WO2024011986A1

WO2024011986A1 - Antiskid method, system and apparatus, and non-volatile storage medium

Info

Publication number: WO2024011986A1
Application number: PCT/CN2023/089537
Authority: WO
Inventors: 邱金旭; 徐宁宁; 闫涛; 张程; 邵福明; 贺红伟; 李�根; 张文韬; 宋庆文; 张健
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-07-14
Filing date: 2023-04-20
Publication date: 2024-01-18
Also published as: CN115158258B; CN115158258A

Abstract

Disclosed in the embodiments of the present disclosure are an antiskid method, system and apparatus, and a non-volatile storage medium. The method comprises: acquiring traveling state information of a target tyre during the traveling process of a vehicle; determining, according to the traveling state information, whether the state of the vehicle is a braking state and whether the vehicle starts a braking-spraying mode; if the state of the vehicle is the braking state and the vehicle starts the braking-spraying mode, acquiring a first control signal corresponding to the braking state, wherein the first control signal comprises a first spraying duration for which an antiskid agent is sprayed to the target tyre, and a first spraying flow at which the antiskid agent is sprayed to the target tyre; and sending the first control signal to a spraying device corresponding to the target tyre, and setting the spraying device to spray the antiskid agent to the target tyre on the basis of the first spraying duration and the first spraying flow.

Description

Anti-skid methods, systems, devices and non-volatile storage media

cross-citation

This disclosure claims priority to the Chinese patent application filed with the China Patent Office on July 14, 2022, with application number 202210826087.2 and the application title "Anti-slip method, system, device and non-volatile storage medium", the entire content of which is incorporated by reference. incorporated in this application.

Technical field

The present disclosure relates to the field of vehicle anti-skid, and specifically, to an anti-skid method, system, device and non-volatile storage medium.

Background technique

When a vehicle drives on frozen ground or muddy ground, ordinary tires will slip due to shallow surface texture and insufficient friction with the ground. This makes driving less safe and can easily lead to traffic accidents, resulting in losses of life and property. At present, the method often used in related technologies is to replace snow tires, anti-skid tires, and anti-skid chains. However, this method is relatively expensive, increases the economic burden, and requires complicated replacement operations, which is time-consuming and labor-intensive and causes certain damage to the tires. . In particular, in some areas where winters are short and roads are occasionally icy, it is not necessary to replace snow tires and anti-skid tires.

In response to the above problems, no effective solution has yet been proposed.

Contents of the invention

Embodiments of the present disclosure provide an anti-skid method, system, device and non-volatile storage medium to at least solve the problem in related technologies that anti-skid operations under sudden bad road conditions are cumbersome, making it difficult to respond immediately, and thus causing tire friction. Insufficient, technical problems that reduce vehicle driving safety.

According to one aspect of an embodiment of the present disclosure, an anti-skid method is provided, including: obtaining the driving status information of a target tire during vehicle driving; determining whether the status of the vehicle is a braking status according to the driving status information; and Whether the vehicle turns on the brake spray mode; if the state of the vehicle is the braking state, and the vehicle turns on the brake spray mode, then obtain the first control signal corresponding to the braking state, wherein, The first control signal includes a first spray duration and a first spray flow rate for spraying the anti-skid agent on the target tire; the first control signal is sent to the spray equipment corresponding to the target tire and is set to the desired The sprinkler equipment Prepare to spray an anti-skid agent to the target tire based on the first spray duration and the first spray flow rate.

Optionally, the method further includes: determining whether the state of the target tire is a sideslip state according to the driving state information; if the state of the target tire is the sideslip state, obtaining the information related to the sideslip state. A second control signal corresponding to the slip state, wherein the second control signal includes a second spray duration and a second spray flow rate for spraying anti-skid agent to the target tire; spraying the anti-skid agent to the target tire corresponding to The device sends the second control signal and is configured to cause the spray device to spray anti-skid agent to the target tire based on the second spray duration and the second spray flow rate.

Optionally, the obtaining the first control signal corresponding to the braking state includes: obtaining the braking duration and braking depth information of the vehicle in the braking state; and determining whether the braking duration reaches a preset value. the first duration threshold; if the braking duration does not reach the first duration threshold, the first calculated flow rate is determined based on the braking depth information and the first spray algorithm; based on the braking duration and the The first calculated flow rate is to obtain the first control signal, wherein the first spray duration is the braking duration, and the first spray flow rate is the first calculated flow rate.

Optionally, the method further includes: if the braking duration reaches the first duration threshold, determining a second calculated flow rate based on the braking depth information and the second spray algorithm; based on the braking duration and the second calculated flow rate to obtain the first control signal, wherein the first spray duration is the braking duration, and the first spray flow rate is the second calculated flow rate.

Optionally, before obtaining the driving status information of the target tire during vehicle driving, the method further includes: obtaining a manual control signal and a manual duration corresponding to the manual control signal; based on the manual duration, using The preset third spray flow rate controls the spray equipment to spray anti-skid agent to the target tire.

Optionally, before sending the first control signal to the spray equipment corresponding to the target tire, the method further includes: obtaining the flow rate in the spray pipe corresponding to the spray equipment, wherein the spray The spray pipe is configured to connect the anti-skid agent filling tank and the spray nozzle, and the spray nozzle is configured to spray the anti-skid agent to the target tire; determine whether the flow rate is less than the preset flow rate; if the flow rate is less than the preset flow rate, Assuming the flow rate, a first prompt signal is sent to the human-computer interaction device of the vehicle, where the first prompt signal is set to prompt an anti-slip agent flow alarm.

Optionally, before sending the first control signal to the spray equipment corresponding to the target tire, the method further includes: obtaining the liquid level in the anti-skid agent filling tank; and determining whether the liquid level is low. at the preset height; if the liquid level is less than the preset height, a second prompt signal is sent to the human-computer interaction device of the vehicle, wherein the second prompt signal is set to prompt an anti-skid agent reserve alarm.

