a flat tire monitoring and processing system;
FIG. 2 is a flow chart of a method of vehicle tire burst monitoring and handling in an autonomous driving mode;
in the figure: 1. the system comprises a tire pressure sensor, 2, a wheel speed sensor, 3, a camera sensor, 4, a vehicle speed sensor, 5, an automatic driving controller, 6, an automatic driving state management module, 7, a tire burst monitoring module, 8, a tire burst processing module, 9, a longitudinal control unit, 10, a transverse control unit, 11, a vehicle body control unit, 12, a man-machine interaction control unit, 13, a power actuator, 14, a brake actuator, 15, a steering actuator, 16, a danger indicator lamp, 17 and an alarm indicator.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the present embodiment provides a vehicle tire burst control method, which includes a tire pressure sensor 1, a wheel speed sensor 2, a camera sensor 3, a vehicle speed sensor 4, an automatic driving controller 5, a power actuator 13, a brake actuator 14, a steering actuator 15, a hazard indicator 16, and an alarm indicator 17. The automatic driving controller 5 comprises three modules including an automatic driving state management module 6, a tire burst monitoring module 7 and a tire burst processing module 8, and the tire burst processing module 8 comprises four units including a longitudinal control unit 9, a transverse control unit 10, a vehicle body control unit 11 and a man-machine interaction control unit 12.
The camera sensor 3 is used for providing vehicle heading angle information to the flat tire monitoring module 7 and road track signals to the lateral control unit 10 of the flat tire processing module 8.
The tire pressure sensor 1 is configured to provide a tire pressure signal of each tire to the tire burst monitoring module 7.
The wheel speed sensor 2 is used to provide a wheel speed signal of each tire to the flat tire monitoring module 7.
The vehicle speed sensor 3 is used for providing a vehicle speed signal for the tire burst monitoring module 7.
The tire burst monitoring module 7 of the automatic driving controller 5 judges whether the vehicle has a tire burst according to the vehicle speed signal, the tire pressure signal, the wheel speed signal and the vehicle steering angle information.
When the tire burst signal sent by the tire burst monitoring module 7 is a tire burst, the automatic driving state management module 6 carries out state transition, sends a tire burst control enabling signal to the tire burst processing module 8, and requests the tire burst processing module 8 to control according to a preset strategy.
When the tire burst control enabling signal sent by the automatic driving state management module 6 is received by the tire burst processing module 8 as enabling, the longitudinal control unit 9 sends a power control command and a brake control command, the transverse control unit 10 sends a steering control command, the vehicle body control unit 11 sends a danger indicator control command, and the human-computer interaction control unit 12 sends an alarm prompting command.
When the power actuator 13 sends a power control command to the longitudinal control unit 9, the oil-collecting sliding operation is braked according to the command.
When receiving a brake control command from the longitudinal control unit 9, the brake actuator 14 performs a braking operation in accordance with the command to decelerate the vehicle slowly.
When the steering actuator 15 receives a steering control command from the lateral control unit 10, it performs a steering operation in accordance with the command, and maintains the stability of the vehicle.
When the hazard lamps 16 receive a hazard lamp control command from the vehicle body control unit 11, the hazard lamps are turned on in accordance with the command to alert other road users.
When receiving the warning prompt command sent by the human-computer interaction control unit 12, the warning indicator 17 prompts the driver according to the command, so that the driver can clearly know the state of the system, and can take over vehicle control when necessary.
As shown in fig. 2, the method for monitoring and processing the vehicle tire burst in the automatic driving mode of the invention comprises the following steps:
step 1, monitoring vehicle course angle information in a tire pressure sensor 1, a wheel speed sensor 2, a vehicle speed sensor 3 and a camera sensor 4 in real time;
step 2, judging whether a tire burst happens; specifically, the change in the tire pressure sensor 1, the wheel speed sensor 2, the change in the vehicle speed sensor 3, and the deviation in the vehicle heading angle in the camera sensor 4 are comprehensively considered to determine whether a tire burst has occurred. If the tire pressure signal of the tire pressure sensor 1 shows that the tire is in a quick leakage state, directly judging that the tire burst occurs; if the tire pressure signal of the tire pressure sensor 1 is not in a quick leakage state, but the wheel speed increasing speed of a certain wheel relative to the vehicle speed exceeds a certain threshold value within a period of time, and the offset deviation of the vehicle course angle exceeds a certain threshold value, the vehicle is judged to have a tire burst. Step 3, if the vehicle is determined to have a tire burst, firstly turning on the hazard indicating lamp 16, continuously controlling the vehicle to be transverse, keeping running in the lane, and meanwhile, receiving the accelerator and carrying out intermittent light braking to enable the vehicle to stop stably as soon as possible; if the tire is not burst, finishing the operation and judging the next round;
judging whether the vehicle speed is reduced to be below 40km/h, and if the vehicle speed is reduced to be below 40km/h, sending a takeover request to remind a driver to take over; otherwise, the system continues lane keeping and deceleration control;
judging whether a driver takes over, and if so, finishing the tire burst control and processing; if the driver does not take over, the system triggers the vehicle to slowly move to the side to enter an emergency lane for parking.
