CN115892008A

CN115892008A - Vehicle driving control method and device, electronic equipment or storage medium

Info

Publication number: CN115892008A
Application number: CN202211429649.6A
Authority: CN
Inventors: 王念强; 余景龙; 王仕伟; 侯杰; 陈志刚; 陈磊; 王明; 梁友涛; 张洋; 徐婷婷
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2023-04-04

Abstract

The invention discloses a vehicle driving control method and device, electronic equipment or a storage medium. The method comprises the steps of acquiring vehicle driving data in the vehicle driving process, carrying out sand trapping judgment on the vehicle driving data, controlling and adjusting the height of a sand trapping wheel and the wheel steering of the sand trapping wheel under the condition that the vehicle meets sand trapping judgment conditions, controlling the power output of the vehicle to enable the vehicle to move along the driving direction, carrying out escaping judgment on the vehicle, and determining that the vehicle finishes the sand trapping and escaping control process under the condition that the vehicle meets the escaping conditions. The vehicle sand trapping and sand trapping states are identified through vehicle running data, the height and the steering of the wheels are adjusted when the vehicle sand trapping is determined, sand around the sand trapping wheels flows to the bottom of a sand pit formed after the wheels are lifted, the sand pit formed after the wheels are lifted is filled, the pointing positions of the wheels can be determined again, the wheels are prevented from falling to the ground according to the original wheel track, and the vehicle can be started stably and is timely and safely out of the way.

Description

Vehicle driving control method and device, electronic equipment or storage medium

Technical Field

The embodiment of the invention relates to the field of automobile electric control, in particular to a vehicle driving control method and device, electronic equipment or a storage medium.

Background

Due to the softness and the flowing characteristic of desert sand, a vehicle is easy to sink into a sand pit, the wheels can continuously dig sand when the driving method is improper, the vehicle sinks deeper, the driving technology and experience of the vehicle have high requirements, and the direction of a part of people to good traveling is invisibly limited.

At present, the vehicle aims at the solution of sinking into a sand pit, and 1) a jack is used for jacking up a trapped wheel, and tools such as a shovel are used for cleaning sand around a tire, so that the running resistance is reduced; this is clearly disadvantageous for less powerful drivers, especially female users; 2) The trapped vehicle is dragged out by using the trailer rope when seeking rescue of other vehicles, which is very inconvenient, time-consuming and the like.

Disclosure of Invention

The invention provides a vehicle driving control method, a vehicle driving control device, electronic equipment or a storage medium, and aims to realize timely escape when a vehicle is trapped in sand.

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

in the vehicle running process, vehicle running data are obtained, and sand sinking judgment is carried out on the vehicle running data;

controlling and adjusting the height of the sand trapping wheels and adjusting the wheel steering of the sand trapping wheels under the condition that the vehicle meets the sand trapping determination condition; and controlling a power output of the vehicle to move the vehicle in a direction of travel;

and judging the vehicle to get rid of the trapped sand, and determining that the vehicle finishes the control process of getting stuck and getting rid of the trapped sand under the condition that the vehicle meets the trapping-free condition.

Optionally, the vehicle driving data is subjected to a sand trap determination, which includes one or more of the following:

acquiring the running speed and the wheel tangential speed of a vehicle, determining the wheel slip rate based on the running speed and the wheel tangential speed, judging the wheel slip rate based on a slip rate threshold value, and determining that the vehicle meets the condition of sand trapping judgment if the slip rate threshold value is smaller than the wheel slip rate;

obtaining the ground clearance of the vehicle, judging the ground clearance based on a distance threshold, and if the ground clearance is smaller than the distance threshold, determining that the vehicle meets a sand trap judgment condition;

and under the condition that the tangential speed of the wheels is greater than a preset value, determining the running distance in a preset time period, judging the running distance on the basis of a preset distance threshold value, and if the running distance is less than the preset distance threshold value, determining that the vehicle meets the condition of sand trapping judgment.

Optionally, the controlling and adjusting the height of the sand trap wheel and the adjusting the wheel steering of the sand trap wheel includes:

controlling an actuator of the driving stabilizer bar through a vertical control module, and adjusting the height of the sand trapping wheel in a vertical and upward direction;

and controlling a four-wheel steering actuator through a steering control module, and adjusting the wheel steering of the sand trapping wheel.