According to another aspect of the embodiment of the present disclosure, an anti-skid system is provided, including: a driving computer configured to obtain the driving status information of the target tire during the driving of the vehicle; and based on the driving status information, determine whether the status of the vehicle is is the braking status, and whether the vehicle has turned on the brake spray mode; if the status of the vehicle is the braking state, and the vehicle turns on the brake spray mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal includes spraying anti-skid water to the target tire. the first spray duration and the first spray flow rate of the agent; sending the first control signal to the spray equipment corresponding to the target tire; the spray equipment is connected to the driving computer and is configured to receive the a first control signal, and spray anti-skid agent to the target tire based on the first spray duration and the first spray flow rate.

According to another aspect of the embodiment of the present disclosure, an anti-skid device is provided, including: a first acquisition module configured to acquire driving status information of a target tire during vehicle driving; a first judgment module configured to obtain driving status information based on the driving status information to determine whether the state of the vehicle is the braking state and whether the vehicle turns on the brake spray mode; the second acquisition module is configured to determine if the state of the vehicle is the braking state and the vehicle turns on the brake spray mode. In the brake spray mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal includes a first spray duration and a first spray flow rate for spraying anti-skid agent to the target tire. ; The first sending module is configured to send the first control signal to the spray equipment corresponding to the target tire, and is configured so that the spray equipment is based on the first spray duration and the first spray flow direction. The target tire is sprayed with anti-skid agent.

According to another aspect of an embodiment of the present disclosure, a non-volatile storage medium is provided. The non-volatile storage medium stores a plurality of instructions, and the instructions are suitable for loading and executing any one of the instructions by a processor. The anti-slip method described above.

In the embodiment of the present disclosure, the method of spraying anti-skid agent is used to obtain the driving state information of the target tire during the driving of the vehicle; based on the driving state information, it is determined whether the state of the vehicle is a braking state, and the state of the vehicle is Whether to turn on the brake spray mode; if the state of the vehicle is the braking state, and the vehicle turns on the brake spray mode, obtain the first control signal corresponding to the braking state, wherein the third A control signal includes a first spray duration and a first spray flow rate for spraying anti-skid agent on the target tire; the first control signal is sent to the spray equipment corresponding to the target tire, and is configured to spray the anti-skid agent to the target tire. The spray equipment sprays anti-skid agent to the target tire based on the first spray duration and the first spray flow rate. It achieves the purpose of instantly responding to sudden anti-skid needs, thereby improving anti-skid convenience and driving safety, achieving the technical effect of improving the ability to respond to sudden harsh environments, and improving anti-skid performance and vehicle safety, thereby solving related technical problems. The anti-skid operation in sudden bad road conditions is cumbersome, making it difficult to respond immediately, which in turn leads to insufficient tire friction and reduced vehicle driving safety.

Description of drawings

The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are provided to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the attached picture:

Figure 1 is a flow chart of an anti-skid method provided according to an embodiment of the present disclosure;

Figure 2 is a structural block diagram of an anti-skid system provided according to an embodiment of the present disclosure;

Figure 3 is a schematic diagram of an anti-skid system provided according to an embodiment of the present disclosure;

Figure 4 is a schematic diagram of an anti-skid device provided according to an embodiment of the present disclosure.

Detailed ways

In order to enable those skilled in the art to better understand the present disclosure, the following will clearly and completely describe the technical solutions in the present disclosure embodiments in conjunction with the accompanying drawings. Obviously, the described embodiments are only These are part of the embodiments of this disclosure, not all of them. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this disclosure.

It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure and the above-mentioned drawings are set to distinguish similar objects, and are not necessarily set to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the disclosure described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

For the convenience of description, some nouns or terms involved in the embodiments of this application are described below:

Electronic Stability Program (ESP) is a general name for a system or program device that improves vehicle control performance and effectively prevents the vehicle from losing control when it reaches its dynamic limit. It analyzes the vehicle's driving status information from various sensors, and then issues correction instructions to help the vehicle maintain dynamic balance, so that the vehicle maintains optimal stability under various conditions. It is an important tool for anti-lock braking and anti-lock brakes. The traction control function is inherited and further expanded.

The driving computer (ECU, Electronic Control Unit) is the electronic control unit of the vehicle. It is set up to monitor various input data and vehicle operating conditions at any time, and calculates the information from various sensors according to a pre-designed program. After processing, Send each parameter to each relevant execution device to execute various predetermined control functions.

The anti-lock braking system (ABS, Antilock Brake System) is set to automatically control the braking force of the brake at the vehicle braking value so that the wheels are not locked and are in a rolling and sliding state to ensure that the wheels are in contact with the ground. The adhesion is at its current maximum value.

CAN (Controller Area Network), a field bus, is widely used in automotive computer control Systems and embedded industrial control LANs with high reliability and good error detection capabilities.

According to an embodiment of the present disclosure, a method embodiment of an anti-skid method is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although A logical order is shown in the flowcharts, but in some cases, the steps shown or described may be performed in a different order than herein.

Figure 1 is an anti-skid method according to an embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:

Step S102, obtain the driving status information of the target tire during vehicle driving;

Step S104, determine whether the state of the above-mentioned vehicle is a braking state and whether the above-mentioned vehicle has turned on the brake spray mode based on the above-mentioned driving status information;

Step S106, if the state of the vehicle is the braking state and the vehicle turns on the brake spray mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal includes spraying the target tire. The first spray duration and first spray flow rate of anti-skid agent;

Step S108: Send the first control signal to the spray equipment corresponding to the target tire, and configure the spray equipment to spray the anti-skid agent to the target tire based on the first spray duration and the first spray flow rate.

Through the above steps, it is possible to respond to sudden anti-skid needs immediately, thereby improving anti-skid convenience and driving safety, achieving the technical effect of improving the ability to respond to sudden harsh environments, and improving anti-skid performance and vehicle safety, and then It solves the technical problem in related technologies that the anti-skid operation under sudden bad road conditions is cumbersome, making it difficult to respond immediately, which in turn leads to insufficient tire friction and reduced vehicle driving safety.