In this embodiment, through the above scheme, the problem of sensitivity of the tire pressure sensor is considered, and whether the vehicle has a tire burst or not is further judged by combining the vehicle speed, the wheel speed and the vehicle course angle. When the vehicle has a tire burst, the vehicle is controlled transversely and longitudinally to keep the vehicle in a centered running state, so that the phenomenon of side turning of the vehicle in the process of vehicle speed reduction is prevented, and the vehicle can be safely decelerated or braked when the tire burst occurs.
The embodiment of the invention also provides an automobile comprising the vehicle tire burst control system.
Claims (5)
1. A vehicle tire burst control method, characterized by comprising:
step S1, when a vehicle is in a centering automatic driving mode, acquiring a tire pressure sensor signal, a wheel speed sensor signal, a vehicle course angle signal and a vehicle speed sensor signal;
s2, determining whether the vehicle has a tire burst or not based on the tire pressure sensor signal, the wheel speed sensor signal, the vehicle course angle signal and the vehicle speed sensor signal;
in step S2, the step of determining whether the vehicle is flat includes:
judging whether the tire pressure sensor information contains information that the tire is in a quick leakage state;
if yes, determining that the tire burst happens to the vehicle;
if not, determining that the tire burst of the vehicle occurs if the difference between the increasing speed of the wheel in the preset time period and the increasing speed of the vehicle speed in the preset time period exceeds a preset speed threshold value and the offset of the course angle of the vehicle in the preset time period is greater than a preset angle;
and S3, if the tire burst happens to the vehicle, firstly, turning on a danger indicating lamp, controlling the vehicle to continuously keep in centering running, and simultaneously controlling the vehicle to carry out speed reduction control.
2. The method of claim 1, further comprising:
s4, judging whether the vehicle speed of the vehicle is reduced below a preset vehicle speed or not; if yes, entering step S5;
s5, sending a takeover request for reminding a driver to take over;
step S6, if the driver takes over the vehicle based on the taking over request, the driver exits the centering automatic driving mode;
and S7, if the driver does not take over the vehicle, triggering the vehicle to run to an emergency lane and stop.
3. A vehicle tire burst control system, comprising:
an autonomous driving controller, comprising: the automatic driving state management module, the tire burst monitoring module and the tire burst processing module are connected with the tire burst monitoring module;
the tire burst monitoring module is used for acquiring a tire pressure sensor signal, a wheel speed sensor signal, a vehicle speed sensor signal and a camera sensor signal, and judging whether a vehicle has a tire burst or not based on the tire pressure state of the tire pressure sensor signal, the wheel speed information in the wheel speed sensor signal, the vehicle speed information in the vehicle speed sensor signal and the vehicle steering angle information in the camera sensor signal; the step of judging whether the vehicle is flat or not comprises the following steps:
judging whether the tire pressure sensor information contains information that the tire is in a quick leakage state;
if yes, determining that the vehicle has a tire burst;
if not, determining that the tire burst of the vehicle occurs if the difference between the increasing speed of the wheel in the preset time period and the increasing speed of the vehicle speed in the preset time period exceeds a preset speed threshold value and the offset of the course angle of the vehicle in the preset time period is greater than a preset angle;
the automatic driving state management module sends out a tire burst control enabling signal when receiving the tire burst signal sent by the tire burst monitoring module;
and the tire burst processing module performs tire burst control based on the tire burst control enabling signal.
4. The system of claim 3, wherein the flat tire treatment module comprises:
a longitudinal control unit for giving a power control command to a power actuator of the vehicle and a brake control command to a brake actuator of the vehicle, causing the power actuator to perform an oil-receiving coasting operation, and causing the brake actuator to perform a braking operation;
the transverse control unit is used for sending a steering control command to a steering actuator of the vehicle so that the steering actuator keeps the vehicle to run in a centering way;
the vehicle body control unit is used for sending a danger indicator lamp control command to a danger indicator lamp of the vehicle to enable the danger indicator lamp to be lightened;
and the human-computer interaction control unit is used for sending an alarm prompt command to the alarm indicator of the vehicle so as to enable the alarm indicator to give an alarm prompt.
5. An automobile characterized by comprising the vehicle tire burst control system according to claim 3 or 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110349498.2A CN112849131B (en) | 2021-03-31 | 2021-03-31 | Vehicle tire burst control method and system and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110349498.2A CN112849131B (en) | 2021-03-31 | 2021-03-31 | Vehicle tire burst control method and system and automobile |
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| CN112849131A CN112849131A (en) | 2021-05-28 |
| CN112849131B true CN112849131B (en) | 2023-03-24 |
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| CN114261243A (en) * | 2022-01-10 | 2022-04-01 | 中国第一汽车股份有限公司 | Vehicle driving control method and system and vehicle |
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