Optionally, the controlling, by the steering control module, the four-wheel steering actuator to adjust the wheel steering of the sand trapping wheel includes:

controlling a four-wheel steering actuator through a steering control module to enable the sand trapping wheels to swing at a preset frequency and a preset amplitude, and adjusting the falling direction of the sand trapping wheels to be different from the falling direction;

and the method further comprises:

and controlling an actuator of the driving stabilizer bar through a vertical control module so that the sand trapping wheel falls to the ground based on the falling direction.

Optionally, the controlling the power output of the vehicle to move the vehicle in the driving direction includes:

and controlling the power actuator through the driving control module so that the vehicle runs based on the preset running speed.

Optionally, the determining that the vehicle is out of the stranded state includes:

determining a new wheel slip rate and a driving distance of the vehicle relative to the time of the sand trap;

and if the new wheel slip rate is smaller than the slip rate threshold value and the running distance of the vehicle relative to the sand trapping moment is larger than the distance judgment threshold value, determining that the vehicle meets the escaping condition.

Optionally, the method further includes:

and under the condition that the vehicle does not meet the escaping condition, adjusting the vehicle traveling direction, and re-executing the control process of trapping sand and escaping based on the adjusted traveling direction.

Optionally, after determining that the vehicle completes the control process of trapping sand and getting rid of the trapping, the method further includes:

and if the driving operation of the driver on the vehicle is not detected after the preset duration of the control process of sand trapping and escaping is finished, parking braking is carried out on the vehicle.

In a second aspect, an embodiment of the present invention further provides a vehicle travel control apparatus, including: the device comprises a judging module, a vertical control module, a steering control module and a driving control module;

the device comprises a judging module, a calculating module and a sending module, wherein the judging module is used for acquiring vehicle driving data in the vehicle driving process and judging the vehicle driving data to trap sand;

the vertical control module is used for controlling and adjusting the height of the sand trapping wheel under the condition that the vehicle meets the sand trapping judgment condition;

the steering control module is used for adjusting the wheel steering of the sand trapping wheel;

the driving control module is used for controlling the power output of the vehicle so as to enable the vehicle to move along the driving direction;

the judging module is further used for conducting escaping judgment on the vehicle, and determining that the vehicle completes the control process of sand trapping and escaping under the condition that the vehicle meets escaping conditions.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle driving control method of any one of the first aspect.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are used for causing a processor to implement the vehicle driving control method according to any one of the first aspect when executed.

The vehicle driving data is acquired in the vehicle driving process, the vehicle driving data is subjected to the sediment trapping determination, the height of the sediment trapping wheels is controlled and the wheel steering of the sediment trapping wheels is controlled under the condition that the vehicle meets the sediment trapping determination condition, the power output of the vehicle is controlled, so that the vehicle moves along the driving direction, the vehicle is subjected to the trapped-car removal determination, and the vehicle is determined to finish the control process of sediment trapping and trapped-car removal under the condition that the vehicle meets the trapped-car removal condition. The vehicle sand trapping and sand trapping states are identified through vehicle running data, the height and the steering of the wheels are adjusted when the vehicle sand trapping is determined, sand around the sand trapping wheels flows to the bottom of a sand pit formed after the wheels are lifted, the sand pit formed after the wheels are lifted is filled, the pointing positions of the wheels can be determined again, the wheels are prevented from falling to the ground according to the original wheel track, and the vehicle can be started stably and is timely and safely out of the way.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a function of a sliding rate on a sand road according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating the application of a roll moment according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of a stiffness curve for a vehicle suspension system according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of an implementation of a vertical control module and a steering control module according to an embodiment of the present invention;

fig. 6 is a schematic flowchart of a backup trap removal procedure according to an embodiment of the present invention;

fig. 7 is a flowchart of a vehicle driving control method according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a vehicle driving control apparatus according to a second embodiment of the present invention;

fig. 9 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a vehicle driving control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is stuck with sand, and the method may be executed by a vehicle driving control device, where the vehicle driving control device may be implemented in a form of hardware and/or software, and the vehicle driving control device may be configured in an electronic device such as a driving computer, an onboard processor, or the like. As shown in fig. 1, the method includes:

and S110, acquiring vehicle running data in the vehicle running process, and carrying out sand trapping judgment on the vehicle running data.

