WO2021258876A1

WO2021258876A1 - Method and device for vehicle control, and a computer-readable storage medium

Info

Publication number: WO2021258876A1
Application number: PCT/CN2021/092659
Authority: WO
Inventors: 宋俊良; 陈浩; 赵勇涛; 袁尚平; 沈逸敏; 庄英武; 刘璐璐; 宋伦奉; 李秀山
Original assignee: 恒大新能源汽车投资控股集团有限公司
Priority date: 2020-06-23
Filing date: 2021-05-10
Publication date: 2021-12-30
Also published as: CN111891114A; CN111891114B

Abstract

Disclosed are a method and device for vehicle control, and a computer-readable storage medium. The solution provided in the present application comprises: detecting a state parameter of a vehicle, the state parameter being used for expressing a travel state of the vehicle; when the state parameter indicates that a flat tire is found on the vehicle, determining the position of the flat tire on the basis of the state parameter; generating a corresponding control signal on the basis of the state parameter and of the position of the flat tire, where the control signal comprises a steering control signal, used for controlling the steering wheel of the vehicle to turn in the direction opposite to the side where the flat tire is located; and controlling, on the basis of the control signal, the vehicle to execute a corresponding action.

Description

Vehicle control method and device, and computer readable storage medium

cross reference

The present invention claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 202010583049.X, and the invention title is "a vehicle control method and device, computer-readable storage medium" on June 23, 2020. The application The entire content of is incorporated in the present invention by reference.

Technical field

The present invention relates to the technical field of vehicle safety, in particular to a vehicle control method and device, and a computer-readable storage medium.

Background technique

There are many main factors for traffic accidents on expressways, most of which are caused by the sudden burst of tires when the vehicle is driving at high speed. It often causes heavy personal and property losses. According to statistics, 70% of traffic accidents caused by tires on highways in China are caused by punctures, while in the United States, the proportion is as high as 80%. When a puncture occurs in a vehicle, the driving direction of the vehicle often changes. In the case of fast vehicle speeds, it is often difficult for the driver to stably control the direction of the vehicle.

How to improve the safety of a punctured tire is a technical problem to be solved by this application.

Summary of the invention

The purpose of the embodiments of the present application is to provide a vehicle control method and device, and a computer-readable storage medium to solve the problem of low safety of a punctured vehicle.

In a first aspect, a vehicle control method is provided, including: detecting the state parameters of the vehicle, the state parameters are used to characterize the driving state of the vehicle; when the state parameters indicate that there is a tire blowout in the vehicle, determining the tire blowout wheel according to the state parameters Position; generate corresponding control signals according to the state parameters and the position of the punctured wheel, where the control signal includes a steering control signal, the steering control signal is used to control the steering wheel of the vehicle to deflect in the opposite direction to the side where the punctured wheel is located; The control signal controls the vehicle to perform corresponding actions.

In a second aspect, a vehicle control device is provided, which includes: a detection module that detects state parameters of the vehicle, the state parameters are used to characterize the driving state of the vehicle; The parameter determines the position of the puncture wheel; the generating module generates corresponding control signals according to the state parameters and the position of the puncture wheel, where the control signal includes a steering control signal, and the steering control signal is used to control the steering wheel of the vehicle to the puncture wheel Deflection in the opposite direction on the side; the control module controls the vehicle to perform corresponding actions according to the control signal.

In a third aspect, a vehicle control device is provided, which includes a processor and a processor electrically connected to a memory. The memory stores a computer program that can run on the processor. When the computer program is executed by the processor, the first aspect is The steps of the method.

In a fourth aspect, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the method as in the first aspect are implemented.

Description of the drawings

The drawings described here are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

FIG. 1 is one of the flowcharts of a vehicle control method according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention;

Fig. 3 is a second schematic flowchart of a vehicle control method according to an embodiment of the present invention;

FIG. 4 is the third flow diagram of a vehicle control method according to an embodiment of the present invention;

Fig. 5 is a fourth flowchart of a vehicle control method according to an embodiment of the present invention;

Fig. 6 is a fifth schematic flowchart of a vehicle control method according to an embodiment of the present invention;

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

Fig. 8 is a schematic diagram of the trajectory of a punctured vehicle according to the present application;

Fig. 9 is a schematic structural diagram of a vehicle control device of the present application.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention. The number of the drawings in this application is only used to distinguish each step in the solution, and is not used to limit the execution order of each step, and the specific execution order is subject to the description in the specification.

