WO2023000986A1

WO2023000986A1 - Vehicle escape control method and apparatus, and storage medium

Info

Publication number: WO2023000986A1
Application number: PCT/CN2022/104199
Authority: WO
Inventors: 禹真; 余景龙; 单帅; 陈志刚; 王仕伟; 侯杰
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-07-21
Filing date: 2022-07-06
Publication date: 2023-01-26
Also published as: CN113335011A

Abstract

Disclosed are a vehicle escape control method and apparatus, and a storage medium. The vehicle escape control method comprises: acquiring state information of a vehicle, and determining a trapped wheel according to the state information; acquiring the speed of the vehicle; if the speed of the vehicle does not reach a shutdown threshold value, starting a vehicle escape assistance system, inflating an air spring on one side of the trapped wheel to a maximum allowable air pressure value, deflating an air spring of an untrapped wheel on the other side of the trapped wheel to a minimum allowable air pressure value, and controlling a rear wheel steering system to drive a rear wheel to adjust the steering; and prompting a driver to control an accelerator pedal, so as to control a driving force of the vehicle, until the vehicle escapes.

Description

Control method, device and storage medium for vehicle escape

This application claims the priority of the Chinese patent application with application number 202110825569.1 submitted to the China Patent Office on July 21, 2021, the entire content of which is incorporated herein by reference.

technical field

The present application relates to the technical field of vehicle control, for example, to a control method, device and storage medium for vehicle escape.

Background technique

With the continuous improvement of users' demand for driving convenience, the current problem that vehicles cannot get out of trouble after being trapped is particularly prominent. In the common technology, it generally requires an experienced driver to set the low gear of the vehicle through the cooperation of the accelerator pedal and the gear, and limit the opening of the accelerator to control the power torque output; or adjust the drive of the trapped wheels and non-trapped wheels through the differential Force distribution to make the vehicle out of trouble; or through external auxiliary equipment, with the help of external force, make the vehicle out of trouble. The above-mentioned mode of vehicle getting out of trouble has higher requirements on the driver, and the operation is not convenient enough.

Contents of the invention

The present application provides a vehicle escape control method, device and storage medium to solve the problem that the vehicle escape has high requirements on the driver and the operation is not convenient enough.

The present application provides a control method for vehicle escape, the control method comprising:

Obtain the state information of the vehicle, and determine the trapped wheel according to the state information;

Get the speed of the vehicle;

If the vehicle speed does not reach the shutdown threshold, start the vehicle auxiliary escape system, inflate the air spring on one side of the trapped wheel to the allowable maximum air pressure, and deflate the air spring on the untrapped wheel on the other side of the trapped wheel To the allowable minimum air pressure, and control the rear wheel steering system to drive the rear wheels to adjust the steering;

Prompt the driver to control the accelerator pedal to control the driving force of the vehicle until the vehicle gets out of trouble.

As a technical solution of the above-mentioned vehicle escape control method, obtaining the state information of the vehicle, and determining the trapped wheels according to the state information includes:

Obtain the height signal of each wheel, and determine the trapped wheel according to the vehicle electronic stability control system and the height signal of each wheel.

As a technical solution of the above-mentioned control method for vehicle escape, determining the trapped wheels according to the vehicle electronic stability control system and the height signal of each wheel includes:

According to the height signal of each wheel, it is judged whether the height difference of the wheels on both sides reaches the trigger threshold, and if the height difference of the wheels on both sides does not reach the trigger threshold, it is judged whether the vehicle electronic stability control system is triggered;

If the vehicle electronic stability control system is triggered, it is determined that the wheel corresponding to the triggered vehicle electronic stability control system is the trapped wheel.

As a technical solution of the above method for controlling vehicle escape, if the height difference between the wheels on both sides reaches the trigger threshold, the wheel with the lowest height is determined to be the trapped wheel.

As a technical solution of the above method for controlling vehicle escape, if the vehicle speed reaches the shutdown threshold, the vehicle auxiliary escape system is not activated.

