CN115257923B - Vehicle getting rid of poverty control method and device and vehicle - Google Patents
Vehicle getting rid of poverty control method and device and vehicle Download PDFInfo
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- CN115257923B CN115257923B CN202210994058.7A CN202210994058A CN115257923B CN 115257923 B CN115257923 B CN 115257923B CN 202210994058 A CN202210994058 A CN 202210994058A CN 115257923 B CN115257923 B CN 115257923B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000001133 acceleration Effects 0.000 claims description 123
- 230000001276 controlling effect Effects 0.000 claims description 44
- 230000005856 abnormality Effects 0.000 claims description 18
- 230000004913 activation Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 239000000853 adhesive Substances 0.000 abstract description 9
- 230000001070 adhesive effect Effects 0.000 abstract description 9
- 230000003213 activating effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a vehicle getting rid of poverty control method, a device and a vehicle, wherein the method comprises the following steps: receiving a vehicle getting rid of poverty control instruction; determining a escaping mode of the vehicle according to the escaping control instruction of the vehicle; determining a target corner angle of a rear wheel of the vehicle when the vehicle is out of the trapping state according to the out-of-trapping mode; and controlling the rear wheels of the vehicle to move to the target corner angle so as to make the vehicle get rid of the trapping. After the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode of the vehicle is determined according to the vehicle getting rid of poverty control instruction, and the turning angle of the rear wheels of the vehicle is adjusted under the corresponding getting rid of poverty mode, so that the target turning angle of the rear wheels of the vehicle when the vehicle gets rid of poverty is determined, the acting force between the rear wheels of the vehicle and the road surface meets the acting force required by the getting rid of poverty of the vehicle, the optimal utilization of the adhesive force between the rear wheels of the vehicle and the road surface is realized, and the getting rid of poverty of the vehicle is realized.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle getting rid of poverty control method and device and a vehicle.
Background
When the vehicle runs on a non-paved road, such as a gravel road, a mountain road and a mud road, the situation that the wheels are trapped can occur, when the wheels are trapped, the trapped wheels cannot acquire effective ground grabbing force, so that the vehicle cannot move, if the vehicle wants to get rid of the trapped wheels under the working conditions, the vehicle adopts a differential lock mode, so that power can be applied to the wheels with driving force, or for the vehicle with multiple motors, the power can be actively distributed to the wheels without slipping, and the effective utilization of the power is realized.
However, by using the force between the tire and the road surface by means of torque distribution, if the effect between the tire and the road surface is weak in the running direction of the vehicle, that is, the maximum force between the tire and the road surface is smaller than the minimum force required for getting rid of the trapping, the getting rid of the trapping of the vehicle cannot be achieved by means of torque distribution.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art.
Therefore, a first object of the present invention is to provide a vehicle getting rid of poverty control method, which determines a getting rid of poverty mode of a vehicle according to a vehicle getting rid of poverty control command after receiving the vehicle getting rid of poverty control command, and adjusts a turning angle of a rear wheel of the vehicle under the corresponding getting rid of poverty mode to determine a target turning angle of the rear wheel of the vehicle when the vehicle gets rid of poverty, so that acting force between the rear wheel of the vehicle and a road surface meets acting force required by getting rid of poverty of the vehicle, and optimal utilization of adhesive force between the rear wheel of the vehicle and the road surface is realized to get rid of poverty of the vehicle.
Therefore, a second object of the present invention is to provide a vehicle getting rid of poverty control device.
To this end, a third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling vehicle getting rid of poverty, the method comprising: receiving a vehicle getting rid of poverty control instruction; determining a trapping mode of the vehicle according to the vehicle trapping control instruction; determining a target corner angle of a rear wheel of the vehicle when the vehicle is out of order according to the out-of-order mode; and controlling the rear wheels of the vehicle to move to the target corner angle so as to get rid of the vehicle.
According to the vehicle getting rid of poverty control method, after the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode of the vehicle is determined according to the vehicle getting rid of poverty control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of poverty mode to determine the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of poverty, so that acting force between the rear wheel of the vehicle and the road surface meets acting force required by the getting rid of poverty of the vehicle, and optimal utilization of adhesive force between the rear wheel of the vehicle and the road surface is realized to realize getting rid of poverty of the vehicle.
In some embodiments, determining, according to the vehicle override control instruction, an override mode in which the vehicle is located includes: if the vehicle getting rid of poverty control instruction is a vehicle automatic getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is an automatic getting rid of poverty mode; if the vehicle getting rid of poverty control instruction is a vehicle manual getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a manual getting rid of poverty mode; if the vehicle getting rid of poverty control instruction is a vehicle following getting rid of poverty control instruction, determining that the getting rid of poverty mode in which the vehicle is positioned is a following getting rid of poverty mode.
In some embodiments, before determining that the escape mode in which the vehicle is located is the automatic escape mode, further comprising: judging whether the vehicle meets the condition of entering an automatic escape mode, wherein the condition of entering the automatic escape mode comprises the following steps: the opening degree of the vehicle accelerator pedal meets the preset opening degree, the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is in a preset lateral acceleration range, and the vehicle yaw rate is in a preset swing angular velocity range; if yes, controlling the vehicle to enter an automatic escape mode, otherwise, sending a first alarm signal of abnormality of the automatic escape mode.