In order to solve the problems in the prior art, an embodiment of the present application provides a vehicle control method, as shown in FIG. 1, which includes the following steps.

S11: Detect the state parameters of the vehicle, and the state parameters are used to characterize the driving state of the vehicle.

S12: When the state parameter indicates that there is a tire burst in the vehicle, the position of the tire burst wheel is determined according to the state parameter.

S13: Generate a corresponding control signal according to the state parameter and the position of the puncture wheel, where the control signal includes a steering control signal, and the steering control signal is used to control the steering wheel of the vehicle to deflect in the opposite direction to the side where the puncture wheel is located.

S14: Control the vehicle to perform corresponding actions according to the control signal.

Based on the solution provided by the foregoing embodiment, optionally, in the foregoing step S11, detecting the state parameters of the vehicle includes: detecting at least one of the following state parameters of the vehicle through at least one sensor: steering wheel rotation angle value, steering wheel torque, vehicle speed, horizontal Swing angular velocity, lateral acceleration, wheel speed, tire pressure.

In step S11, the detected state parameters of the vehicle include parameters used to characterize the driving state of the vehicle, and may specifically include the operating state parameters of various components during the driving of the vehicle. These parameters can be detected and acquired by sensors and other devices.

The above state parameters can characterize the driving state of the vehicle. When a tire blowout occurs, the state parameters of the vehicle are often changed by the tire blowout. Therefore, by detecting the state parameters of the vehicle, it is possible to know whether there is a wheel blowout in the vehicle in a timely and accurate manner. fetal.

In step S12, when the state parameter indicates that there is a tire burst in the vehicle, the position of the tire burst wheel is determined according to the above state parameter. For example, when a puncture occurs, the tire pressure of the puncture wheel will suddenly drop, so the position of the puncture wheel can be determined according to the tire pressure. Alternatively, the position of the puncture wheel can also be determined according to other state parameters, which is not limited in this solution.

For ease of description, the following uses a four-wheel vehicle as an example to illustrate this solution. 2 is a schematic structural diagram of a vehicle control device for executing the foregoing vehicle control method provided by an embodiment of the application. The vehicle includes a left front wheel 10FL, a right front wheel 10FR, a left rear wheel 10RL, and a right rear wheel 10RR. The left front wheel 10FL and the right front wheel 10FR are steered wheels, which are steered by the electric power steering device 30 via the rack 32 and

tie rods

33L and 33R. The electric power steering device 30 is driven in response to the rotation of the steering wheel 20 operated by the driver. Among them, the vehicle speed sensor 52 can be used to detect the vehicle speed. The yaw rate sensor 53 can be used to detect the yaw rate. The brake pedal position sensor 54 may be used to detect the position of the brake pedal. The master cylinder pressure sensor 55 may be used to detect the master cylinder pressure. The left front wheel speed sensor 51FL, the right front wheel speed sensor 51FR, the left rear wheel speed sensor 51RL, and the right rear wheel speed sensor 51RR are used to detect the wheel speeds of the four wheels, respectively. The left front tire pressure sensor 58FL, the right front tire pressure sensor 58FR, the left rear tire pressure sensor 58RL, and the right rear wheel speed sensor 58RR are respectively used to detect the tire pressure of the four wheels. The specific location of the tire pressure sensor Not shown in the figure. The left front wheel brake pressure sensor 56FL, the right front wheel brake pressure sensor 56FR, the left rear wheel brake pressure sensor 56RL, and the right rear wheel speed sensor 56RR are respectively used to detect the tire pressure of the four wheels. The brake pressure The specific location of the sensor is not shown in the figure, and the brake pressure sensor may also be referred to as a brake force sensor.

The driver's steering wheel 20 is connected to the electric power steering device 30 without a mechanical transmission shaft, and the power steering device is controlled by the steering control part of the electronic steering control module 50. In Fig. 2, the electric assisted steering device 30 includes a torque motor 31 that assists steering operation. The electric motor 31 is installed on the steering gear housing and receives the control signal input of the electronic steering control module 50.