As a technical solution of the above method for controlling vehicle escape, after the vehicle escapes, each air spring is adjusted to the corresponding air pressure value when the vehicle is running normally.

As a technical solution of the above-mentioned vehicle escape control method, the rear wheel steering system is controlled to drive the rear wheels to adjust the steering, including:

If one side of the rear wheel is trapped, the rear wheel steering system is controlled to disconnect from the front wheel steering system, and the rear wheel steering system is controlled to drive the rear wheel to rotate to the maximum angle toward the side of the untrapped wheel.

If one side of the front wheel is trapped, the rear wheel steering system is controlled to drive the rear wheel to rotate to the maximum angle toward the side of the trapped wheel.

The application provides a vehicle, comprising:

air springs located on each wheel of the vehicle;

a rear wheel steering system arranged to steer the rear wheels of said vehicle;

one or more processors;

memory configured to store one or more programs;

When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the above-mentioned vehicle escape control method.

The present application also provides a storage medium on which a computer program is stored, wherein, when the program is executed by a processor, the method for controlling vehicle escape as described above is realized.

Description of drawings

FIG. 1 is a flow chart of a method for controlling vehicle escape provided by an embodiment of the present application;

Fig. 2 is a flow chart of another vehicle escape control method provided by the embodiment of the present application;

Fig. 3 is a structural diagram of a vehicle escape control device provided by an embodiment of the present application.

detailed description

The technical solutions of the embodiments of the present application will be described below in conjunction with the accompanying drawings, and the described embodiments are only part of the embodiments of the present application.

In the description of this application, unless otherwise stipulated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the meanings of the above terms in this application according to the situation.

In this application, unless otherwise specified and limited, a first feature being "on" or "under" a second feature may include that the first and second features are in direct contact, and may also include that the first and second features are not in direct contact. contact but through additional feature contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the related art, when a vehicle is trapped, an experienced driver needs to cooperate with the accelerator pedal and the gear, set the low gear of the vehicle, limit the opening of the accelerator to control the power torque output; or adjust the trapped wheels and non-trapped wheels through the differential The distribution of the driving force to make the vehicle out of trouble; or through the external auxiliary equipment, with the help of external force, to make the vehicle out of trouble, the above-mentioned way of vehicle out of trouble has higher requirements on the driver, and has the problem of not being convenient enough to operate. The embodiment provides a vehicle escape control method and device to solve the above technical problems.

As shown in Figure 3, the present embodiment provides a control device for getting out of trouble, the control device for getting out of trouble includes an air spring 31 and a rear wheel steering system 32, each wheel is correspondingly provided with an air spring 31, and the rear wheel steering system 32 is arranged to drive rear wheel steering, and rear wheel steering system 32 is installed on the rear suspension.

In one embodiment, the vehicle escape control device further includes an automotive electronic stability control system, a height detection sensor and a front wheel steering system. Each wheel is correspondingly equipped with an automotive electronic stability control system and a height detection sensor configured to detect the wheel height signal, A front wheel steering system is installed on the front suspension.

The vehicle escape control method provided in this embodiment is applied to the above-mentioned vehicle escape control device, and can realize active vehicle escape without adding hardware.

As shown in Figure 1, the control method for vehicle escape provided by this embodiment mainly includes:

S10. Obtain vehicle information, and determine the trapped wheel according to the vehicle information.

S20. Obtain the vehicle speed of the vehicle.

S30. If the vehicle speed does not reach the shutdown threshold, activate the vehicle auxiliary escape system, inflate the air spring on one side of the trapped wheel to the allowable maximum air pressure, and deflate the air spring on the untrapped wheel on the other side of the trapped wheel To the allowable minimum air pressure, and control the rear wheel steering system to drive the rear wheels to adjust the steering.

S40, prompting the driver to control the accelerator pedal to control the driving force of the vehicle until the vehicle gets out of trouble.

