Vehicle escape control method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle escape control method and device, a vehicle and a storage medium, and the method comprises the following steps: controlling the vehicle to enter an escape mode based on an escape instruction of a user, controlling a driving motor to execute an escape action, detecting a first state of the vehicle, and if the first state meets a preset escape condition, executing the escape action; if yes, a driving motor is controlled to output target torque, a getting-out control request is sent to a rear wheel steering system, the rear wheel steering system is controlled to rotate at the target limit position at the target frequency, the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined, and the rear wheel steering system is controlled to execute getting-out action. Therefore, the problems that in the prior art, the vehicle is difficult to escape under the complex terrain, external tools or help are needed, the escape operation is complex, and consumed time is long are solved, and through the intelligent control system and the multi-sensor fusion technology, the escape capacity and safety of the vehicle under the complex terrain are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle escape control method, device, vehicle and storage medium. Background Art

[0002] When operating or driving off-road in complex terrain or severe weather conditions, the vehicle may get stuck in mud, snow or other soft ground, causing the rear wheels or all four wheels to slip and become unable to move forward. In this case, it not only affects driving safety but also increases rescue costs and time. Therefore, an efficient vehicle escape method is needed to enable the vehicle to escape quickly when in the above situation.

[0003] In the related art, when a vehicle is stuck in mud, snow or other soft ground, it is often rescued by increasing the engine torque or using special tools (such as a winch).

[0004] However, when the vehicle is freed by the above method, wheel slip may be aggravated in some cases, or even the transmission system may be damaged. External tools or assistance are also required, and the operation is complicated. This will result in a long time for the vehicle to be freed, affecting driving efficiency, and urgently needs to be solved. Summary of the invention

[0005] The present application provides a vehicle escape control method, device, vehicle and storage medium to solve the problems in related technologies that vehicles are difficult to escape in complex terrain and need external tools or help, which makes the escape operation complicated and time-consuming.

[0006] The first embodiment of the present application provides a vehicle escape control method, comprising the following steps:

[0007] Receive the user's escape instruction;

[0008] Based on the escape instruction, the vehicle is controlled to enter an escape mode, and a driving motor is controlled to perform an escape action, while a first state of the vehicle is detected, and it is determined whether the first state satisfies a preset escape condition;

[0009] If the first state satisfies the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action.

[0010] According to an embodiment of the present application, detecting the first state of the vehicle and determining whether the first state satisfies the preset escape condition includes:

[0011] Acquiring a first driving speed of the vehicle, a current gear of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle;

[0012] Determining whether a first driving speed of the vehicle is less than a first preset threshold, whether a current gear of the vehicle is in a first target gear, whether a torque of the drive motor is greater than a second preset threshold, whether a speed of the drive motor is greater than a third preset threshold, and whether a longitudinal acceleration of the vehicle is less than a fourth preset threshold;

[0013] If the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then determine whether the duration of the time when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than a fifth preset threshold;

[0014] If the duration is greater than the fifth preset threshold, it is determined that the first state satisfies the preset escape condition.

[0015] According to one embodiment of the present application, after controlling the rear wheel steering system to perform the escape action, the method further includes:

[0016] detecting a second state of the vehicle;

[0017] Determining whether the second state is in an escape state;

[0018] If the second state is in the escape state, obtaining a second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold;

[0019] If the second driving speed is greater than the sixth preset threshold, the rear-wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

[0020] According to an embodiment of the present application, the determining whether the second state is in the escape state includes:

[0021] Determining whether a first driving speed of the vehicle is greater than or equal to a first preset threshold, or whether a current gear of the vehicle is in a second target gear, or whether a torque of the drive motor is less than or equal to a second preset threshold, or whether a speed of the drive motor is less than or equal to a third preset threshold, or whether a longitudinal acceleration of the vehicle is greater than or equal to a fourth preset threshold;

[0022] If the first driving speed of the vehicle is greater than or equal to the first preset threshold, or the current gear of the vehicle is in the second target gear, or the drive motor torque is less than or equal to the second preset threshold, or the drive motor speed is less than or equal to the third preset threshold, or the longitudinal acceleration of the vehicle is greater than or equal to the fourth preset threshold, then the second state is determined to be in the escape state.