Assuming a 10FR puncture on the right front wheel, the electronic puncture safety control module 70 can be based on one or more of the detected tire pressure, wheel speed, steering wheel angle, steering wheel torque, yaw rate, lateral acceleration and other state parameters. To determine the position of the tire with a blown tire. When it is determined that the right front wheel 10FR has a puncture, the electronic puncture safety control module 70 may send a puncture signal including the position of the punctured tire to the electronic steering control module 50 to instruct the electronic steering control module 50 to generate a steering control signal.

Wherein, the electronic steering control module 50 generates a steering control signal according to one or more of state parameters such as vehicle speed, tire blowout wheel position, yaw rate, lateral acceleration, etc., to perform a steering operation and maintain the driving direction of the vehicle. For example, when the puncture wheel is the right front wheel of the vehicle, the vehicle will lean to the right. If the driver does not perform the steering, the driving direction of the vehicle will be shifted to the right based on the original driving direction. In the solution provided by the embodiment of the present application, the electronic steering control module 50 generates a steering control signal according to the position of the tire burst wheel. When the puncture wheel is the right front wheel, the side where the puncture wheel is located is the right side of the vehicle. The steering control signal generated at this time may include controlling the steering wheel to deflect to the left, so that the vehicle can drive along the original after the puncture. Continue driving in the same direction to reduce the probability of collision with surrounding obstacles.

In the embodiment of the present application, the state parameters are used to characterize the driving state of the vehicle by detecting the state parameters of the vehicle; when the state parameters indicate that there is a tire blowout in the vehicle, the position of the tire blown wheel is determined according to the state parameters; according to the state parameters and The position of the puncture wheel generates a corresponding control signal, where the control signal includes a steering control signal, and the steering control signal is used to control the steering wheel of the vehicle to deflect in the opposite direction to the side where the puncture wheel is located; control the vehicle to execute the corresponding control signal according to the control signal The action can detect the tire blowout in time according to the state parameters of the vehicle, and determine the position of the blowout wheel, and then generate the steering control signal for controlling the steering wheel according to the position of the blowout wheel. Among them, the steering control signal is used to control the steering wheel to deflect in the opposite direction to the side where the puncture wheel is located, so that the vehicle travels along the route before the puncture. The solution provided by the embodiment of the present application controls the deflection direction of the steering wheel when it is detected that the vehicle has a tire blowout, thereby effectively improving the driving stability of the vehicle.

Based on the solution provided in the foregoing embodiment, optionally, the control signal further includes a brake control signal, and the brake control signal is used to reduce the braking force of the axle wheel on which the puncture wheel is located.

The above-mentioned electronic brake control module 60 may be used to generate a brake control signal according to the received tire burst signal including the tire position of the tire burst. Specifically, the electronic brake control module 60 may calculate the position of the brake pedal according to the respective line pressure P _ti, and so to control the braking force of each wheel is P _i, which may also be referred to as braking force the brake pressure. When a puncture occurs on the right front wheel, the axle wheel of the right front wheel is the left front wheel, and the brake line pressure of the left front wheel can be reduced to 0, or the left front wheel and the right front wheel can also be used at the same time. The brake line pressure is reduced to 0, and the brake line pressure of the rear wheels can be increased to prevent vehicle instability by limiting the yaw rate.

After the control signal is generated, the electronic steering control module 50 performs steering control on the steering wheels according to the steering control signal, and the electronic brake control module 60 performs braking control on the vehicle according to the braking control signal, and drives the vehicle in terms of steering and braking. Carry out control to improve the overall stability and safety of a punctured vehicle, and reduce the probability of accidents.