In some embodiments, determining from the escape mode that the target turning angle of the rear wheels of the vehicle when the vehicle is escaping is satisfied comprises: when the escape mode of the vehicle is determined to be an automatic escape mode, controlling the vehicle to enter a function enabling state; judging whether the vehicle meets the condition of entering a function activation state or not in the function enabling state; if so, adjusting the corner angle of the rear wheel of the vehicle according to a preset control strategy until the target corner angle of the rear wheel of the vehicle is met when the vehicle gets rid of the fatigue.
In some embodiments, adjusting the corner angle of the rear wheel of the vehicle according to a preset control strategy until a target corner angle of the rear wheel of the vehicle when the vehicle gets stuck is satisfied, including: acquiring the vehicle longitudinal acceleration and the vehicle lateral acceleration, wherein the acceleration parameter values include: the rate of change of the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration, or the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration; determining an acceleration parameter value from the vehicle longitudinal acceleration and the vehicle lateral acceleration; and controlling the rotation angle of the rear wheels of the vehicle to rotate by a preset angle at intervals of preset time until the acceleration parameter value is greater than or equal to a preset acceleration threshold value, and determining the rotation angle of the rear wheels of the vehicle as the target rotation angle.
In some embodiments, after determining that the rotation angle of the rear wheels of the vehicle is the target rotation angle when the acceleration parameter value is greater than or equal to the preset acceleration threshold value, the method further includes: judging whether the vehicle meets the condition of entering the function enabling state or not; if yes, the vehicle is controlled to enter the function enabling state again.
In some embodiments, after controlling the vehicle to enter the function enabled state, further comprising: determining an accumulated time when the vehicle longitudinal acceleration is less than the preset acceleration threshold; and when the accumulated time reaches a preset time threshold, if the vehicle meets the condition of entering the function activation state, controlling the vehicle to enter the function activation state again.
In some embodiments, when the vehicle accelerator opening is greater than a preset opening threshold, the vehicle longitudinal acceleration is less than the preset acceleration threshold, and the vehicle rear wheel speed is greater than a preset wheel speed threshold, it is determined that the vehicle satisfies a condition of a function activation state.
In some embodiments, determining from the escape mode that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied comprises: when the escape mode of the vehicle is determined to be a manual escape mode, receiving an adjusting signal of the rear wheels of the vehicle; and determining the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the fatigue according to the regulating signal.
In some embodiments, before determining that the escape mode in which the vehicle is located is the manual escape mode, further comprising: judging whether the vehicle meets the condition of entering the manual escape mode, wherein the condition of entering the manual escape mode comprises the following steps: the manual angle adjusting device works normally; if yes, controlling the vehicle to enter a manual escape mode, otherwise, sending a second alarm signal of abnormality of the manual escape mode.
In some embodiments, determining from the escape mode that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied comprises: when the escape mode of the vehicle is determined to be the following escape mode, acquiring the steering wheel angle; and determining a target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the vehicle according to the steering wheel angle.
In some embodiments, before determining that the escape mode in which the vehicle is located is the following escape mode, further comprising: judging whether the vehicle meets the condition of entering the following escape mode, wherein the condition of entering the following escape mode comprises the following steps of: the steering wheel angle is in a preset angle range; if yes, controlling the vehicle to enter a follow-up escape mode, otherwise, sending out a third alarm signal of abnormality of the follow-up escape mode.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a vehicle getting rid of poverty control device, the device comprising: the receiving module is used for receiving a vehicle getting rid of poverty control instruction; the first determining module is used for determining a getting-out mode of the vehicle according to the vehicle getting-out control instruction; the second determining module is used for determining a target corner angle of the rear wheel of the vehicle when the vehicle is out of order according to the out-of-order mode; and the control module is used for controlling the rear wheels of the vehicle to move to the target corner angle so as to get rid of the vehicle.
According to the vehicle getting rid of poverty control device, after the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode in which the vehicle is located is determined according to the vehicle getting rid of poverty control instruction, and the corner angle of the rear wheels of the vehicle is adjusted under the corresponding getting rid of poverty mode to determine the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of poverty, so that acting force between the rear wheels of the vehicle and the road surface meets acting force required by the getting rid of poverty of the vehicle, and optimal utilization of adhesive force between the rear wheels of the vehicle and the road surface is realized, so that the getting rid of poverty of the vehicle is realized.
In order to achieve the above object, an embodiment of a third aspect of the present invention proposes a vehicle including: the vehicle escape control device of the above embodiment.
According to the vehicle provided by the embodiment of the invention, after the vehicle getting rid of the trapping control instruction is received, the getting rid of mode of the vehicle is determined according to the vehicle getting rid of the trapping control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of mode, so that the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of the trapping is determined, the acting force between the rear wheel of the vehicle and the road surface can meet the acting force required by the getting rid of the trapping of the vehicle, the optimal utilization of the adhesion force between the rear wheel of the vehicle and the road surface is realized, and the getting rid of the trapping of the vehicle is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling vehicle derating in accordance with one embodiment of the present invention;
FIG. 3 is a schematic diagram of determining a mode of escape in which a vehicle is located, according to one embodiment of the invention;
FIG. 4 is a block diagram of control of vehicle derating in accordance with one embodiment of the present invention;
fig. 5 is a block diagram of a vehicle according to one embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
For vehicles without rear wheel steering, the direction of the force of the rear wheel and the road surface is almost parallel to the longitudinal axis of the vehicle body, i.e. the working condition without lateral movement, the vehicle cannot advance once the force of the tire and the road surface in the direction is insufficient to drive the vehicle.