The vehicle driving data may be data collected by various sensors on the vehicle during driving of the vehicle, for example, but not limited to, a wheel tangential speed, a wheel rotation speed, a driving speed, a ground clearance, a wheel rotation angle speed, a peripheral obstacle, and the like, and the type and the number of the acquired vehicle driving data may be set according to an actual situation, which is not specifically limited herein. Optionally, the vehicle driving data corresponding to the data type may be read from a data storage of the vehicle or a CAN bus according to the data type required for the determination of the sand trapping. The trapping determination may be based on comparison of the acquired vehicle travel data with its corresponding trapping threshold data, thereby determining whether the vehicle is trapped. For example, the method can be used for carrying out real-time sediment trapping determination during the running process of the vehicle; or whether the sand trapping determination is carried out or not can be determined according to the type of the vehicle running road; or the determination of the stuck sand may be made while the vehicle is in the sand travel mode.

Optionally, the running speed and the wheel tangential speed of the vehicle are obtained, the wheel slip rate is determined based on the running speed and the wheel tangential speed, the wheel slip rate is determined based on a slip rate threshold, and if the slip rate threshold is smaller than the wheel slip rate, it is determined that the vehicle meets the condition for determining the sand trap.

The running speed of the vehicle can be the speed of the vehicle during actual running, and can be read from an instrument panel of the vehicle. The tangential velocity of the wheel can be the linear velocity of the wheel, i.e. the instantaneous velocity of a point on the wheel (or points on an object) moving in a curve (including circular motion), and the direction of the instantaneous velocity is along the tangential direction of the moving track, so the tangential velocity is also called tangential velocity. The wheel slip ratio may be data representing the proportion of the wheel slip component of a vehicle during a gradual braking process from pure rolling to locked dragging of the wheels of the vehicle, and therefore, the slip ratio is also referred to as the slip ratio, and when the wheels of the vehicle are transmitting traction or braking force, relative motion occurs between the wheels and the ground, and the slip ratio may be the proportion of the wheel slip component in the motion of the wheels, and is generally represented by S. The slip ratio threshold may be set according to actual conditions, and is not specifically limited herein. The determination that the vehicle satisfies the trapping determination condition may be a determination that the vehicle has been trapped in the trap based on the pieces of vehicle travel data.

It should be noted that the slip ratio greatly affects the braking adhesion coefficient and the lateral adhesion coefficient of the vehicle wheel, thereby affecting the braking performance of the vehicle. When the wheel is in a semi-sliding and semi-rolling state, the brake adhesion coefficient can be maximized, namely the braking force can be maximized, and the lateral adhesion coefficient is also at a higher value, namely the lateral stability is also better (generally, the slip ratio is about 20%). When the wheels are completely locked and do not roll, the brake adhesion coefficient is reduced, the lateral stability is zero, the phenomena of sideslip and drift are easy to occur, and accidents are easy to cause. The ABS can prevent the wheels from locking when the vehicle brakes, and keep the slip rate of the wheels within the range of 10-30% so as to ensure that the wheels and the road surface have good braking and lateral adhesion, even if the braking adhesion coefficient and the lateral adhesion coefficient of the wheels are both in a higher value, thereby effectively preventing the phenomena of vehicle sideslip, tail flicking, steering loss and the like when the vehicle brakes, and improving the directional stability when the vehicle brakes. Accordingly, the slip rate threshold value should be set to be greater than the slip rate holding range that the ABS anti-lock braking system can control, i.e., 10% to 30%.

For example, when the slip ratio P of a certain wheel of the vehicle is greater than 35%, the wheel is determined to be trapped in sand, the function of the slip ratio on the sand road is approximately as shown in fig. 2, and the slip ratio is calculated according to the following formula:

wherein P is the wheel slip ratio, V _R Is the wheel tangential velocity and V is the vehicle speed of travel.