In the embodiment of the present application, the state parameters are used to characterize the driving state of the vehicle by detecting the state parameters of the vehicle; when the state parameters indicate that there is a tire blowout in the vehicle, the position of the tire blown wheel is determined according to the state parameters; according to the state parameters and The position of the puncture wheel generates a corresponding control signal. The control signal includes a steering control signal and a brake control signal. The steering control signal is used to control the steering wheel of the vehicle to deflect in the opposite direction to the side where the puncture wheel is located. The control signal is used to reduce the braking force of the wheel on the axle where the puncture wheel is located; according to the control signal, the vehicle is controlled to perform corresponding actions, and the tire puncture can be detected in time according to the state parameters of the vehicle, and the position of the puncture wheel is determined, and then according to the puncture The position of the tire wheels generates a steering control signal that controls the steering wheel and a brake control signal that controls the braking force. Among them, the steering control signal is used to control the steering wheel to deflect in the opposite direction to the side where the puncture wheel is located, so that the vehicle travels along the route before the puncture. The brake control signal is used to reduce the braking force of the wheel on the axle where the puncture wheel is located, so as to avoid vehicle instability. The solution provided by the embodiments of the present application controls the deflection direction of the steering wheel and the braking force of the axle wheel on which the tire puncture wheel is located when a tire burst is detected in the vehicle, so as to improve the driving stability of the vehicle in terms of the driving direction and the braking force. .

Based on the solution provided by the foregoing embodiment, optionally, the state parameters include steering wheel rotation angle value and steering wheel torque, as shown in FIG. The following steps.

S131: Determine the target steering gear ratio according to the position of the punctured wheel. The target steering gear ratio is less than the preset steering gear ratio when the vehicle is running normally. The steering gear ratio is used to represent the ratio of the steering wheel rotation angle value to the steering wheel rotation angle value.

S132: Generate a corresponding steering control signal according to the target steering gear ratio and the state parameter.

When the right front wheel of the vehicle has a puncture, the driving direction of the vehicle suddenly shifts to the right. When driving at high speed, the driver may be frightened and suddenly turn the steering wheel to the left, causing the steering wheel to deflect significantly to the left, causing the vehicle to deviate from the original driving direction , It may cause the vehicle to collide with the obstacle on the left side and cause a traffic accident. In the solution provided by the embodiment of the present application, the driver's control of the steering wheel is adjusted by controlling the steering gear ratio, and then the steering control signal is used to make reasonable adjustments to the direction of the vehicle. Among them, the steering gear ratio is used to characterize the ratio of the steering wheel rotation angle value to the steering wheel rotation angle value. For example, referring to FIG. 2, the electronic steering control module 50 drives the electric power steering device 30 relative to the driver's steering wheel 20 to thereby change the aforementioned steering gear ratio.

Optionally, the electronic steering control module 50 may determine the target steering gear ratio according to the position of the tire burst wheel. When the wheel with a puncture is a steering wheel, the driving direction of the vehicle will often change greatly due to a puncture of the steering wheel. In order to prevent the driver from oversteering, the target steering gear ratio can be determined to be 0, so that the electronic steering control module 50 is completely Take over the deflection angle of the steering wheel, and then generate an appropriate steering control signal according to the state parameters of the vehicle, so as to control the deflection angle of the steering wheel at a reasonable angle. Avoid traffic accidents caused by sudden changes in the driving route of the vehicle due to the driver's excessive steering wheel.

For another example, when the wheel with a puncture is a non-steer wheel, the driving direction of the vehicle will often not change drastically due to the puncture. When the driving direction of the vehicle does not change significantly, the driver often does not suddenly turn the steering wheel to adjust the driving direction. At this time, the target steering gear ratio can be determined to be a slightly smaller value than the preset steering gear ratio, and the driver still controls the direction of the vehicle. At the same time, the electronic steering control module 50 can generate a steering control signal according to the state parameters of the vehicle to assist the driver in controlling the form direction of the vehicle, so that the vehicle can run stably.

The target steering gear ratio in the embodiment of the present application can be determined according to the position of the tire burst wheel, and the size of the target steering gear ratio can also be adjusted with reference to the detected state parameters. After the target steering gear ratio is determined, the steering control signal is generated according to the target steering gear ratio and the detected state parameters, so as to effectively and reasonably control the driving direction of the vehicle.

Based on the solution provided by the foregoing embodiment, optionally, the state parameters further include vehicle speed, yaw rate, and lateral acceleration. As shown in FIG. 4, in step S132, corresponding steering control signals are generated according to the target steering gear ratio and state parameters. , Including the following steps.