Fig. 1 is a schematic view of a vehicle according to an embodiment of the present invention. When the vehicle does not have a rear wheel steering device, the acting force direction of the rear wheels of the vehicle and the road surface is the longitudinal direction of the vehicle; when the vehicle has a rear wheel steering device, the direction of acting force between the vehicle and the road surface can be adjusted by adjusting the angle of the rear wheel of the vehicle and the road surface, so that a foundation is provided for determining the optimal acting force between the vehicle and the road surface.
The rear wheel steering controller receives a vehicle speed signal, a wheel speed signal, a steering wheel angle signal of a driver, an accelerator pedal signal, a brake pedal signal, an inertial sensor signal and a power torque signal which are acquired by the bus interface, and performs real-time information interaction with the bus interface.
The driver needs to start the vehicle getting rid of poverty function through the man-machine interaction system, the rear wheel steering controller receives a vehicle getting rid of poverty control instruction, and when corresponding getting rid of poverty conditions are met, a corresponding getting rid of poverty mode is started, and in the getting rid of poverty mode, the rear axle steering motor controls the rear wheels of the vehicle to move to a target corner angle. Therefore, the invention determines the direction of the optimal adhesion force by adjusting the included angle between the rear wheel of the vehicle and the longitudinal axis direction of the vehicle body, and realizes the optimal utilization of the adhesion force between the rear wheel of the vehicle and the road surface so as to lead the vehicle to get rid of the trouble.
The following describes a vehicle getting rid of poverty control method according to an embodiment of the present invention with reference to fig. 2, and as shown in fig. 2, the vehicle getting rid of poverty control method according to an embodiment of the present invention at least includes steps S1 to S4.
Step S1, a vehicle getting rid of poverty control instruction is received.
In an embodiment, a user sends a function starting request through a toggle switch, for example, a vehicle getting-off mode starting button arranged on a vehicle is toggled to send a vehicle getting-off control instruction, and after receiving the vehicle getting-off control instruction, a rear wheel steering controller detects the speed, the function switch state, the steering system state and the driving system state of the vehicle and performs subsequent control according to the received vehicle getting-off control instruction when determining that the functions meet preset conditions.
And S2, determining a escaping mode of the vehicle according to the escaping control instruction of the vehicle.
The vehicle escape mode can be selected according to the requirements of users, the received vehicle escape control instructions are different, and the vehicle escape modes are different.
In an embodiment, the speed of the vehicle, the state of the function switch, the state of the steering system and the state of the driving system meet preset conditions, for example, the speed of the vehicle is smaller than a set threshold value, such as 3km/h, and the function switch is turned on; and at the moment, according to the received vehicle getting-out control instruction, the vehicle getting-out mode is selected so as to determine the getting-out mode in which the vehicle is located.
It can be understood that the escape modes of the vehicle can be divided into an automatic escape mode, a manual escape mode and a following escape mode, the escape mode of the vehicle is determined according to the received vehicle escape control instruction, and the vehicle escape is realized in the corresponding escape mode.
And step S3, determining the target corner angle of the rear wheels of the vehicle when the vehicle is out of order according to the out-of-order mode.
When the vehicle gets rid of the trapped, the target corner angle of the rear wheel of the vehicle, namely, the included angle between the rear wheel of the vehicle and the longitudinal axis of the vehicle body in the optimal force direction is met, and when the rear wheel of the vehicle is positioned at the target corner angle, the optimal utilization of the adhesive force between the rear wheel of the vehicle and the road surface can be realized.
In an embodiment, after determining the escape mode in which the vehicle is located, in different escape modes, the target angle of rotation of the rear wheels of the vehicle is determined to be able to meet the requirement of escaping the vehicle.
When the escape mode of the vehicle is an automatic escape mode, the rear wheels of the vehicle automatically adjust the corner angle to determine a target corner angle; when the escape mode of the vehicle is a manual escape mode, a user can adjust the corner angle of the rear wheel of the vehicle according to own experience and requirements so as to determine a target corner angle; when the vehicle is in the escape mode, the rear wheel steering angle of the vehicle can be changed according to the movement of the steering wheel so as to determine the target steering angle. The optimal utilization of the adhesion force between the rear wheels of the vehicle and the road surface can be realized by determining the target corner angle so as to help the vehicle get rid of the trouble.
And S4, controlling the rear wheels of the vehicle to move to a target corner angle so as to enable the vehicle to get rid of the passengers.
In the embodiment, after the target corner angle of the rear wheels of the vehicle is determined, the rear wheels of the vehicle are controlled to move to the target corner angle so as to adjust the acting direction of the wheels and the road surface, so that the adhesive force direction of the rear wheels of the vehicle and the road surface is optimal, the acting force between the rear wheels of the vehicle and the road surface meets the acting force required by the escape of the vehicle, and the rear wheels of the vehicle are controlled to move by controlling the rear axle steering motor so as to realize the escape of the vehicle.