In the anti-skid method provided by the embodiment of the present disclosure, first, during the driving process of the vehicle, the driving status information of the target tire is obtained. And based on the driving status information, it is determined whether the vehicle is in a braking state and whether the vehicle has turned on the brake spray mode. Afterwards, if the above-mentioned brake spray mode is turned on and the vehicle is in the braking state, the first control signal corresponding to the braking state is obtained. The above-mentioned first control signal includes: a first duration of spraying anti-skid agent to the target tire and a first spray flow rate. A first control signal is sent to the spray equipment corresponding to the target tire, so that the above-mentioned spray equipment uses the first spray flow rate to spray the anti-skid agent to the target tire within the first spray duration. When the driver judges that the tire friction needs to be increased, the brake spray mode is turned on. Through the above method, anti-skid agent will be sprayed to the target tire every time the brake is applied to increase the friction of the target tire. Before sideslip occurs, the target tires are processed accordingly in advance, which is conducive to avoidance of sideslip risks and improves the safety of the driving process. Moreover, by turning on and off the brake spray mode, it is helpful to adjust the vehicle's anti-skid ability in a timely manner and improve the ability to respond to unexpected special road conditions.

Optionally, there are many ways to obtain the driving status information. For example, the driving status information is obtained by the body electronic stability system and transmitted to the driving computer through a vehicle communication bus, such as a CAN bus. The above-mentioned body electronic stability system works together with the anti-lock brake system to obtain the sideslip signal from the wheel speed sensor that detects the target tire. The above-mentioned sideslip signal is the wheel gap signal detected by the wheel speed sensor and is transmitted by the body electronic stability system Analyze the wheel gap signal to determine whether sideslip has occurred. In the same way, the braking status can be obtained by detecting the wheel gap signal through the wheel speed sensor.

Optionally, the above-mentioned spray equipment can be of various types, such as: anti-slip agent spray motor, etc.

Optionally, there may be multiple ways of obtaining the brake spray mode, for example: obtaining the first voice control signal through a human-computer interaction device of the vehicle, and converting the first voice control signal into a first control signal. You can also turn on the brake spray mode through the intelligent control panel settings.

Optionally, the above-mentioned brake spray modes may have multiple types. For example, the above-mentioned brake spray modes may also include: a normal brake spray mode or an advanced brake spray mode. Among them, the above-mentioned ordinary brake spray mode sends a preset control signal to the spray equipment corresponding to the target tire. The above-mentioned preset control signal includes the preset duration and preset spray flow rate of spraying anti-skid agent to the target tire. The above-mentioned preset control signal The duration and preset spray flow rate can be adjusted within the calibration range. The normal brake spray mode is used to reduce the load on the driving computer. When the body electronic stability system detects that the vehicle is braking, the spray equipment will follow the preset duration and Just perform the spraying operation with the preset spray flow rate. By adjusting the preset spray flow rate, when the remaining amount of anti-skid agent is small and cannot be replenished immediately, the preset spray flow rate can be appropriately reduced to ensure that the anti-slip agent remains within the safety range. Reducing the anti-skid performance allows the vehicle to maintain its anti-skid function for a longer period of time, which is conducive to enhancing the vehicle's anti-skid response to special road conditions of long periods of rain and snow. The above-mentioned advanced brake spray mode calculates the parameters related to the braking status to obtain the calculated flow value, and continuously sprays the target tire according to the calculated flow value during the duration of braking. The above-mentioned advanced brake spray mode has better anti-skid performance than the above-mentioned ordinary brake spray mode and controls the flow of anti-skid agent more accurately. However, when the remaining amount of anti-skid agent is insufficient, it is also easier to consume the anti-skid agent. As a result, during long-term driving, if the anti-skid agent is exhausted and the vehicle is left without protective measures, it will easily lead to safety accidents such as sideslip. Relevant personnel need to make corresponding adjustments according to specific application conditions and respond flexibly to multiple scenarios.

Optionally, the target tires may be of multiple types. For example, the target tires may be all tires in the vehicle, and may be the driving wheels of the vehicle. The driving wheels may be front wheels or rear wheels. For general four-wheeled small vehicles, such as family cars, sports cars, etc., anti-skid agent spraying can be used on all tires. However, for large load-bearing vehicles, such as dump trucks, tractor trucks, off-road trucks, various trucks manufactured for special needs include: airport shuttles, fire trucks, ambulances, oil tankers, container tractor trucks, etc., the above-mentioned load-bearing vehicles Depending on the actual application scenario, the load capacity varies greatly, and the load capacity directly affects the number of tires. Vehicles with a large load capacity have more tires. Generally, trucks with a load capacity of 1 to 8 tons have 4 to 6 tires; trucks with a load capacity of 8 to 25 tons have 12 tires, 4 at the front and 4 at the rear. There are 8 tractors; trucks with a load capacity of 25 tons to 31 tons have 14 tires, 4 at the front, 10 at the rear, and so on. Therefore, using all the tires in the vehicle as target tires will cause the anti-skid agent to be consumed too quickly and require a large anti-skid agent filling tank. Adds burden to the vehicle. In order to deal with the above problems, the driving wheels and some passive wheels of the vehicle can be used as target tires, so that they can be flexibly adjusted according to the application conditions of the specific vehicle, so that the anti-skid agent consumption and anti-skid performance are in an appropriate balance, which is conducive to increasing the above-mentioned anti-skid The application scenarios and flexibility of the method reduce limitations.

Optionally, the above-mentioned anti-skid agent can be of various types, for example: glue or liquid formed based on raw materials with anti-skid function, such as rubber (natural rubber or synthetic rubber), silicone oil or polyurethane compounds, etc., in order to facilitate spraying. Additional aerosols can be added.

In an optional embodiment, the above method further includes: determining whether the state of the target tire is a sideslip state; if the state of the target tire is the sideslip state, obtaining a second value corresponding to the sideslip state. Control signal, wherein the above-mentioned second control signal includes a second spray duration and a second spray flow rate for spraying anti-skid agent on the above-mentioned target tire; the above-mentioned second control signal is sent to the spray equipment corresponding to the above-mentioned target tire, and the setting The above-mentioned spray equipment sprays the anti-skid agent to the above-mentioned target tire based on the above-mentioned second spray duration and the above-mentioned second spray flow rate.