S1321: Determine the target rotation angle value of the steering wheel according to the vehicle speed, yaw rate, lateral acceleration and the position of the punctured wheel. The target steering angle value is the angle at which the steering wheel deflects when the vehicle is driving along the preset route after the tire punctures the vehicle. value.

S1322: Generate a corresponding steering control signal according to the target steering gear ratio, the target rotation angle value and the state parameter.

At different vehicle speeds, the angle at which the same wheel punctures the direction of the vehicle will be different. In the solution provided by the embodiments of this application, the driving state of the vehicle when a puncture occurs can be determined according to the vehicle speed, yaw rate, and lateral acceleration. According to the position of the puncture wheel and the driving state of the vehicle when the puncture occurs, it can be inferred that the vehicle suffers The result of a change in driving conditions caused by a flat tire. Determine the target rotation angle value based on the above parameters and then generate the steering control signal, which can control the driving state of the vehicle by controlling the rotation angle of the steering wheel, reduce the impact of the tire blowout on the driving state of the vehicle, and make the vehicle state in the form before the tire blowout Driving.

After the steering control signal is generated, the electronic steering control module 50 can accurately control the electric power steering device 30 according to the target steering angle value, so as to control the steering wheel deflection. Wherein, when the steering wheels include the left front wheel and the right front wheel, the target rotation angle value of the left front wheel may be the same as or different from the target rotation angle value of the right front wheel, which may be specifically determined according to the detected state parameters.

Based on the solution provided by the foregoing embodiment, optionally, after the vehicle is controlled to perform a corresponding action according to the control signal, as shown in FIG. 5, the following steps are further included.

S15: When the driving speed of the vehicle is lower than the preset safe speed, the steering wheel rotation angle value of the vehicle is controlled according to the preset steering gear ratio, steering wheel rotation angle value and steering wheel torque.

After a tyre burst, the vehicle decelerates under the control of the driver and the electronic brake control module 60. When the vehicle speed drops below the preset safe speed, the electronic steering control module 60 can cancel the control of the steering wheel deflection angle. The driver controls the turning of the steering wheel by manipulating the steering wheel. The steering gear ratio is restored from the target steering gear ratio to the preset steering gear ratio when the vehicle is running normally. Control the steering wheel rotation angle value of the vehicle according to the steering wheel rotation angle value, steering wheel torque and preset steering gear ratio under the driver's operation, so that the driver can control the vehicle to drive to a safe area, reduce the probability of traffic accidents, and improve the overall safety of the vehicle sex.

Among them, the preset safe vehicle speed in the solution provided in this embodiment may be, for example, 50 km/h, and the value may also be preset according to actual requirements.

Based on the solution provided by the foregoing embodiment, optionally, in the foregoing step S13, a corresponding control signal is generated according to the state parameter and the position of the puncture wheel, as shown in FIG. 6, which includes the following steps.

S133: Determine whether the puncture wheel is a steering wheel according to the position of the puncture wheel.

S134: When the puncture wheel is a steering wheel, generate a first brake control signal for controlling the braking force of the steering wheel, and/or generate a second brake control signal for controlling the non-steer wheel, where the first brake control signal is A brake control signal is used to control the braking force of the steering wheels to be less than the preset braking force, and the second brake control signal is used to control the braking force of the non-steer wheels to be greater than the preset braking force.

When a puncture occurs on the steering wheel, if the braking force of each wheel is increased, the wheels other than the puncture wheel can actually decelerate the vehicle, which will result in imbalance between the left and right sides of the vehicle and cause instability. , Easy to cause traffic accidents.

In the solution provided by the embodiment of the present application, when the punctured wheel is a steering wheel, a first braking control signal with a smaller braking force is generated to reduce the braking force of the steering wheel, so that the steering wheel without a puncture and the steering wheel with a puncture The friction force on the ground is close to balance the punctured side of the vehicle with the unbursted side and avoid vehicle instability.

In addition, a second brake control signal with a larger braking force can be generated to increase the braking force of the non-steered wheels, so that the vehicle can effectively decelerate to a safe speed as soon as possible, and reduce the friction between the punctured steering wheel and the unsteered steering wheel. The negative impact on the vehicle caused by the inconsistent force.