According to the vehicle getting rid of poverty control method, after the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode of the vehicle is determined according to the vehicle getting rid of poverty control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of poverty mode to determine the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of poverty, so that acting force between the rear wheel of the vehicle and the road surface meets acting force required by the getting rid of poverty of the vehicle, and optimal utilization of adhesive force between the rear wheel of the vehicle and the road surface is realized to realize getting rid of poverty of the vehicle.
A method for controlling vehicle escape according to an embodiment of the present invention is illustrated below with reference to fig. 3. As can be seen from fig. 3, the received vehicle getting-out control command is different, and the getting-out mode of the vehicle is different.
In some embodiments, determining a vehicle escape mode according to a vehicle escape control command includes: if the vehicle getting-out control instruction is an automatic vehicle getting-out control instruction, determining that the getting-out mode in which the vehicle is positioned is an automatic getting-out mode; if the vehicle getting rid of poverty control instruction is a vehicle manual getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a manual getting rid of poverty mode; if the vehicle getting rid of poverty control instruction is a vehicle following getting rid of poverty control instruction, determining that the getting rid of poverty mode in which the vehicle is positioned is a following getting rid of poverty mode.
In an embodiment, as shown in fig. 3, when the vehicle escape control instruction is a vehicle automatic escape control instruction, it is required to determine whether the vehicle meets a condition of entering an automatic escape mode, and if the vehicle meets the condition of entering the automatic escape mode, the vehicle is controlled to enter the automatic escape mode;
when the vehicle getting rid of poverty control instruction is a manual getting rid of poverty control instruction of the vehicle, judging whether the vehicle meets the condition of entering a manual getting rid of poverty mode, and if the vehicle meets the condition of entering the manual getting rid of poverty mode, controlling the vehicle to enter the manual getting rid of poverty mode;
when the vehicle getting rid of poverty control instruction is a vehicle following getting rid of poverty control instruction, whether the vehicle meets the condition of entering the following getting rid of poverty mode or not needs to be judged, and if the vehicle meets the condition of entering the following getting rid of poverty mode, the vehicle is controlled to enter the following getting rid of poverty mode.
After the vehicle escape mode is selected, whether the vehicle meets the condition of entering different modes or not is judged, and when the condition is met, the vehicle is controlled to enter the corresponding escape mode, so that the reliability of entering the escape mode by the vehicle is improved.
In some embodiments, before determining that the escape mode in which the vehicle is located is the automatic escape mode, further comprising: judging whether the vehicle meets the condition of entering an automatic escape mode, wherein the condition of entering the automatic escape mode comprises the following steps: the opening degree of the vehicle accelerator pedal meets the preset opening degree, the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is in a preset lateral acceleration range, and the vehicle yaw rate is in a preset swing angular velocity range; if yes, controlling the vehicle to enter an automatic escape mode, otherwise, sending out a first alarm signal of abnormality of the automatic escape mode.
In an embodiment, when the opening degree of the vehicle accelerator pedal satisfies a preset opening degree, the accelerator pedal opening degree signal is considered normal, the vehicle longitudinal acceleration is considered normal when the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is considered normal when the vehicle lateral acceleration is in a preset lateral acceleration range, the vehicle yaw rate is considered normal when the vehicle yaw rate is in a preset yaw rate range, and the vehicle is controlled to enter an automatic escaping mode when the vehicle accelerator pedal opening degree signal is determined to be normal, the vehicle longitudinal acceleration signal is normal, the vehicle lateral acceleration signal is considered normal, and the vehicle yaw rate signal is considered to be normal; if the vehicle does not meet the condition of entering the automatic escape mode, the vehicle is considered to be unable to enter the automatic escape mode, and at the moment, a first alarm signal of abnormality of the automatic escape mode is sent out so as to remind a user, so that the user can conveniently control the vehicle to enter other escape modes.
In some embodiments, determining from the escape mode that the target turning angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied comprises: when the escape mode of the vehicle is determined to be an automatic escape mode, controlling the vehicle to enter a function enabling state; in the enabling state, judging whether the vehicle meets the condition of entering the function activation state; if so, adjusting the corner angle of the rear wheels of the vehicle according to a preset control strategy until the corner angle of the rear wheels of the vehicle meets the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of poverty.
In the embodiment, after the vehicle is determined to enter the automatic escape mode, the vehicle is controlled to enter a function enabling state, namely, the rotation angle of the rear wheels of the vehicle is controlled to be fixed at a certain position, so that the rear wheels of the vehicle stop swinging, at the moment, whether the vehicle meets the condition of entering the function activating state is judged, if the condition of entering the function activating state is met, the vehicle is controlled to enter the function activating state, and in the function activating state, the rear wheels of the vehicle are controlled to adjust according to a preset control strategy until the rotation angle of the rear wheels of the vehicle meets the target rotation angle of the rear wheels of the vehicle when the vehicle is escaping.