Optionally, the ground clearance of the vehicle is obtained, the ground clearance is determined based on the distance threshold, and if the ground clearance is smaller than the distance threshold, it is determined that the vehicle meets the condition for determining the sand trap. The ground clearance may be a distance between the vehicle chassis and the ground, which may be obtained by a sensor provided on the vehicle chassis, such as an infrared sensor. Under normal circumstances, the ground clearance should be such that the contact point of the vehicle chassis and the wheel on the ground is a vertical distance, and a ground clearance less than a distance threshold value indicates that the wheel falls below the ground surface, resulting in a decrease in the distance between the vehicle chassis and the ground, i.e., determining that the vehicle satisfies the condition for determining sand trapping.

Optionally, when the tangential speed of the wheel is greater than the preset value, the running distance in a preset time period is determined, the running distance is determined based on a preset distance threshold, and if the running distance is less than the preset distance threshold, it is determined that the vehicle meets the condition for determining the sand trap.

It should be noted that, if the running distance is smaller than the preset distance threshold, it is determined that the vehicle meets the condition for determining the sand trapping, which may be understood as that the wheel idles in the bunker, at this time, the tangential velocity of the wheel is greater than the preset value, and the vehicle does not run normally, that is, does not run for the preset distance within the preset time, and it is determined that the vehicle meets the condition for determining the sand trapping.

The vehicle sand trapping judgment is carried out through the plurality of vehicle running data, and the accuracy of vehicle sand trapping judgment is improved. The synchronous judgment can be carried out on a plurality of wheels, and the number and the positions of the wheels with the trapped sand are determined.

S120, controlling and adjusting the height of the sand trapping wheels and adjusting the wheel steering of the sand trapping wheels under the condition that the vehicle meets the sand trapping determination conditions; and controlling a power output of the vehicle to move the vehicle in the traveling direction.

The height of the sand trapping wheel can be controlled and adjusted by lifting the sand trapping wheel through a first preset actuator in the vehicle. Adjusting the wheel steering of the trap wheel may be by rotating the trap wheel via a second predetermined actuator in the vehicle, changing the trap wheel orientation. Controlling the power output of the vehicle may be controlling a power pedal or a brake pedal of the vehicle through a third preset actuator in the vehicle to control the vehicle to run. In this embodiment, through above-mentioned adjustment process for the wheel that sinks into sand in the vehicle can break away from the jumping pit, and adjust the wheel orientation that sinks into sand when falling to the ground, avoid falling into the jumping pit once more, and control the vehicle and travel on this basis, realize that the vehicle drives out the jumping pit position, get rid of poverty from the jumping pit.

Alternatively, lifting the sand trap wheel by a first preset actuator in the vehicle may be: and the vertical control module is used for controlling the actuator of the driving stabilizer bar and adjusting the height of the sand trapping wheel in the vertical upward direction.

The actuator of the active stabilizer bar can be a transverse pull rod arranged in a vehicle chassis or an engine compartment, the active stabilizer bar can prevent the vehicle from seriously rolling when the vehicle turns at a high speed, so that potential safety hazards are avoided, the stability of the vehicle during running is improved, and the active stabilizer bar can automatically adjust the motion range of the active stabilizer bar, so that the rolling effect of the vehicle is counteracted.

Illustratively, and with particular reference to fig. 3, the active stabilizer bar actuator applies a roll moment M1 about the roll center, with the left and rear wheels experiencing a vertical force Fz ₁ + Δ Fz, vertical force Fz borne by the right rear wheel _r The calculation formula of Δ Fz, the roll moment M1 is as follows:

where M1 is the vehicle roll restraining moment applied by the active stabilizer bar system, fz ₁ Normal vertical force of the left rear wheel of the vehicle, fz _r The vertical force of the right rear wheel of the normal vehicle, the delta Fz is the variation of the vertical force of the tire after the active stabilizer bar system applies the roll moment, and the B is the wheel track of the vehicle.

Wherein, the height h in the height of the wheel for adjusting the sand trap in the vertical upward direction can be the difference value between the normal ground clearance of the vehicle and the ground clearance of the vehicle when the wheel is used for trapping sand, and the formula is as follows:

h＝H1-H2

wherein H is the wheel lifting height, H1 is the ground clearance of a normal vehicle, and H2 is the ground clearance of the sand trapping wheel.