Based on the solution provided by the foregoing embodiment, optionally, the second brake control signal is also used to control the acceleration value of the vehicle within a preset acceleration interval.

The solution provided by the above-mentioned embodiments of the application generates signals to control the deflection angle of the steering wheel of the vehicle and the braking force of the axle wheel on which the puncture wheel is located, so that the driving direction of the vehicle after a puncture is close to the driving direction before the puncture. Reduce the risk of a car with a flat tire colliding with a car in an adjacent lane. On this basis, the embodiment of the present application controls the driving acceleration value of the vehicle through the second brake control signal, so that the vehicle decelerates within a preset acceleration range, and avoids excessive deceleration that may cause a rear-end collision of the vehicle behind. On high-speed sections, the speed of vehicles is relatively high, and it is difficult for vehicles in front to stop in time when the vehicle in front suddenly stops. Rear-end collisions during high-speed driving often lead to serious traffic accidents. The solution provided by the embodiment of the present application controls the acceleration value of the vehicle through the second brake control signal, so that the vehicle gradually decelerates, so that the vehicle behind the punctured tire can decelerate or change lanes, reduce the risk of traffic accidents, and improve the overall safety of the vehicle.

The solution provided by the embodiments of this application keeps the vehicle stable by taking over the steering function of the vehicle or restricting the driver’s dangerous operations, giving the driver sufficient reaction time and processing time. System to reduce the speed of the car. After the vehicle speed reaches the safe speed, the steering function is returned to the driver, and the driver can re-control the direction of the vehicle to drive the vehicle to a safe area; or the steering-by-wire system with the help of the on-board detection equipment, automatically according to the surrounding conditions Drive the vehicle to a safe area and stop to avoid major traffic accidents and property damage.

Fig. 7 provides a schematic flow chart of a vehicle control method. In step S100, the electronic tire burst safety control module reads the status parameter signal. In step S200, it is judged whether the steering wheel has a puncture according to the read state parameter signal, specifically it is judged whether the left front wheel has a puncture or the right front wheel has a puncture. If there is no puncture on the steering wheel, the control may not be performed. If it is determined that there is a puncture on the left or right front wheel, in step S300, the electronic puncture safety control module instructs the electronic steering control module (SBW) to communicate with The Electronic Brake Control Module (EBCM) responds to a flat tire. In step S400, the electronic steering control module generates a steering control signal and outputs it to the electric power steering device, while shielding the signal input of the steering wheel or restricting the signal input of the steering wheel through the steering gear ratio part; according to the vehicle speed, the position of the punctured tire, and the yaw rate One or more state parameters such as, lateral acceleration, etc. control the steering gear to control the direction of the vehicle. In step S500, the electronic brake control module adjusts the braking force of each wheel according to the detected brake pedal position, so that the braking force of the steered wheels is 0, and the braking force of the non-steered wheels is increased. In step S600, it is judged whether the vehicle speed is lower than the safe vehicle speed. If the vehicle speed is not lower than the safe vehicle speed, the electronic brake control module continues to brake the vehicle through step S500; if the vehicle speed is lower than the safe vehicle speed, the electronic steering control module reads in The steering wheel angle sensor signal, the steering wheel torque signal, and the steering function are returned to the driver so that the driver can control the vehicle to drive to a safe zone and stop. Optionally, the electronic brake control module exits the control of the vehicle brake after the vehicle speed is zero.

In order to illustrate the control effect of the scheme on the vehicle, the scheme will be described below in conjunction with a simulation diagram of a tire blowout of the vehicle. Referring to Figure 8, the three dashed arrows in the figure respectively represent the driving route of the vehicle after a puncture occurs on the right front steering wheel of the vehicle. Among them, the dashed line A represents the trajectory of the vehicle after a puncture occurs on the right front wheel when the driver does not perform any operation. The dashed line B represents the trajectory of the vehicle after the driver turns the steering wheel to the left after a puncture occurs on the right front wheel. The dashed line C represents the driving trajectory of the vehicle after applying the solution provided by the embodiment of the present application to control the puncture vehicle.