It is understandable that in order to prevent relevant personnel from misjudging the driving environment and failing to turn on the brake spray mode in time, resulting in poor anti-skid performance of the vehicle. The vehicle automatically responds after detecting a sideslip state. First, based on the driving status information, it determines whether the state of the target tire is a sideslip state. If the state of the target tire is the above-mentioned sideslip state, it obtains the information corresponding to the sideslip state. second control signal. The above-mentioned second control signal includes a second spray duration and a second spray flow rate for spraying the anti-skid agent to the target tire. Afterwards, a second control signal is sent to the spray equipment corresponding to the target tire. The spray equipment is caused to use the second spray flow rate to spray the anti-skid agent to the target tire within the second spray duration.

Optionally, the above braking depth information can be obtained in a variety of ways, for example: the brake assembly equipment detects the stroke information of the brake pedal to represent the braking depth information, and obtains it through the trip computer. Depending on the specific car model, there are also sensors or other sensing devices that are installed to detect the brake pedal, and a driving computer can obtain braking depth information, which all fall within the scope of protection of this disclosure.

Optionally, the above-mentioned first duration threshold can be of various types. For example, the first duration threshold is set to measure the anti-skid effect of the vehicle. For ease of understanding, a specific example is given. In the northern winter, slight icing or snow on the road surface often occurs, and the vehicle The braking state also exists during normal driving. When the current anti-skid effect can meet the needs of the vehicle, the braking duration will generally not exceed the first duration threshold mentioned above. The above-mentioned first constant threshold can be calibrated and corrected through experiments based on different vehicle models.

It should be noted that the state of the above-mentioned target tire is not completely consistent with the state of the above-mentioned vehicle. To facilitate understanding, a specific example is provided. For example: for a general family car, such as a front-wheel drive four-wheel vehicle, when it is detected that the entire vehicle is slipping. , possible situations include front wheel slipping, rear wheel slipping, or both front and rear wheels slipping. Obtain the side slip state of the target tire through the body electronic stability system, and spray the side slip occurred, such as from the driving state It is detected in the information that the front wheels are in a side slip state, causing the vehicle to slide overall, but the rear wheels are in a normal state. At this time, a second control signal is sent to the spray equipment corresponding to the front wheels, and spraying is performed based on the second control signal. , to increase the friction between the front wheel and the ground. In the above example, it can be found that different tires of the vehicle may be in different states, but if any one tire slips sideways, the vehicle will be in a sideways slip state. According to the driving status information, purposefully spraying the tires that are slipping will help avoid unnecessary waste of anti-skid agent while ensuring the anti-skid capability.

In an optional embodiment, the above method further includes: if the braking duration reaches the first duration threshold, determining a second calculated flow rate based on the braking depth information and the second spray algorithm; based on the braking duration The duration and the second calculated flow rate are used to obtain the first control signal, wherein the first spray duration is the braking duration, and the first spray flow rate is the second calculated flow rate.

It can be understood that there are situations where the anti-skid requirement cannot be met in the above brake spray mode. At this time, the braking duration of the vehicle will exceed the first duration threshold. In order to further enhance the anti-skid capability, first, it is determined that the braking duration reaches the first duration. After the threshold, the second calculated flow rate is determined based on the braking depth information and the second spray algorithm. The first spray duration is the braking duration, the first spray flow rate is the second calculated flow rate, and the first control signal is obtained.

It should be noted that when the above-mentioned braking duration reaches the above-mentioned first duration threshold, it is deemed that the current anti-skid capability has not yet reached the vehicle requirements. For ease of understanding, a specific example is given. For example: when sideslip has occurred on an icy road, the driver is in The purpose of controlling the vehicle is to continue to apply the brakes until the vehicle is controlled. During this process, the braking duration will generally be significantly longer than the normal braking state. That is, if the braking duration is not less than the first duration threshold, it is considered that there is a risk of vehicle loss of control, and the anti-skid ability needs to be improved. , corresponding to using the second spray algorithm to obtain the second calculated flow rate. Another example: when a vehicle is driving down a long slope in rain or snow, it will be in the braking state for a long time. At this time, the vehicle is not in a sideslip state, but the driver has turned on the brake spray mode for safety reasons. Although this When the braking duration exceeds the first duration threshold, it is not because a side slip has occurred, but the speed of a downhill vehicle is likely to reach a relatively fast range, and there is a safety hazard when the tire adhesion is insufficient. Use the third brake with stronger anti-skid ability. The second spray algorithm is helpful to avoid risks in advance.

It still needs to be explained that the second spray algorithm is an enhanced algorithm performed to increase the anti-skid agent flow rate when the first spray algorithm cannot meet the demand, that is, when the braking duration reaches the first duration threshold. Therefore, although the above-mentioned second calculated flow rate and the above-mentioned first calculated flow rate are both calculated values, by setting the first spray algorithm and the second spray algorithm, when the braking depth is the same, the corresponding second calculated flow rate must be It is greater than the first calculated flow rate to achieve the effect of enhancing anti-skid ability.

In an optional embodiment, before acquiring the driving status information of the target tire during vehicle driving, the above method further includes: acquiring a manual control signal and a manual duration corresponding to the above manual control signal; based on the above manual duration time, using the preset third spray flow rate to control the above-mentioned spray equipment to the above-mentioned target wheel Tire spray anti-skid agent.

It is understandable that in actual driving, the driver judges that anti-skid is needed, but does not think that turning on the brake spray mode and performing manual control is a temporary response. First, the manual control signal and the corresponding manual duration are obtained. Then, based on the manual duration, the preset third spray flow rate is used to control the spray equipment to spray the target tires.