For example, in the function activated state, the rotation angle of the rear wheel of the vehicle may be adjusted according to a preset control strategy, i.e., the rear wheel of the vehicle is controlled to rotate by a preset angle every preset time, for example, the rotation angle of the rear wheel of the vehicle is controlled to reciprocate left and right with a certain gradient of angle change, or the rotation angle of the rear wheel of the vehicle is controlled to reciprocate left and right with a certain step value, and when the rotation angle of the rear wheel of the vehicle is adjusted, the vehicle state is monitored, i.e., the vehicle longitudinal acceleration and the vehicle lateral acceleration are obtained, the acceleration parameter value is determined according to the vehicle longitudinal acceleration and the vehicle lateral acceleration, for example, the change rate of the root of the sum of the square of the vehicle longitudinal acceleration and the vehicle lateral acceleration is calculated, calculating the root of the square sum of the longitudinal acceleration and the lateral acceleration of the vehicle, if the change rate of the root of the square sum is larger than or equal to a preset acceleration threshold value, or if the root of the square sum is larger than or equal to a preset acceleration threshold value, controlling the corner angle of the rear wheel of the vehicle to be unchanged, at the moment, judging whether the vehicle meets the condition of entering the function enabling state again, if the vehicle meets the condition of entering the function enabling state, controlling the vehicle to enter the function enabling state again, detecting the longitudinal acceleration of the vehicle under the condition that the corner angle of the rear wheel of the vehicle is unchanged, and if the longitudinal acceleration of the vehicle is smaller than the preset acceleration threshold value, starting timing, and controlling the vehicle to enter the function enabling state again until the accumulated time reaches the preset time.
If the vehicle longitudinal acceleration is larger than the preset acceleration threshold value in the timing process, the previous timing is cleared, timing is restarted until the accumulated time when the vehicle longitudinal acceleration is smaller than the preset acceleration threshold value reaches the preset time threshold value, and frequent switching of the two functional states can be avoided by performing delay processing between the functional enabling state and the functional activating state, so that the stability of the functional switching state is improved, and the reliability of the automatic escape mode escape is improved.
It is understood that when the vehicle is in the function activated state, the angle of rotation of the rear wheels of the vehicle is adjusted, and when the angle of rotation of the rear wheels of the vehicle is adjusted, the lateral acceleration and the lateral acceleration of the vehicle need to be detected, and when the rate of change of the sum of the square of the longitudinal acceleration and the lateral acceleration of the vehicle, or the sum of the square of the longitudinal acceleration and the lateral acceleration of the vehicle is greater than or equal to a preset acceleration threshold value, the angle of rotation of the rear wheels of the vehicle is considered to reach the target angle of rotation in the function activated state, at this time, in order to control the angle of rotation of the rear wheels of the vehicle to be fixed at the target angle of rotation, whether the vehicle meets the condition of entering the function activated state or not needs to be judged again, and when the vehicle meets the condition of entering the function state, the vehicle is controlled to enter the function activated state again, so that the angle of rotation of the rear wheels of the vehicle is kept at the target angle of rotation.
After the angle of rotation of the rear wheels of the vehicle is kept at the target angle of rotation, as the longitudinal acceleration of the vehicle may jump, when the longitudinal acceleration of the vehicle is smaller than the preset acceleration threshold value, the time that the longitudinal acceleration of the vehicle is smaller than the preset acceleration threshold value is counted, so that the frequent switching of the function enabling state and the function activating state caused by the jump of the longitudinal acceleration is avoided, and the reliability of the escape of the automatic escape mode is improved. In some embodiments, when the vehicle accelerator opening is greater than a preset opening threshold, and the vehicle longitudinal acceleration is less than a preset acceleration threshold, and the vehicle rear wheel speed is greater than a preset wheel speed threshold, it is determined that the vehicle satisfies a condition of a functional activation state.
In an embodiment, when the accelerator opening of the vehicle is greater than a preset opening threshold, the longitudinal acceleration of the vehicle is less than a preset acceleration threshold, and the wheel speed of the rear wheel of the vehicle is greater than a preset wheel speed threshold, the vehicle is considered to satisfy the condition of entering the function activated state, and the vehicle is controlled to enter the function activated state, wherein it is understood that the condition of the function activated state and the condition of the function activated state are switchable.
When the opening degree of the accelerator of the vehicle is smaller than a preset opening degree threshold value, or the driver brakes the vehicle, or the vehicle speed is higher than a preset speed threshold value, or the root of the sum of the longitudinal acceleration of the vehicle and the square of the lateral acceleration of the vehicle is larger than or equal to a set acceleration threshold value, or the change rate of the root of the sum of the longitudinal acceleration of the vehicle and the square of the lateral acceleration of the vehicle is larger than or equal to the set acceleration threshold value, or the opening degree of the accelerator of the vehicle is not reduced but the change of the wheel speed of the rear wheel of the vehicle is larger than a preset wheel speed threshold value, if any one of the conditions is met, the vehicle is considered to meet the condition of entering the function enabling state.
In some embodiments, determining from the escape mode that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied includes: when the escape mode of the vehicle is determined to be a manual escape mode, receiving an adjusting signal of a rear wheel of the vehicle; and determining the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the vehicle according to the adjusting signal.