The above shutdown threshold is a calibration value, which is obtained through actual experiments, that is, after the vehicle is trapped in the pit, how much speed can be obtained to make the vehicle leave the pit, and this value is used as the calibration value to judge whether it is necessary to start the vehicle Auxiliary escape system. In the actual calculation of the shutdown threshold, the average value of the speed limit values at which the vehicle can get out of trouble under different conditions such as deep pits, shallow pits, and ice can be added and taken as the shutdown threshold. The method for obtaining the shutdown threshold is not limited to the above manner, and is not limited here.

The vehicle escape control method provided in this embodiment can actively identify the state of the vehicle being trapped. If the vehicle speed reaches the closing threshold, the vehicle can escape by virtue of the current speed. If the vehicle speed does not reach the closing threshold, the air spring and The combined effect of the rear wheel steering system actively adjusts the attitude of the vehicle to distribute more vehicle loads to the untrapped wheels, and actively controls the turning angle of the rear wheels, making it easier for the vehicle to drive out of the pit and get out of trouble, reducing the risk to the driver. To meet the technical requirements, improve the driving experience and convenience.

FIG. 2 is a flow chart of a method for controlling vehicle escape provided by an embodiment of the present application. The following describes the method for controlling vehicle escape provided by this embodiment with reference to FIG. 2 .

As shown in Figure 2, the vehicle escape control method provided in this embodiment includes:

S110. Obtain the state information of the vehicle, and determine the trapped wheel according to the state information.

In this embodiment, the height signal of each wheel is obtained, and the trapped wheel is determined according to the vehicle electronic stability control system and the height signal of each wheel. After the vehicle falls into a pothole, the trapped wheel is in a slipping state, and the vehicle electronic stability control system corresponding to the trapped wheel is triggered or the height signal detected by the height detection sensor corresponding to the wheel is abnormal.

It is judged whether the height difference of the wheels on both sides reaches the trigger threshold, and if the height difference of the wheels on both sides reaches the trigger threshold, it is determined that the wheel with the lower height is the trapped wheel. When judging, compare the heights of the two front wheels and the heights of the two rear wheels. One or both of the results of the two height comparisons may reach the trigger threshold. According to the results of the height comparison, it is determined to be the front wheel. One side is trapped, the rear wheel is trapped on one side, or both the front and rear wheels are trapped on one side at the same time.

If the height of the wheels on both sides does not reach the trigger threshold, it is judged whether the vehicle electronic stability control system is triggered, if the vehicle electronic stability control system is triggered, the wheel corresponding to the triggered vehicle electronic stability control system is a trapped wheel .

The above-mentioned trigger threshold is obtained through actual experiments. When the height difference of the wheels on both sides is greater than the trigger threshold, it proves that the height of one of the wheels is relatively low and an abnormality occurs, and it can be judged that the vehicle is trapped in a pit.

S120. Obtain the vehicle speed of the vehicle.

S130. Determine whether the vehicle speed reaches a shutdown threshold.

S140. If the vehicle speed reaches the shutdown threshold, do not activate the vehicle assistance escape system.

In this embodiment, the shutdown threshold is a calibration value, which is obtained through actual experiments, that is, after the vehicle is trapped in a pit, how much speed can be obtained to make the vehicle leave the pit, and this value is used as a calibration value for judging Whether it is necessary to activate the vehicle assist escape system. In the actual calculation of the shutdown threshold, the average value of the speed limit values at which the vehicle can get out of trouble under different conditions such as deep pits, shallow pits, and ice can be added and taken as the shutdown threshold. The method for obtaining the shutdown threshold is not limited to the above manner, and is not limited here.

If the vehicle speed can reach the shutdown threshold and the vehicle can get out of trouble by virtue of the speed, there is no need to activate the vehicle auxiliary system for getting out of trouble.

S150. If the vehicle speed does not reach the closing threshold, start the vehicle assisting escape system.