Optionally, there may be multiple ways of obtaining the manual control signal, for example: obtaining the second voice control signal through the vehicle's human-computer interaction device, and converting the second voice control signal into a manual control signal. A manual start button can also be set on the steering wheel, so that when the driver discovers an emergency, he or she can promptly send a manual control signal and complete the operation without disturbing normal driving behavior.

It should be noted that through manual control, the driver can have the ability to independently control anti-skid. In the non-side slip state and non-braking state, once the driver subjectively discovers that the driving condition is not good or has a premonition that the vehicle is entering an area with a high risk of sideslip. , that is, by sending a manual control signal for emergency slip prevention treatment, and controlling the manual duration according to specific needs to control the vehicle's anti-skid capability.

In an optional embodiment, before sending the first control signal to the spray equipment corresponding to the target tire, the above method further includes: obtaining the flow rate in the spray pipe corresponding to the spray equipment, wherein the above The spray pipe is set to connect the anti-skid agent filling tank and the spray nozzle, and the above-mentioned spray nozzle is set to spray the anti-skid agent to the above-mentioned target tire; determine whether the above-mentioned flow rate is less than the preset flow rate; if the above-mentioned flow rate is less than the above-mentioned preset flow rate, then A first prompt signal is sent to the human-computer interaction device of the vehicle, wherein the first prompt signal is set to prompt an anti-slip agent flow alarm.

It is understandable that in order to avoid problems such as damage to the spray pipes or clogging of the spray nozzles, which may cause the spray equipment to work but fail to actually spray the anti-skid agent on the target tires, resulting in damage to the spray equipment or waste of anti-skid agent. Before sending the first control signal to the spray equipment corresponding to the target tire, first obtain the flow rate in the spray pipe. After confirming that the above flow rate is less than the preset flow rate, it is deemed that a normal spray situation has occurred, and the vehicle's human-machine control system is The interactive device sends a first prompt signal to remind the driver that the current anti-skid agent flow alarm is present.

Optionally, there are many ways to obtain the above flow rate, for example: setting up a flow meter in the spray pipe, acquiring the flow signal in the flow meter, and transmitting it to the trip computer.

Optionally, the above-mentioned first prompt signal can be of various types. For example, after obtaining that the above-mentioned flow rate is less than the preset flow rate, it prompts that the spray nozzle is blocked by foreign matter, or prompts that the spray pipe is ruptured. All of the above situations will cause the anti-slip agent to leak. The target tire cannot be reached normally.

In an optional embodiment, before sending the first control signal to the spray equipment corresponding to the target tire, the above method further includes: obtaining the liquid level in the anti-skid agent filling tank; determining the liquid level. Is it lower than the preset height? If the above liquid level is lower than the above preset height, send a signal to the human-computer interaction device of the above vehicle. A second prompt signal is sent, wherein the above-mentioned second prompt signal is set to prompt an anti-slip agent reserve alarm.

It is understandable that in order to avoid the need for long-term anti-skid driving, the lack of anti-skid agent will cause the vehicle to drive on rainy and snowy roads without protective measures, resulting in safety hazards. It is necessary to detect the remaining amount of anti-skid agent and obtain the anti-skid agent. After confirming that the liquid level in the filling tank is lower than the preset height, it is deemed that the anti-skid agent needs to be added, and a second prompt signal is sent to the vehicle's human-computer interaction device. The above-mentioned second prompt signal is set to prompt anti-skid. Agent reserve alarm.

Optionally, the above-mentioned liquid level height can be obtained in various ways, for example, by setting a liquid level height sensor in the anti-skid agent filling tank to obtain the liquid level height signal and transmit it to the driving computer.

Based on the above-mentioned embodiments and optional embodiments, the present disclosure proposes an optional implementation mode. For ease of understanding, specific examples are given. For example: when the vehicle only slips sideways, and when the wheel speed sensor identifies that the vehicle is slipping sideways, the above-mentioned The sideslip signal is transmitted to the body electronic stability system, and the body electronic stability system transmits the sideslip signal to the driving computer. After receiving the sideslip signal, the trip computer performs an automatic anti-skid response. At this time, the trip computer sends a second control signal to the spray equipment. After the spray equipment is started, the anti-slip agent is added to the anti-slip agent in the tank, pumped to the spray nozzle through the spray pipe, and sprayed out from the spray nozzle after reaching a certain pressure. The spray nozzle sprays the anti-skid agent evenly onto the target tire, thereby increasing tire friction and improving anti-skid performance.

When there is an unexpected weather situation on a special road section while driving, and the driver self-recognizes that the vehicle needs to increase its anti-skid performance, he can manually press the manual start button on the multi-function steering wheel, or enter a voice command through the intelligent control panel to set it to start manual. control. The manual control signal is transmitted to the trip computer, and the trip computer sends the control signal to the sprinkler equipment based on the preset spray flow rate and manual duration. After the spray equipment is started, the anti-slip agent in the anti-slip agent filling tank is pumped to the spray nozzle through the spray pipe, and when a certain pressure is reached, it is sprayed out from the spray nozzle. The spray nozzle sprays the anti-skid agent evenly to the target wheels, thereby increasing tire friction and improving anti-skid performance.

When driving in special road conditions, the driver can enter the brake spray mode through the intelligent control panel or enter voice commands. At this time, during driving, each braking signal will be transmitted to the body electronic stability system through the wheel speed sensor, and the body electronic stability system will transmit the sideslip signal to the driving computer. After receiving the sideslip signal, the driving computer starts the brake spray mode and sends the first control signal to the spray equipment to perform spraying, that is, the anti-skid agent spray is completed every time the brake is applied.

In addition, when any part of the anti-skid system fails, the trip computer will identify the faulty part through the electrical signal sent by the corresponding sensor, such as the flow meter, and prompt an alarm message in the intelligent control panel. When the liquid level in the anti-skid agent filling tank reaches the limit, the liquid level sensor sends a liquid level signal to the driving computer, and the driving computer transmits the signal to the intelligent control panel. The liquid level alarm signal will be displayed on the intelligent control panel to This prompts the driver to pay attention to the anti-skid agent level.