In an embodiment, when a manual vehicle escape control instruction is received, determining whether the vehicle meets a condition of entering a manual escape mode, where the condition of entering the manual escape mode includes: the manual angle adjusting device works normally; if the condition of entering the manual escape mode is met, the vehicle is controlled to enter the manual escape mode, otherwise, a second alarm signal of abnormality of the manual escape mode is sent, it can be understood that the manual angle adjusting device can be a button or a screen touch switch and the like, and a driver can adjust the angle of rotation of the rear wheel of the vehicle to a target angle of rotation according to the self requirement by operating the button or the screen touch switch, so that the rear wheel of the vehicle can be effectively caught, and the escape of the vehicle is realized.
In some embodiments, determining from the escape mode that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied includes: when the escape mode of the vehicle is determined to be the following escape mode, acquiring the steering wheel angle; and determining a target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the vehicle according to the steering wheel angle.
In an embodiment, when a vehicle following escaping control instruction is received, judging whether the vehicle meets a condition of entering a following escaping mode, wherein the condition of entering the following escaping mode comprises: the steering wheel angle is in a preset angle range, namely the steering wheel angle signal is normal; if the condition of entering the follow-up escape mode is met, controlling the vehicle to enter the follow-up escape mode, otherwise, sending out a third alarm signal of abnormality of the follow-up escape mode.
When the vehicle is controlled to enter the following escaping mode, the angle of rotation of the rear wheels of the vehicle can be changed along with the angle change of the steering wheel, the angle of rotation of the rear wheels of the vehicle and the angle of the direction can be in a linear relation, and the consistency of the angle of rotation of the rear wheels of the vehicle and the angle of the direction can be set by a driver through an HMI (Human Machine Interface, human-computer interface).
In other embodiments, when the vehicle speed is greater than a preset speed threshold, or the vehicle yaw rate is greater than a preset yaw rate range, or the vehicle lateral acceleration is greater than a preset acceleration threshold, or an associated controller error, such as a hardware abnormality, a power transmission mechanism abnormality, a braking abnormality, a steering system abnormality, etc., the vehicle is controlled to exit the corresponding escape mode to ensure the escape safety of the vehicle.
According to the vehicle getting rid of poverty control method, after the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode of the vehicle is determined according to the vehicle getting rid of poverty control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of poverty mode to determine the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of poverty, so that acting force between the rear wheel of the vehicle and the road surface meets acting force required by the getting rid of poverty of the vehicle, and optimal utilization of adhesive force between the rear wheel of the vehicle and the road surface is realized to realize getting rid of poverty of the vehicle.
The following describes a vehicle getting rid of poverty control device according to an embodiment of the present invention.
As shown in fig. 4, a vehicle getting rid of poverty control device 2 according to an embodiment of the invention includes: the vehicle escape control system comprises a receiving module 20, a first determining module 21, a second determining module 22 and a control module 23, wherein the receiving module 20 is used for receiving a vehicle escape control instruction; the first determining module 21 is configured to determine a escaping mode in which the vehicle is located according to the vehicle escaping control command; the second determining module 22 is configured to determine, according to the escaping mode, a target turning angle of the rear wheel of the vehicle when the vehicle is escaping; the control module 23 is used for controlling the rear wheels of the vehicle to move to a target turning angle so as to get rid of the vehicle.
According to the vehicle getting rid of poverty control device 2 provided by the embodiment of the invention, after the vehicle getting rid of poverty control instruction is received, the getting rid of poverty mode of the vehicle is determined according to the vehicle getting rid of poverty control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of poverty mode to determine the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of poverty, so that the acting force between the rear wheel of the vehicle and the road surface meets the acting force required by the getting rid of poverty of the vehicle, the optimal utilization of the adhesive force between the rear wheel of the vehicle and the road surface is realized, and the getting rid of poverty of the vehicle is realized.
In some embodiments, the first determining module 21 is specifically configured to: when the vehicle getting-out control instruction is an automatic vehicle getting-out control instruction, determining that the getting-out mode in which the vehicle is positioned is an automatic getting-out mode; when the vehicle getting rid of poverty control instruction is a manual getting rid of poverty control instruction of the vehicle, determining that the getting rid of poverty mode in which the vehicle is positioned is a manual getting rid of poverty mode; when the vehicle getting-out control instruction is a vehicle following getting-out control instruction, determining that the getting-out mode in which the vehicle is positioned is a following getting-out mode.
In some embodiments, the first determining module 21 is further configured to: judging whether the vehicle meets the condition of entering an automatic escape mode, wherein the condition of entering the automatic escape mode comprises the following steps: the opening degree of the vehicle accelerator pedal meets the preset opening degree, the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is in a preset lateral acceleration range, and the vehicle yaw rate is in a preset swing angular velocity range; if yes, controlling the vehicle to enter an automatic escape mode, otherwise, sending out a first alarm signal of abnormality of the automatic escape mode.
In some embodiments, the second determination module 22 is specifically configured to: when the escape mode of the vehicle is determined to be an automatic escape mode, controlling the vehicle to enter a function enabling state; in the enabling state, judging whether the vehicle meets the condition of entering the function activation state; if so, controlling the rear wheels of the vehicle to adjust the rear wheels of the vehicle according to a preset control strategy until the corner angle of the rear wheels of the vehicle meets the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of poverty.