S160. Inflate the air spring on one side of the trapped wheel to the allowable maximum air pressure, deflate the air spring of the untrapped wheel on the other side of the trapped wheel to the allowable minimum air pressure, and control the driving of the rear wheel steering system The rear wheels adjust the steering.

In this embodiment, if the vehicle speed does not reach the closing threshold, the vehicle auxiliary escape system is activated, firstly, the air spring on one side of the trapped wheel is inflated to the allowable maximum air pressure, and the air spring on the other side of the trapped wheel is charged to the untrapped wheel. The air spring of the vehicle is deflated to the allowable minimum air pressure value. At this time, the vehicle tilts to the side of the untrapped wheel, so as to distribute more vehicle load to the untrapped wheel and increase the driving force on this side.

After adjusting the air spring, adjust the direction of the rear wheels to ensure the stability of the vehicle. If one side of the rear wheel is trapped, the rear-wheel steering system is disconnected from the front-wheel steering system, and the rear-wheel steering system drives the rear wheel to rotate to the maximum angle toward the side of the untrapped wheel. If one side of the front wheel is trapped, the rear wheel steering system drives the rear wheel to rotate to the maximum angle toward the side of the trapped wheel.

S170. Prompt the driver to control the accelerator pedal to control the driving force of the vehicle until the vehicle gets out of trouble.

In this embodiment, after adjusting the air spring and the steering of the rear wheels, the instrument panel will prompt that the vehicle escape assistance system is ready, and prompt the driver to control the accelerator pedal to control the driving force of the vehicle until the vehicle escapes.

S180. After the vehicle gets out of trouble, adjust each air spring to the corresponding air pressure value when the vehicle is running normally.

After the vehicle is out of trouble, the vehicle out of trouble assist system sends out an enable signal to adjust the air spring to the corresponding air pressure value when the vehicle is running normally. If the rear wheels are trapped, the connection between the rear wheel steering system and the front wheel steering system is re-established, and the rear wheels act according to the front wheel angle signal. If the front wheels are trapped, adjust the air spring to the corresponding air pressure value when the vehicle is running normally.

The vehicle escape control method provided in this embodiment does not increase hardware, judges the state information of the vehicle through software, determines the trapped wheels, changes the attitude of the vehicle by adjusting the air spring, and then changes the load distribution between different wheels. Distribute more loads to non-trapped wheels, increase the driving force for getting out of trouble, adjust the angle of the rear wheels through the rear wheel steering system, change the trajectory of the rear wheels, improve the ability to get out of trouble, and realize the active escape of the vehicle.

As shown in FIG. 3 , the vehicle escape control device provided by this embodiment also includes one or more processors 33 and memory 34, and the memory 34 is configured to store one or more programs; when one or more programs are used by one or more processors 33, so that one or more processors 33 realize the vehicle escape control method provided above. When the processor runs the program, it can execute: obtain the state information of the vehicle, and determine the trapped wheels according to the state information; obtain the speed of the vehicle; if the speed does not reach the shutdown threshold, start the vehicle auxiliary escape system, Inflate the air spring to the allowable maximum air pressure, deflate the air spring of the untrapped wheel on the other side of the trapped wheel to the allowable minimum air pressure, control the rear wheel steering system to drive the rear wheels to adjust the steering; prompt the driver to control the throttle The pedal controls the driving force of the vehicle until the vehicle gets out of trouble.

In the vehicle escape control device provided in this embodiment, the processor executing the program stored in the memory is not limited to the method operations described above, and can also perform related operations of the vehicle escape control method provided in any embodiment of the present application. .

The number of processors in the above vehicle may be one or more, and the processor and the memory may be connected through a bus or in other ways. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some examples, the memory may include a memory that is remotely located relative to the processor, and these remote memories may be connected to the device/terminal/server through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

This embodiment also provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the processor can perform: acquire the status information of the vehicle, and determine the trapped wheel according to the status information; acquire the status information of the vehicle If the vehicle speed does not reach the shut-off threshold, start the vehicle assist escape system, inflate the air spring on one side of the trapped wheel to the allowable maximum air pressure, and release the air spring on the untrapped wheel on the other side of the trapped wheel. Inflate to the allowable minimum air pressure, control the rear wheel steering system to drive the rear wheels to adjust the steering; prompt the driver to control the accelerator pedal to control the driving force of the vehicle until the vehicle gets out of trouble.