According to the trajectory shown in Figure 8, if the driver does not perform an operation after a tire burst occurs on the right front wheel, the vehicle will deviate to the tire burst side along Route A, causing the vehicle to change its driving direction, which may be in line with the right lane. The vehicle collided. If the front right wheel punctures and the driver suddenly turns the steering wheel to the left in order to prevent the vehicle from deviating to the right, it may cause the vehicle to deviate to the left along route B, possibly colliding with the vehicle in the left lane. If the solution provided by the embodiment of this application is adopted, the driving route after a puncture is close to A, the vehicle will shift slightly to the right due to the puncture, and then under the action of the steering control signal and the brake control signal, the vehicle can Drive in the forward direction before the tire burst to avoid collisions with left and right vehicles or other obstacles, which effectively improves vehicle safety and reduces the risk of traffic accidents.

In order to solve the problems existing in the prior art, an embodiment of the present application further provides a vehicle control device 90, as shown in FIG. 9, including the following modules.

The detection module 91 detects the state parameters of the vehicle, and the state parameters are used to characterize the driving state of the vehicle.

The determination module 92 determines the position of the tire burst wheel according to the state parameter when the state parameter indicates that there is a tire burst in the vehicle.

The generating module 93 generates a corresponding control signal according to the state parameters and the position of the punctured wheel. The control signal includes a steering control signal, and the steering control signal is used to control the steering wheel of the vehicle to deflect in the opposite direction to the side where the punctured wheel is located. .

The control module 94 controls the vehicle to perform corresponding actions according to the control signal.

Optionally, the aforementioned detection module 91 detects the state parameters of the vehicle, including: detecting at least one of the following state parameters of the vehicle through at least one sensor: steering wheel rotation angle value, steering wheel torque, vehicle speed, yaw rate, lateral acceleration, wheel speed , Tire pressure.

Based on the device provided in the above embodiment, optionally, the state parameters include steering wheel rotation angle value and steering wheel torque. The above-mentioned generating module 93 generates corresponding control signals according to the state parameters and the position of the punctured wheel, including: according to the punctured wheel The position determines the target steering gear ratio. The target steering gear ratio is less than the preset steering gear ratio when the vehicle is running normally. The steering gear ratio is used to characterize the ratio of the steering wheel rotation angle value to the steering wheel rotation angle value; according to the target steering gear ratio and state The parameter generates the corresponding steering control signal.

Based on the device provided in the foregoing embodiment, optionally, the state parameters further include vehicle speed, yaw rate, and lateral acceleration. The above-mentioned generating module 93 generates corresponding steering control signals according to the target steering gear ratio and state parameters, including: according to vehicle speed , Yaw rate, lateral acceleration and tire blowout wheel position determine the target rotation angle value of the steering wheel, the target steering angle value is the angle value of the steering wheel deflection when the vehicle is driving along the preset route after the tire blowout; according to the target The steering gear ratio, target rotation angle value and state parameters generate corresponding steering control signals.

Based on the device provided by the above-mentioned embodiment, optionally, after the above-mentioned control module 94 controls the vehicle to perform corresponding actions according to the control signal, the control module 94 is further configured to: when the driving speed of the vehicle is lower than the preset safe speed, Set the steering gear ratio, steering wheel rotation angle value and steering wheel torque to control the steering wheel rotation angle value of the vehicle.

Optionally, the control signal further includes a brake control signal, and the brake control signal is used to reduce the braking force of the axle wheel on which the puncture wheel is located.

Based on the device provided in the foregoing embodiment, optionally, the foregoing generating module 93 generates a corresponding control signal according to the state parameter and the position of the puncture wheel, including: determining whether the puncture wheel is a steering wheel according to the position of the puncture wheel; When the puncture wheel is a steering wheel, a first brake control signal for controlling the braking force of the steering wheel is generated, and/or a second brake control signal for controlling the non-steer wheel is generated, wherein the first brake The braking control signal is used to control the braking force of the steering wheels to be less than the preset braking force, and the second braking control signal is used to control the braking force of the non-steer wheels to be greater than the preset braking force.

Based on the device provided in the foregoing embodiment, optionally, the second brake control signal is also used to control the acceleration value of the vehicle within a preset acceleration interval.