Illustratively, after the height h of the sand trap wheel and the roll moment M1 applied by the active stabilizer bar actuator around the roll center in the vertical and upward direction are determined, the action force required by the height h is applied according to the stiffness curve of the vehicle suspension system, the active stabilizer bar actuator obtains the actually required action force for lifting the height h based on the roll moment M1, and the active stabilizer bar actuator applies corresponding action force to the vehicle to lift the sand trap wheel by the corresponding height h. Accordingly, the vehicle suspension stiffness curve is detailed with reference to FIG. 4.

Optionally, the sand trapping wheel is rotated by a second preset actuator in the vehicle, and the direction of the sand trapping wheel is changed by: and the four-wheel steering actuator is controlled through the steering control module, and the wheel steering of the sand trapping wheel is adjusted.

The four-wheel steering actuator can be a device for realizing four-wheel independent steering. Accordingly, the four-wheel steering actuator can control the four wheels to swing at a certain frequency and amplitude.

Optionally, the four-wheel steering actuator is controlled by the steering control module, and the wheel steering for adjusting the sand trapping wheel may be: and controlling a four-wheel steering actuator through a steering control module so as to enable the sand trapping wheels to swing at a preset frequency and a preset amplitude and adjust the falling direction of the sand trapping wheels to be different from the trapping direction.

Correspondingly, the actuator of the driving stabilizer bar is controlled through the vertical control module, so that the sand trapping wheel falls to the ground based on the falling direction.

The sand trapping wheel swings at a preset frequency and a preset amplitude, and the four-wheel steering actuator can enable the sand trapping wheel to complete height adjustment in the vertical upward direction and then switch left and right steering at a certain frequency and amplitude. The landing direction may be a turning direction when the sand trap wheel lands. Correspondingly, the landing direction can be set according to actual conditions, and the landing direction of the sand trapping wheel is different from the landing direction (the sand trapping wheel is prevented from falling to the ground according to the track of the original wheel), so that specific limitation is not required. The direction of the sinking may be the direction of the wheel when it is stuck with sand.

For example, after the vehicle meets the condition of determining the sand trap, referring to fig. 5 in particular, since sand is deposited around the wheel and the traveling resistance is increased, in order to make the sand trap wheel separate from the sand pit, the vertical control module controls the actuator of the active stabilizer bar to apply a roll moment and an acting force to quickly lift the wheel to a certain height h, so that the sand around the sand trap wheel flows to the bottom of the sand pit. The steering control module controls the four-wheel steering actuator, after the sand trapping wheel is lifted upwards by a certain height h, the four-wheel steering actuator is steered and swung at a certain frequency and amplitude to vibrate peripheral sand, a sand pit is further filled, and a corner with a certain angle is selected to land.

The actuator of the driving stabilizer bar applies a roll moment to lift the sand trapping wheel, and the four-wheel steering actuator adjusts the steering of the sand trapping wheel, so that the sand trapping wheel is prevented from falling to the ground according to the track of the original wheel, and the success rate of vehicle escaping is improved.

Alternatively, controlling the power output of the vehicle to move the vehicle in the direction of travel may be: and controlling the power actuator through the driving control module so that the vehicle runs based on the preset running speed.

Wherein, the control power actuator can be a power pedal or a brake pedal of the control vehicle. The preset running speed can be set according to actual conditions, and the requirement that the vehicle runs at a low speed can be met, and the preset running speed is not particularly limited.

The vehicle is controlled to normally run by the power actuator, and the vehicle is stably started.

S130, carrying out escaping judgment on the vehicle, and determining that the vehicle finishes the control process of sand trapping and escaping under the condition that the vehicle meets the escaping condition.

The escaping judgment can be based on comparison between new vehicle running data acquired after escaping operation and vehicle running data when the vehicle is normal. Correspondingly, the new vehicle running data acquired after the trap-removing operation can be the wheel tangential speed, the wheel rotating speed, the running speed, the ground clearance, the wheel rotating angle speed, the peripheral obstacles and the like when the vehicle runs in a preset mode by adjusting the power actuator after the sand-trapping wheel is steered by the four-wheel steering actuator when the vehicle is lifted by the driving stabilizer bar actuator.

Optionally, the implementation manner of the sleepiness-escaping judgment may be: and determining a new wheel slip rate and the driving distance of the vehicle relative to the sand trapping moment, and if the new wheel slip rate is smaller than a slip rate threshold value and the driving distance of the vehicle relative to the sand trapping moment is larger than a distance judgment threshold value, determining that the vehicle meets the difficulty escaping condition.