In some embodiments, the second determination module 22 is specifically configured to: acquiring vehicle longitudinal acceleration and vehicle lateral acceleration; determining an acceleration parameter value from a vehicle longitudinal acceleration and a vehicle lateral acceleration, wherein the acceleration parameter value comprises: the rate of change of the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration, or the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration; and controlling the rear wheels of the vehicle to rotate by a preset angle according to the preset time until the acceleration parameter value is greater than or equal to the set acceleration threshold value, and determining the corner angle of the rear wheels of the vehicle as the target corner angle.
In some embodiments, the second determination module 22 is further to: judging whether the vehicle meets the condition of entering a function enabling state or not; if yes, the vehicle is controlled to enter the function enabling state again.
In some embodiments, the second determination module 22 is further to: determining the accumulated time when the longitudinal acceleration of the vehicle is smaller than a preset acceleration threshold value; when the accumulated time reaches a preset time threshold, if the vehicle meets the condition of entering the function activation state, the vehicle is controlled to enter the function activation state again.
In some embodiments, when the vehicle accelerator opening is greater than a preset opening threshold, and the vehicle longitudinal acceleration is less than a preset acceleration threshold, and the vehicle rear wheel speed is greater than a preset wheel speed threshold, it is determined that the vehicle satisfies a condition of a functional activation state.
In some embodiments, the first determining module 21 is further configured to: judging whether the vehicle meets the condition of entering the manual escape mode, wherein the condition of entering the manual escape mode comprises the following steps: the manual angle adjusting device works normally; if yes, controlling the vehicle to enter a manual escape mode, otherwise, sending a second alarm signal of abnormality of the manual escape mode.
In some embodiments, the second determination module 22 is specifically configured to: when the escape mode of the vehicle is determined to be the following escape mode, acquiring the steering wheel angle; and determining a target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the vehicle according to the steering wheel angle.
In some embodiments, the second determination module 22 is further to: judging whether the vehicle meets the condition of entering the following escape mode, wherein the condition of entering the following escape mode comprises the following steps of: the steering wheel angle is in a preset angle range; if yes, controlling the vehicle to enter a follow-up escape mode, otherwise, sending out a third alarm signal of abnormality of the follow-up escape mode.
A vehicle of an embodiment of the invention is described below.
As shown in fig. 5, the vehicle 3 of the embodiment of the invention includes the vehicle escape control device 2 of the above-described embodiment.
According to the vehicle 3 provided by the embodiment of the invention, after the vehicle getting rid of the trapping control instruction is received, the getting rid of mode of the vehicle is determined according to the vehicle getting rid of the trapping control instruction, and the corner angle of the rear wheel of the vehicle is adjusted under the corresponding getting rid of mode, so that the target corner angle of the rear wheel of the vehicle when the vehicle gets rid of the trapping is determined, the acting force between the rear wheel of the vehicle and the road surface can meet the acting force required by the getting rid of the trapping of the vehicle, the optimal utilization of the adhesion force between the rear wheel of the vehicle and the road surface is realized, and the getting rid of the trapping of the vehicle is realized.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A method of controlling vehicle escape, comprising:
receiving a vehicle getting rid of poverty control instruction;
determining a trapping mode of the vehicle according to the trapping control instruction of the vehicle, wherein,
if the getting-out control instruction is an automatic getting-out control instruction of the vehicle, judging whether the vehicle meets the condition of entering an automatic getting-out mode or not, wherein the condition of entering the automatic getting-out mode comprises the following steps: the opening degree of the vehicle accelerator pedal meets the preset opening degree, the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is in a preset lateral acceleration range, and the vehicle yaw rate is in a preset swing angular velocity range;
if yes, controlling the vehicle to enter an automatic escape mode, determining that the escape mode in which the vehicle is positioned is the automatic escape mode, otherwise, sending a first alarm signal of abnormality of the automatic escape mode;
if the vehicle getting rid of poverty control instruction is a vehicle manual getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a manual getting rid of poverty mode;
if the vehicle getting rid of poverty control instruction is a vehicle following getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a following getting rid of poverty mode;
determining a target corner angle of a rear wheel of the vehicle when the vehicle is out of order according to the out-of-order mode;
and controlling the rear wheels of the vehicle to move to the target corner angle so as to get rid of the vehicle.
2. The method for controlling vehicle escape according to claim 1, wherein determining, according to the escape mode, that the target turning angle of the rear wheels of the vehicle at the time of escape is satisfied, comprises:
when the escape mode of the vehicle is determined to be an automatic escape mode, controlling the vehicle to enter a function enabling state;
judging whether the vehicle meets the condition of entering a function activation state or not in the function enabling state;
if so, adjusting the corner angle of the rear wheel of the vehicle according to a preset control strategy until the target corner angle of the rear wheel of the vehicle is met when the vehicle gets rid of the fatigue.