The above optional implementation methods can achieve at least one of the following effects: the anti-skid method is to use anti-skid spray to increase the It can increase the anti-skid performance of car tires by increasing the friction of car tires. It can improve the anti-skid ability without stopping during driving. It can activate anti-skid at any time in different environments, times and scenes to meet the anti-skid performance requirements of tires on slippery roads and normal roads. Quick switching. It has two control modes: manual and automatic. The anti-skid function can be turned on in a variety of ways without affecting the normal driving process. It can be activated using intelligent voice when combined with human-computer interaction equipment.

It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, The steps shown or described may be performed in a different order than here.

An anti-skid system is also provided in the embodiment of the present disclosure. The anti-skid system provided by the embodiment of the present disclosure is introduced below.

Figure 2 is a structural block diagram of an anti-skid system provided according to an embodiment of the present disclosure. As shown in Figure 2, the system includes a trip computer 202 and a spray device 204. The system will be described below.

The driving computer 202 is configured to obtain the driving status information of the target tire during the driving of the vehicle; based on the driving status information, determine whether the status of the above-mentioned vehicle is the braking status, and whether the above-mentioned vehicle has turned on the brake spray mode; if the status of the above-mentioned vehicle is The above-mentioned braking state, and the above-mentioned vehicle turns on the above-mentioned brake spray mode, then obtains a first control signal corresponding to the above-mentioned braking state, wherein the above-mentioned first control signal includes a first spray duration for spraying anti-skid agent to the above-mentioned target tire. and the first spray flow rate; sending the above-mentioned first control signal to the spray equipment corresponding to the above-mentioned target tire;

The above-mentioned spray equipment 204 is connected to the driving computer 202 and is configured to receive the above-mentioned first control signal and spray the anti-skid agent to the above-mentioned target tire based on the above-mentioned first spray duration and the above-mentioned first spray flow rate.

Based on the above embodiments and optional embodiments, the present disclosure proposes an optional implementation. Figure 3 is a schematic diagram of an anti-skid system provided according to an embodiment of the present disclosure. As shown in Figure 3, it includes: spray nozzle 1, wheel outer frame 12, target tire 3, body electronic stability system 4, trip computer 5, anti-skid system Agent filling tank 6, spray equipment machine 7, spray pipe 8, multi-function steering wheel 9, manual start button 10, intelligent control panel 11, wheel speed sensor 12. The connection relationship of each component is explained below: the spray nozzle 1 is located directly above the target tire 3, and the spray nozzle 1 is installed below the outer frame 2 of the target tire. The spray nozzle 1 is connected to the spray equipment 7 and the anti-skid agent filling tank 6 through the spray pipe 8 to realize the supply of anti-skid agent. The target tire 3 of the vehicle transmits the sideslip signal acquired by the wheel speed sensor 12 to the vehicle body electronic stability system 4 through an electrical connection, and the vehicle body electronic stability system 4 transmits the signal to the driving computer 5 through an electrical connection. The anti-skid agent filling tank 5 transmits the liquid level alarm signal to the driving computer 5 through an electrical connection, and the driving computer 5 transmits the liquid level alarm signal to the intelligent control panel 11 through an electrical connection. The manual start button 10 is installed on the multi-function steering wheel 9. Pressing the manual start button 10 transmits the manual control signal to the trip computer 5 through an electrical connection. The intelligent control panel 11 transmits manual control signals to the trip computer 5 through electrical connections through human-machine dialogue voice commands. The driving computer 5 transmits control signals to the sprinkler equipment 7 through an electrical connection. Extract after starting the spray equipment 7 The anti-slip agent in the anti-slip agent filling tank 6 is supplied to the spray nozzle 1. The spray nozzle 1 sprays anti-skid agent on the tire on the target tire 3 to increase friction on the target tire. Each tire in the vehicle has a corresponding spray nozzle. For convenience of description, only the target tire 3 and its corresponding spray nozzle 1 are used as an example.

In an anti-skid system provided by an embodiment of the present disclosure, the driving computer 202 is configured to obtain the driving status information of the target tire during the driving of the vehicle; based on the above driving status information, it is determined whether the status of the above-mentioned vehicle is a braking status, and the above-mentioned vehicle Whether to turn on the brake spray mode; if the state of the above-mentioned vehicle is the above-mentioned braking state, and the above-mentioned vehicle turns on the above-mentioned brake spray mode, obtain a first control signal corresponding to the above-mentioned braking state, wherein the above-mentioned first control signal includes a direction to The first spray duration and the first spray flow rate of spraying the anti-skid agent on the target tire; sending the first control signal to the spray equipment corresponding to the target tire; the above-mentioned spray equipment 204 is connected to the driving computer 202 and is set to The first control signal is received, and the anti-skid agent is sprayed to the target tire based on the first spray duration and the first spray flow rate. It achieves the purpose of responding to sudden anti-skid needs immediately, thereby improving anti-skid convenience and driving safety, thereby achieving the technical effect of improving the ability to respond to sudden harsh environments, and improving anti-skid performance and vehicle safety, thereby solving related problems. There is a technical problem in the technology that the anti-skid operation under sudden bad road conditions is cumbersome, making it difficult to respond immediately, which in turn leads to insufficient tire friction and reduced vehicle driving safety.

This embodiment also provides an anti-slip device, which is configured to implement the above-mentioned embodiments and preferred implementations. What has already been described will not be described again. As used below, the terms "module" and "device" may be a combination of software and/or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

According to an embodiment of the present disclosure, an embodiment of a device configured to implement an anti-skid method is also provided. Figure 4 is a schematic diagram of an anti-skid device according to an embodiment of the present disclosure. As shown in Figure 4, the above-mentioned anti-skid device includes: An acquisition module 402, a first judgment module 404, a second acquisition module 406, and a first sending module 408. This device will be described below.