The calculation of the wheel slip rate may specifically refer to the above formula, which is not described herein again, and it is understood that the vehicle driving data used for calculating the new wheel slip rate is the vehicle driving data after the adjustment for overcoming the difficulty of the vehicle is completed. The distance traveled by the vehicle relative to the moment of the trap may be the distance the trap wheel moves in a preset direction relative to the location of the trap.

For example, the wheel slip ratio and the travel distance of the vehicle with respect to the time of trapping are determined, and when the new wheel slip ratio P is less than or equal to 35% and the travel distance St of the vehicle with respect to the time of trapping is greater than 1m, it is determined that the vehicle satisfies the conditions for escaping from the trap.

The new vehicle driving data are obtained through calculation after the escape process is carried out, and the new vehicle driving data are compared with the vehicle driving data when the vehicle is normal to determine whether the vehicle is escaped, so that the accuracy of judging the vehicle escape condition is ensured.

Optionally, if the driving operation of the driver on the vehicle is not detected after the preset time length of the control process of sand trapping and escaping is completed, the parking brake is performed on the vehicle.

The driving operation of the vehicle may be the operation of a driver turning a steering wheel, triggering a brake pedal, and the like. The parking brake of the vehicle can be operations of driving a brake pedal, lifting a hand brake and the like.

For example, after the vehicle meets the escaping condition, an alarm is given and the driver is reminded to take over the vehicle, if the driver performs the driving operation on the vehicle within 5s, the sand trapping escaping program is ended, and if the driver does not perform the driving operation on the vehicle within 5s, the vehicle is subjected to parking brake, so that the vehicle is stably stopped.

The driver is reminded to take over the vehicle after the vehicle is determined to meet the escaping condition, and the parking brake is carried out on the vehicle when the driver does not take over the vehicle within the preset time, so that the accident is effectively avoided, and the safety of sand trapping and escaping is improved.

Optionally, in a case where the vehicle does not satisfy the condition for escaping from the sand, the vehicle traveling direction is adjusted, and the control process for trapping sand and escaping from the sand is executed again based on the adjusted traveling direction.

The condition that the vehicle does not meet the escaping condition can be that the periphery of the vehicle is close or/and an obstacle exists on a preset vehicle escaping traveling route, namely the traveling distance St of the vehicle relative to the sand trapping moment is less than 1m. The control process of re-executing the trapped sand trap can be entering a backup trap removal program.

For example, referring specifically to fig. 6, the vertical control module controls the actuator of the active stabilizer bar to quickly lift the sand-trapping wheel to a certain height h, the vehicle central control screen prompts "please confirm the traveling direction", and provides a "recommendation" option and a manual direction adjustment option, and at this time, if it is detected that an obstacle exists in a short distance around the vehicle (an obstacle exists on a preset vehicle escaping traveling route), the vehicle central control screen gives a warning. The steering control module controls a four-wheel steering actuator to enable the sand trapping wheels to steer and sway left and right at a certain frequency and amplitude, vibrate peripheral sand, further fill a sand pit, and select a corner with a certain angle to stop control, wherein the angle can be a corner recommended by a system, such as 40 degrees, or an angle freely selected by a driver. The vertical control module controls the actuator of the driving stabilizer bar, the wheels fall to the ground, and because the wheels fall to the ground and have a corner, the wheels which are trapped can be prevented from falling to the ground according to the track of the original wheels. And controlling the power actuator through the driving control module so that the vehicle runs based on the preset running speed. And judging the wheel slip rate and the running distance of the vehicle relative to the sand trapping moment, and when the new wheel slip rate P is less than or equal to 35% and the running distance St of the vehicle relative to the sand trapping moment is more than 1m, determining that no obstacle exists in the close range around the vehicle or/and the preset vehicle escaping travel route. And after the vehicle is determined to meet the backup escaping condition, giving an alarm and reminding a driver to take over the vehicle, if the driver performs the driving operation on the vehicle within 5s, ending the sand trapping escaping procedure, and if the driver does not perform the driving operation on the vehicle within 5s, performing parking brake on the vehicle to enable the vehicle to stop stably.