3. The method for controlling the escape of a vehicle according to claim 2, wherein adjusting the steering angle of the rear wheels of the vehicle according to a preset control strategy until the target steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied, comprises:
acquiring the vehicle longitudinal acceleration and the vehicle lateral acceleration;
determining an acceleration parameter value from the vehicle longitudinal acceleration and the vehicle lateral acceleration, wherein the acceleration parameter value comprises: the rate of change of the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration, or the root of the sum of the squares of the vehicle longitudinal acceleration and the vehicle lateral acceleration;
and controlling the rotation angle of the rear wheels of the vehicle to rotate by a preset angle at intervals of preset time until the acceleration parameter value is greater than or equal to a preset acceleration threshold value, and determining the rotation angle of the rear wheels of the vehicle as the target rotation angle.
4. The control method of the vehicle getting rid of poverty according to claim 3, further comprising, after determining that the turning angle of the rear wheels of the vehicle is the target turning angle when the acceleration parameter value is greater than or equal to the preset acceleration threshold value:
judging whether the vehicle meets the condition of entering the function enabling state or not;
if yes, the vehicle is controlled to enter the function enabling state again.
5. The method of controlling vehicle escape according to claim 4, further comprising, after controlling the vehicle to enter the function-enabled state:
determining an accumulated time when the vehicle longitudinal acceleration is less than the preset acceleration threshold;
and when the accumulated time reaches a preset time threshold, if the vehicle meets the condition of entering the function activation state, controlling the vehicle to enter the function activation state again.
6. The control method for vehicle getting rid of poverty according to claim 5, wherein when the accelerator opening of the vehicle is larger than a preset opening threshold value, the longitudinal acceleration of the vehicle is smaller than the preset acceleration threshold value, and the wheel speed of the rear wheel of the vehicle is larger than a preset wheel speed threshold value, it is determined that the vehicle satisfies the condition of the function activated state.
7. The method for controlling the escape of a vehicle according to claim 1, wherein determining, according to the escape mode, that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied, comprises:
when the escape mode of the vehicle is determined to be a manual escape mode, receiving an adjusting signal of the rear wheels of the vehicle;
and determining the target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the fatigue according to the regulating signal.
8. The method of claim 7, wherein before determining that the vehicle is in the override mode is a manual override mode, further comprising:
judging whether the vehicle meets the condition of entering the manual escape mode, wherein the condition of entering the manual escape mode comprises the following steps: the manual angle adjusting device works normally;
if yes, controlling the vehicle to enter a manual escape mode, otherwise, sending a second alarm signal of abnormality of the manual escape mode.
9. The method for controlling the escape of a vehicle according to claim 1, wherein determining, according to the escape mode, that the target rear wheel steering angle of the rear wheels of the vehicle at the escape of the vehicle is satisfied, comprises:
when the escape mode of the vehicle is determined to be the following escape mode, acquiring the steering wheel angle;
and determining a target corner angle of the rear wheels of the vehicle when the vehicle gets rid of the vehicle according to the steering wheel angle.
10. The method of claim 9, wherein determining that the vehicle is in the escape mode before the following escape mode further comprises:
judging whether the vehicle meets the condition of entering the following escape mode, wherein the condition of entering the following escape mode comprises the following steps of: the steering wheel angle is in a preset angle range;
if yes, controlling the vehicle to enter a follow-up escape mode, otherwise, sending out a third alarm signal of abnormality of the follow-up escape mode.
11. A control device for vehicle escape, characterized by comprising:
the receiving module is used for receiving a vehicle getting rid of poverty control instruction;
a first determining module, configured to determine a trapping mode in which the vehicle is located according to the vehicle trapping control instruction,
if the getting-out control instruction is an automatic getting-out control instruction of the vehicle, judging whether the vehicle meets the condition of entering an automatic getting-out mode or not, wherein the condition of entering the automatic getting-out mode comprises the following steps: the opening degree of the vehicle accelerator pedal meets the preset opening degree, the vehicle longitudinal acceleration is in a preset longitudinal acceleration range, the vehicle lateral acceleration is in a preset lateral acceleration range, and the vehicle yaw rate is in a preset swing angular velocity range;
if yes, controlling the vehicle to enter an automatic escape mode, determining that the escape mode in which the vehicle is positioned is the automatic escape mode, otherwise, sending a first alarm signal of abnormality of the automatic escape mode;
if the vehicle getting rid of poverty control instruction is a vehicle manual getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a manual getting rid of poverty mode;
if the vehicle getting rid of poverty control instruction is a vehicle following getting rid of poverty control instruction, determining that a getting rid of poverty mode in which the vehicle is positioned is a following getting rid of poverty mode;
the second determining module is used for determining a target corner angle of the rear wheel of the vehicle when the vehicle is out of order according to the out-of-order mode;
and the control module is used for controlling the rear wheels of the vehicle to move to the target corner angle so as to get rid of the vehicle.
12. A vehicle, characterized by comprising: the vehicle escape control device of claim 11.
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| CN202210994058.7A CN115257923B (en) | 2022-08-18 | 2022-08-18 | Vehicle getting rid of poverty control method and device and vehicle |
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| CN202210994058.7A CN115257923B (en) | 2022-08-18 | 2022-08-18 | Vehicle getting rid of poverty control method and device and vehicle |
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| CN104755347A (en) * | 2012-09-06 | 2015-07-01 | 捷豹路虎有限公司 | Vehicle control system and method |
| GB2574394A (en) * | 2018-06-01 | 2019-12-11 | Jaguar Land Rover Ltd | An apparatus and a method for controlling steering |
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