The first acquisition module 402 is configured to acquire the driving status information of the target tire during vehicle driving;

The first judgment module 404 is connected to the first acquisition module 402 and is configured to judge whether the state of the above-mentioned vehicle is a braking state and whether the above-mentioned vehicle has turned on the brake spray mode based on the above-mentioned driving status information;

The second acquisition module 406 is connected to the first judgment module 404 and is configured to acquire the first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle turns on the brake spray mode, where , the above-mentioned first control signal includes the first spray duration and the first spray flow rate for spraying the anti-skid agent to the above-mentioned target tire;

The first sending module 408 is connected to the second acquisition module 406 and is configured to send the above-mentioned first control signal to the spray equipment corresponding to the above-mentioned target tire, and is configured so that the above-mentioned spray equipment is based on the above-mentioned first spray duration and the above-mentioned third A spray flow rate is used to spray anti-skid agent to the above-mentioned target tires.

In an anti-skid device provided by an embodiment of the present disclosure, the first acquisition module 402 is configured to acquire the driving status information of the target tire during the driving of the vehicle; the first judgment module 404 is connected to the first acquisition module 402 and is configured to According to the above driving status information, it is determined whether the status of the above-mentioned vehicle is the braking state, and whether the above-mentioned vehicle turns on the brake spray mode; the second acquisition module 406 is connected to the first judgment module 404 and is set to if the status of the above-mentioned vehicle is the above-mentioned braking state. state, and the vehicle turns on the brake spray mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal includes a first spray duration and a second spray duration of anti-skid agent to the target tire. A spray flow rate; the first sending module 408, connected to the second acquisition module 406, is configured to send the above-mentioned first control signal to the spray equipment corresponding to the above-mentioned target tire, and is configured so that the above-mentioned spray equipment is based on the above-mentioned first spray duration. and the first spray flow rate to spray the anti-skid agent to the target tire. It achieves the purpose of instantly responding to sudden anti-skid needs, thereby improving anti-skid convenience and driving safety, achieving the technical effect of improving the ability to respond to sudden harsh environments, and improving anti-skid performance and vehicle safety, thereby solving related technical problems. The anti-skid operation in sudden bad road conditions is cumbersome, making it difficult to respond immediately, which in turn leads to insufficient tire friction and reduced vehicle driving safety.

It should be noted that each of the above modules can be implemented through software or hardware. For example, the latter can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be implemented in any combination. Located in different processors.

It should be noted here that the above-mentioned first acquisition module 402, first judgment module 404, second acquisition module 406, and first sending module 408 correspond to steps S102 to S108 in the embodiment. The above-mentioned modules and the corresponding steps The implemented examples and application scenarios are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above module can run in a computer terminal as part of the device.

It should be noted that for optional or preferred implementation modes of this embodiment, reference can be made to the relevant descriptions in the embodiments, and details will not be described again here.

The above-mentioned anti-skid device may also include a processor and a memory. The first acquisition module 402, the first judgment module 404, the second acquisition module 406, the first sending module 408, etc. are all stored in the memory as program units and are executed by the processor. The above program units in the memory implement corresponding functions.

The processor contains a core, which retrieves the corresponding program unit from the memory. The kernel can set one or more. Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory includes at least one memory chip.

Embodiments of the present disclosure provide a non-volatile storage medium on which a program is stored, and when the program is executed by a processor, an anti-slip method is implemented.

An embodiment of the present disclosure provides an electronic device. The electronic device includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the following steps: Obtaining the target tire during vehicle driving. The driving status information; based on the above driving status information, determine whether the status of the above-mentioned vehicle is the braking status, and whether the above-mentioned vehicle turns on the brake spray mode; if the status of the above-mentioned vehicle is the above-mentioned braking status, and the above-mentioned vehicle turns on the above-mentioned brake spray mode , then the first control signal corresponding to the above-mentioned braking state is obtained, wherein the above-mentioned first control signal includes the first spray duration and the first spray flow rate of spraying the anti-skid agent to the above-mentioned target tire; the first spray flow rate corresponding to the above-mentioned target tire is The spray equipment sends the first control signal and is configured to spray the anti-skid agent to the target tire based on the first spray duration and the first spray flow rate. The devices in this article can be servers, PCs, etc.

Embodiments of the present disclosure provide a vehicle. The vehicle includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the following steps: Obtaining the movement of the target tire while the vehicle is traveling. Status information; based on the above driving status information, determine whether the status of the above-mentioned vehicle is the braking status, and whether the above-mentioned vehicle has turned on the brake spray mode; if the status of the above-mentioned vehicle is the above-mentioned braking status, and the above-mentioned vehicle has turned on the above-mentioned brake spray mode, then Obtain a first control signal corresponding to the above-mentioned braking state, wherein the above-mentioned first control signal includes a first spray duration and a first spray flow rate for spraying the anti-skid agent on the above-mentioned target tire; spray corresponding to the above-mentioned target tire The device sends the above-mentioned first control signal, and is configured so that the above-mentioned spray device sprays the anti-skid agent to the above-mentioned target tire based on the above-mentioned first spray duration and the above-mentioned first spray flow rate.

The present disclosure also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the following method steps: obtaining the driving status information of the target tire during the driving of the vehicle; judging based on the above driving status information Whether the state of the above-mentioned vehicle is the braking state, and whether the above-mentioned vehicle turns on the brake spray mode; if the state of the above-mentioned vehicle is the above-mentioned braking state, and the above-mentioned vehicle turns on the above-mentioned brake spray mode, obtain the first control corresponding to the above-mentioned braking state signal, wherein the above-mentioned first control signal includes the first spray duration and the first spray flow rate for spraying the anti-skid agent on the above-mentioned target tire; the above-mentioned first control signal is sent to the spray equipment corresponding to the above-mentioned target tire, and is set to The above-mentioned spray equipment sprays the anti-skid agent to the above-mentioned target tire based on the above-mentioned first spray duration and the above-mentioned first spray flow rate.

Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. able to provide These computer program instructions are directed to a processor of a general-purpose computer, special-purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce instructions configured to be implemented means a function specified in a process or processes in a flowchart and/or in a block or blocks in a block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps configured to implement the functionality specified in a process or processes of a flow diagram and/or a block or blocks of a block diagram.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-volatile memory in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory. (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cartridges, tape disk storage or other magnetic storage devices or any other non-transmission media that can be configured to store information that can be accessed by a computing device. As defined in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.