When obstacles exist around the vehicle or in the preset advancing direction, the driver is reminded to handle the obstacles, so that accidents are effectively avoided, and the safety of sand trapping and escaping is further improved.

In an alternative embodiment, referring specifically to fig. 7, a control program of the automatic sand trap removal control system is started, signals are read in, and vehicle driving data are obtained. When the slip ratio P of a certain wheel or a plurality of wheels is more than 35%, the vehicle is judged to be trapped in sand, the automatic escaping is prompted, and options of yes and no are provided. If the driver selects 'yes', the vertical control module controls the actuator of the driving stabilizer bar to quickly lift the sand trapping wheel to a certain height h, so that sand around the sand trapping wheel flows to the bottom of the sand pit to fill the sand pit. The steering control module controls the four-wheel steering actuator to enable the sand trapping wheel to steer and oscillate left and right at a certain frequency and amplitude, so that the surrounding sand is vibrated, and a sand pit is further filled. The vertical control module controls the actuator of the driving stabilizer bar to enable the wheel to fall to the ground. The driving control module is used for controlling the power actuator so as to enable the vehicle to run based on the preset running speed, so that the vehicle is prevented from starting rapid acceleration operation and is kept running at a relatively low speed. And judging the wheel slip rate and the moving distance of the vehicle in the driving direction, and when the wheel slip rate P is less than or equal to 35 percent and the driving distance St of the vehicle relative to the sand trapping moment is greater than 1m, prompting that the vehicle is successfully got rid of the trouble and is called to get over, and simultaneously giving an alarm. And if the wheel slip rate P and the running distance St of the vehicle relative to the sand trapping moment do not meet the preset conditions, entering a backup difficulty-escaping program. And judging whether the driver takes over the vehicle within 5s, and if the driver performs the driving operation on the vehicle within 5s, ending the sand trapping and escaping program. If the driver does not perform the driving operation on the vehicle within 5s, the brake device is controlled (the vehicle is subjected to parking brake) through the brake control module, and the vehicle is stably stopped.

According to the technical scheme, the vehicle running data is obtained in the vehicle running process, the vehicle running data is subjected to the sediment trapping judgment, the height of the sediment trapping wheels is controlled and adjusted, the wheel steering of the sediment trapping wheels is controlled and the power output of the vehicle is controlled under the condition that the vehicle meets the sediment trapping judgment condition, so that the vehicle moves along the running direction, the vehicle is subjected to the trapped-sand removal judgment, and the vehicle is determined to finish the control process of trapping sand and removing trapped sand under the condition that the vehicle meets the trapped-sand removal condition. The vehicle sand trapping and sand trapping states are identified through vehicle running data, the height and the steering of the wheels are adjusted when the vehicle sand trapping is determined, sand around the sand trapping wheels flows to the bottom of a sand pit formed after the wheels are lifted, the sand pit formed after the wheels are lifted is filled, the pointing positions of the wheels can be determined again, the wheels are prevented from falling to the ground according to the original wheel track, and the vehicle can be started stably and is timely and safely out of the way.

Example two

Fig. 8 is a schematic structural diagram of a vehicle driving control device according to a second embodiment of the present invention. As shown in fig. 8, the apparatus includes: determination module 810, vertical control module 820, steering control module 830, and drive control module 840.

The determination module 810 is configured to acquire vehicle driving data during driving of a vehicle, and perform sand trap determination on the vehicle driving data.

And the vertical control module 820 is used for controlling and adjusting the height of the sand trapping wheel under the condition that the vehicle meets the sand trapping determination condition.

And the steering control module 830 is used for adjusting the wheel steering of the sand trapping wheel.

The driving control module 840 is configured to control a power output of the vehicle to move the vehicle in a driving direction.

The determining module 810 is further configured to perform a trap elimination determination on the vehicle, and determine that the vehicle completes a control process of trapping sand and removing the trap when the vehicle meets a trap elimination condition.