A storage medium containing a computer program provided in this embodiment, the computer-executable program is not limited to the method operations described above, and can also perform related operations in the vehicle escape control method provided in any embodiment of the present application . The storage medium may be a non-transitory storage medium.

Through the above descriptions about the implementation manners, those skilled in the art can clearly understand that the present application can be realized by software and necessary general-purpose hardware, and can also be realized by hardware. The technical solution of the present application can be embodied in the form of software products in essence, and the computer software products can be stored in computer-readable storage media, such as computer floppy disks, read-only memory (Read-Only Memory, ROM), random access Memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disc, etc., including multiple instructions to make a computer device (which can be a personal computer, server, or network device, etc.) described method.

Claims

A method for controlling vehicle escape, comprising:

Obtain the state information of the vehicle, and determine the trapped wheel according to the state information;

Get the speed of the vehicle;

When the vehicle speed does not reach the shutdown threshold, start the vehicle auxiliary escape system, inflate the air spring on one side of the trapped wheel to the allowable maximum air pressure, and inflate the air spring on the other side of the trapped wheel The air spring of the wheel deflates to the allowable minimum air pressure, and controls the rear wheel steering system to drive the rear wheels to adjust the steering;

The driver is prompted to control the accelerator pedal to control the driving force of the vehicle until the vehicle gets out of trouble.
The vehicle escape control method according to claim 1, wherein said acquiring the state information of the vehicle, and determining the trapped wheel according to the state information comprises:

The height signal of each wheel is obtained, and the trapped wheel is determined according to the vehicle electronic stability control system and the height signal of each wheel.
The vehicle escape control method according to claim 2, wherein said determining said trapped wheel according to the vehicle electronic stability control system and the height signal of each wheel comprises:

judging whether the height difference of the wheels on both sides reaches the trigger threshold according to the height signal of each wheel, and judging whether the vehicle electronic stability control system is triggered in response to the height difference of the wheels on both sides not reaching the trigger threshold;

In response to the vehicle electronic stability control system being triggered, it is determined that the wheel corresponding to the vehicle electronic stability control system being triggered is a trapped wheel.
The control method for vehicle escape according to claim 3, further comprising:

In response to the height difference between the wheels on both sides reaching the trigger threshold, it is determined that the wheel with a low height is the trapped wheel.
The control method for vehicle escape according to claim 1, further comprising:

When the vehicle speed reaches the shutdown threshold, the vehicle assisting escape system is not activated.
The control method for vehicle escape according to claim 1, after the vehicle escapes, further comprising:

Adjust each air spring to the air pressure value corresponding to the normal running of the vehicle.
The vehicle escape control method according to any one of claims 1-6, wherein the controlling the rear wheel steering system to drive the rear wheels to adjust the steering includes:

When one side of the rear wheel is trapped, control the rear wheel steering system to disconnect from the front wheel steering system, and control the rear wheel steering system to drive the rear wheel to rotate to the maximum angle toward the side of the untrapped wheel .
The vehicle escape control method according to any one of claims 1-6, wherein the controlling the rear wheel steering system to drive the rear wheels to adjust the steering includes:

When one side of the front wheel is trapped, the rear wheel steering system is controlled to drive the rear wheel to rotate to a maximum angle toward one side of the trapped wheel.
A vehicle escape control device, comprising:

air springs located on each wheel of the vehicle;

a rear wheel steering system arranged to steer the rear wheels of said vehicle;

at least one processor;

a memory configured to store at least one program;

When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle escape control method according to any one of claims 1-8.
A storage medium storing a computer program, wherein, when the program is executed by a processor, the vehicle escape control method according to any one of claims 1-8 is realized.