The above are only embodiments of the present disclosure and are not intended to limit the present disclosure. Various modifications and variations may occur to the present disclosure to those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this disclosure shall be included in the scope of the claims of this disclosure.

Industrial applicability

The anti-skid method, system, device and non-volatile storage medium provided by the embodiments of the present disclosure can be used during vehicle driving. By obtaining the driving status information of the target tire during the driving of the vehicle, the status of the vehicle can be determined based on the driving status information. Whether the vehicle is in the braking state, and whether the vehicle turns on the brake spray mode. If the vehicle is in the braking state, and the vehicle turns on the brake spray mode, the first control signal corresponding to the braking state is obtained, achieving immediate response to sudden anti-skid requirements. , thereby improving anti-skid convenience and driving safety, achieving the technical effect of improving the ability to respond to sudden harsh environments, and improving anti-skid performance and vehicle safety, thus solving the problems in related technologies under sudden bad road conditions. The anti-skid operation is cumbersome, making it difficult to respond immediately, which in turn leads to technical problems such as insufficient tire friction and reduced vehicle driving safety.

Claims

An anti-slip method, including:

Obtain the driving status information of the target tire while the vehicle is driving;

According to the driving status information, determine whether the vehicle is in a braking state and whether the vehicle has brake spray mode turned on;

If the state of the vehicle is the braking state and the vehicle turns on the brake spray mode, a first control signal corresponding to the braking state is obtained, wherein the first control signal includes Describe the first spray duration and first spray flow rate for spraying anti-skid agent on the target tire;

The first control signal is sent to the spray equipment corresponding to the target tire, and the spray equipment is configured to spray anti-skid agent to the target tire based on the first spray duration and the first spray flow rate. .
The method of claim 1, further comprising:

According to the driving state information, determine whether the state of the target tire is a sideslip state;

If the state of the target tire is the sideslip state, a second control signal corresponding to the sideslip state is obtained, wherein the second control signal includes a third step of spraying anti-skid agent to the target tire. Second spray duration and second spray flow rate;

The second control signal is sent to the spray equipment corresponding to the target tire, and the spray equipment is configured to spray anti-skid agent to the target tire based on the second spray duration and the second spray flow rate. .
The method according to claim 1, wherein said obtaining the first control signal corresponding to the braking state includes:

Obtain the braking duration and braking depth information of the vehicle in the braking state;

Determine whether the braking duration reaches a preset first duration threshold;

If the braking duration does not reach the first duration threshold, determine the first calculated flow rate based on the braking depth information and the first spray algorithm;

The first control signal is obtained based on the braking duration and the first calculated flow rate, where the first spray duration is the braking duration and the first spray flow rate is the first Calculate traffic.
The method of claim 3, further comprising:

If the braking duration reaches the first duration threshold, determine a second calculated flow rate based on the braking depth information and the second spray algorithm;

The first control signal is obtained based on the braking duration and the second calculated flow rate, where, The first spray duration is the braking duration, and the first spray flow rate is the second calculated flow rate.
The method according to claim 1, wherein before obtaining the driving status information of the target tire during the driving of the vehicle, the method further includes:

Obtain a manual control signal and the manual duration corresponding to the manual control signal;

Based on the manual duration, a preset third spray flow rate is used to control the spray equipment to spray anti-skid agent to the target tire.
The method according to claim 1, wherein before sending the first control signal to the spray equipment corresponding to the target tire, the method further includes:

Obtain the flow rate in the spray pipe corresponding to the spray equipment, wherein the spray pipe is configured to connect an anti-skid agent filling tank and a spray nozzle, and the spray nozzle is configured to spray anti-skid to the target tire agent;

Determine whether the flow rate is less than the preset flow rate;

If the flow rate is less than the preset flow rate, a first prompt signal is sent to the human-computer interaction device of the vehicle, wherein the first prompt signal is set to prompt an anti-slip agent flow alarm.
The method according to any one of claims 1 to 6, wherein before sending the first control signal to the spray equipment corresponding to the target tire, the method further includes:

Get the liquid level in the anti-slip agent filling tank;

Determine whether the liquid level is lower than a preset height;

If the liquid level is less than the preset height, a second prompt signal is sent to the human-computer interaction device of the vehicle, where the second prompt signal is set to prompt an anti-slip agent reserve alarm.
An anti-skid system, including:

A driving computer is configured to obtain the driving status information of the target tire during the driving of the vehicle; based on the driving status information, determine whether the status of the vehicle is a braking status and whether the vehicle has turned on the brake spray mode; if the vehicle The state is the braking state, and the vehicle turns on the brake spray mode, then a first control signal corresponding to the braking state is obtained, wherein the first control signal includes spraying the target tire The first spray duration and the first spray flow rate of spraying the anti-skid agent; sending the first control signal to the spray equipment corresponding to the target tire;

The spray equipment is connected to the driving computer and is configured to receive the first control signal and spray anti-skid agent to the target tire based on the first spray duration and the first spray flow rate.
An anti-skid device, which includes:

The first acquisition module is configured to acquire the driving status information of the target tire during vehicle driving;

A first determination module configured to determine, based on the driving status information, whether the state of the vehicle is a braking state and whether the vehicle has turned on the brake spray mode;

The second acquisition module is configured to acquire the first control signal corresponding to the braking state if the state of the vehicle is the braking state and the vehicle turns on the brake spray mode, wherein the third A control signal includes a first spray duration and a first spray flow rate for spraying anti-skid agent to the target tire;

The first sending module is configured to send the first control signal to the spray equipment corresponding to the target tire, and the spray equipment is configured to send the first control signal to the spray equipment based on the first spray duration and the first spray flow rate. Spray anti-skid agent on the target tires.
A non-volatile storage medium, wherein the non-volatile storage medium stores a plurality of instructions, the instructions are suitable for being loaded by a processor and executing the anti-slip method according to any one of claims 1 to 7 .