Optionally, the determining module 810 includes one or more of the following:

the first slip rate judging module is used for acquiring the running speed and the wheel tangential speed of the vehicle, determining the wheel slip rate based on the running speed and the wheel tangential speed, judging the wheel slip rate based on a slip rate threshold value, and if the slip rate threshold value is smaller than the wheel slip rate, determining that the vehicle meets the sand trapping judging condition;

the ground clearance determination module is used for acquiring the ground clearance of the vehicle, determining the ground clearance based on a distance threshold, and determining that the vehicle meets the condition of sand trapping determination if the ground clearance is smaller than the distance threshold;

the distance judgment module is used for determining the running distance in a preset time period under the condition that the tangential speed of the wheel is greater than a preset value, judging the running distance based on a preset distance threshold value, and determining that the vehicle meets the sediment trapping judgment condition if the running distance is less than the preset distance threshold value.

Optionally, the vertical control module 820 includes:

the driving stabilizer bar control module is used for controlling the actuator of the driving stabilizer bar through the vertical control module and adjusting the height of the sand trapping wheel in the vertical and upward direction;

the steering control module 830 includes:

and the four-wheel steering control module is used for controlling the four-wheel steering actuator through the steering control module and adjusting the wheel steering of the sand trapping wheel.

Optionally, the four-wheel steering control module is specifically configured to:

correspondingly, the active stabilizer bar control module is specifically configured to:

and controlling the actuator of the driving stabilizer bar through a vertical control module so that the sand trapping wheel falls to the ground based on the falling direction.

Optionally, the driving control module 840 includes:

and the control power actuator control module is used for controlling the power actuator through the drive control module so as to enable the vehicle to run based on the preset running speed.

Optionally, the determining module 810 includes:

the second slip rate judging module is used for determining a new wheel slip rate and the running distance of the vehicle relative to the sand trapping moment;

and the de-trapping determination module is used for determining that the vehicle meets the de-trapping condition if the new wheel slip rate is smaller than the slip rate threshold value and the running distance of the vehicle relative to the sand trapping moment is larger than the distance determination threshold value.

Optionally, the vehicle driving control device further includes:

and the direction control module is used for adjusting the vehicle advancing direction under the condition that the vehicle does not meet the trapped-sand removal condition, and re-executing the control process of trapped-sand removal based on the adjusted advancing direction.

Optionally, the vehicle driving control device further includes:

and the braking module is used for parking and braking the vehicle if the driving operation of a driver on the vehicle is not detected after the preset time length of the control process of trapping and escaping is finished after the vehicle is determined to finish the control process of trapping and escaping.

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

EXAMPLE III

Fig. 9 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 executes the various methods and processes described above, such as the vehicle driving control method.

In some embodiments, the vehicle drive control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle driving control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle driving control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

The computer program for implementing the vehicle driving control method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

Example four

An embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are used to cause a processor to execute a vehicle driving control method, where the method includes:

and judging the vehicle to get rid of the trapped air, and determining that the vehicle finishes the control process of trapping sand and getting rid of the trapped air under the condition that the vehicle meets the trapping condition.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle driving control method characterized by comprising:

2. The method of claim 1, wherein the vehicle travel data is subjected to a stuck determination comprising one or more of:

obtaining the ground clearance of the vehicle, judging the ground clearance based on a distance threshold, and if the ground clearance is smaller than the distance threshold, determining that the vehicle meets the condition of sand trapping judgment;

3. The method of claim 1, wherein the controlling adjusting the height of the trapped sand wheels and adjusting the wheel steering of the trapped sand wheels comprises:

4. The method of claim 3, wherein said adjusting wheel steering of said trapped wheel by controlling a four wheel steering actuator via a steering control module comprises:

and the method further comprises:

5. The method of claim 1, wherein the controlling the power output of the vehicle to move the vehicle in the direction of travel comprises:

6. The method of claim 1, wherein the determining the vehicle is stranded comprises:

7. The method of claim 1 or 6, further comprising:

8. The method of claim 1, wherein after determining that the vehicle has completed the control process of getting stuck and getting out of position, the method further comprises:

and if the driving operation of the driver on the vehicle is not detected after the preset time length of the control process of sand trapping and escaping is finished, parking braking is carried out on the vehicle.

9. A vehicle travel control device characterized by comprising: the device comprises a judging module, a vertical control module, a steering control module and a driving control module;

the determination module is used for acquiring vehicle running data in the vehicle running process and performing sand trapping determination on the vehicle running data;

10. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle driving control method of any one of claims 1-8.

11. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle driving control method of any one of claims 1-8 when executed.