Preferably, the embodiment of the present invention also provides a vehicle control device, a memory and a processor electrically connected to the memory, the memory stores a computer program that can run on the processor, and the computer program is executed by the processor to realize the above-mentioned vehicle control Each process of the method embodiment can achieve the same technical effect. To avoid repetition, it will not be repeated here.

The embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. In order to avoid repetition, I won’t repeat them here. Among them, computer-readable storage media, such as read-only memory (Read-Only Memory, ROM for short), random access memory (Random Access Memory, RAM for short), magnetic disks, or optical disks, etc.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, It also includes other elements that are not explicitly listed, or elements inherent to the process, method, article, or device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or device that includes the element.

Through the description of the above implementation manners, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, The optical disc) includes several instructions to make a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present invention.

The embodiments of the present invention are described above with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art are Under the enlightenment of the present invention, many forms can be made without departing from the purpose of the present invention and the scope of protection of the claims, and they all fall within the protection of the present invention.

Claims

A vehicle control method, including:

Detecting a state parameter of the vehicle, the state parameter being used to characterize the driving state of the vehicle;

When the state parameter indicates that there is a tire burst in the vehicle, determining the position of the tire burst wheel according to the state parameter;

A corresponding control signal is generated according to the state parameter and the position of the tire burst wheel, wherein the control signal includes a steering control signal, and the steering control signal is used to control the steering wheel of the vehicle to the tire burst Deflection in the opposite direction from the side of the wheel;

The vehicle is controlled to perform corresponding actions according to the control signal.
The method of claim 1, wherein detecting the state parameter of the vehicle comprises:

At least one of the following state parameters of the vehicle is detected by at least one sensor:

Steering wheel rotation angle value, steering wheel torque, vehicle speed, yaw rate, lateral acceleration, wheel speed, tire pressure.
The method according to claim 2, wherein the state parameter includes a steering wheel rotation angle value and a steering wheel torque, and generating a corresponding control signal according to the state parameter and the position of the punctured wheel includes:

The target steering gear ratio is determined according to the position of the puncture wheel, the target steering gear ratio is less than the preset steering gear ratio when the vehicle is running normally, and the steering gear ratio is used to characterize the steering wheel rotation angle value and the steering wheel rotation Ratio of angle values;

A corresponding steering control signal is generated according to the target steering gear ratio and the state parameter.
The method of claim 3, wherein the state parameters further include vehicle speed, yaw rate, and lateral acceleration, and generating corresponding steering control signals according to the target steering gear ratio and the state parameters includes:

Determine the target rotation angle value of the steering wheel according to the vehicle speed, yaw rate, lateral acceleration and the position of the tire burst wheel. State the value of the angle of deflection of the steering wheel;

A corresponding steering control signal is generated according to the target steering gear ratio, the target rotation angle value and the state parameter.
The method according to claim 3 or 4, wherein after controlling the vehicle to perform a corresponding action according to the control signal, the method further comprises:

When the driving speed of the vehicle is lower than the preset safe vehicle speed, the steering wheel rotation angle value of the vehicle is controlled according to the preset steering gear ratio, the steering wheel rotation angle value, and the steering wheel torque.
The method of claim 1, wherein the control signal further comprises a brake control signal, and the brake control signal is used to reduce the braking force of the axle wheel on which the tire flat wheel is located.
The method according to claim 6, wherein generating a corresponding control signal according to the state parameter and the position of the puncture wheel comprises:

Determining whether the puncture wheel is a steering wheel according to the position of the puncture wheel;

When the puncture wheel is a steering wheel, a first brake control signal for controlling the braking force of the steering wheel is generated, and/or a second brake control signal for controlling a non-steer wheel is generated, wherein The first brake control signal is used to control the braking force of the steering wheel to be less than a preset braking force, and the second brake control signal is used to control the braking force of the non-steer wheel to be greater than the preset braking force.
7. The method according to claim 7, wherein the second braking control signal is also used to control the acceleration value of the vehicle within a preset acceleration interval.
A vehicle control device, comprising: a memory and a processor electrically connected to the memory, the memory stores a computer program that can be run on the processor, and the computer program is executed when the processor is executed The steps of the method according to any one of claims 1 to 8.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are realized.