[0023] According to one embodiment of the present application, after detecting the second state of the vehicle, the method further includes:

[0024] Determining whether an exit and escape instruction from the user is received;

[0025] If an exit escape mode command from the user is received, the rear wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

[0026] According to the vehicle escape control method of the embodiment of the present application, the vehicle is controlled to enter the escape mode based on the escape command of the user, the drive motor is controlled to perform the escape action, and the first state of the vehicle is detected at the same time. If the first state meets the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action. Thus, the problem that the vehicle is difficult to escape in complex terrain in the related art and needs to rely on external tools or help, which causes the escape operation to be complicated and time-consuming, etc., is solved. Through the intelligent control system and multi-sensor fusion technology, the escape ability and safety of the vehicle in complex terrain are significantly improved.

[0027] A second aspect of the present application provides a vehicle escape control device, including:

[0028] A receiving module, used for receiving a user's escape instruction;

[0029] a detection module, configured to control the vehicle to enter an escape mode based on the escape instruction, and control the drive motor to perform an escape action, and simultaneously detect a first state of the vehicle, and determine whether the first state satisfies a preset escape condition;

[0030] A control module is used to control the drive motor to output a target torque if the first state satisfies the preset escape condition, and send an escape control request to the rear-wheel steering system, control the rear-wheel steering system to rotate at a target extreme position at a target frequency, and determine a target position corresponding to the maximum road adhesion coefficient of the vehicle, so as to control the rear-wheel steering system to perform the escape action.

[0031] According to one embodiment of the present application, the detection module is specifically used to:

[0032] Acquiring a first driving speed of the vehicle, a current gear of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle;

[0033] Determining whether a first driving speed of the vehicle is less than a first preset threshold, whether a current gear of the vehicle is in a first target gear, whether a torque of the drive motor is greater than a second preset threshold, whether a speed of the drive motor is greater than a third preset threshold, and whether a longitudinal acceleration of the vehicle is less than a fourth preset threshold;

[0034] If the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then determine whether the duration of the time when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than a fifth preset threshold;

[0035] If the duration is greater than the fifth preset threshold, it is determined that the first state satisfies the preset escape condition.

[0036] According to one embodiment of the present application, after controlling the rear wheel steering system to perform the escape action, the control module is further used to:

[0037] detecting a second state of the vehicle;

[0038] Determining whether the second state is in an escape state;

[0039] If the second state is in the escape state, obtaining a second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold;

[0040] If the second driving speed is greater than the sixth preset threshold, the rear-wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

[0041] According to one embodiment of the present application, the control module is specifically used to:

[0042] Determining whether a first driving speed of the vehicle is greater than or equal to a first preset threshold, or whether a current gear of the vehicle is in a second target gear, or whether a torque of the drive motor is less than or equal to a second preset threshold, or whether a speed of the drive motor is less than or equal to a third preset threshold, or whether a longitudinal acceleration of the vehicle is greater than or equal to a fourth preset threshold;

[0043] If the first driving speed of the vehicle is greater than or equal to the first preset threshold, or the current gear of the vehicle is in the second target gear, or the drive motor torque is less than or equal to the second preset threshold, or the drive motor speed is less than or equal to the third preset threshold, or the longitudinal acceleration of the vehicle is greater than or equal to the fourth preset threshold, then the second state is determined to be in the escape state.

[0044] According to one embodiment of the present application, after detecting the second state of the vehicle, the control module is further configured to:

[0045] Determining whether an exit and escape instruction from the user is received;

[0046] If an exit escape mode command from the user is received, the rear wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

[0047] According to the vehicle escape control device of the embodiment of the present application, the vehicle is controlled to enter the escape mode based on the escape command of the user, the drive motor is controlled to perform the escape action, and the first state of the vehicle is detected at the same time. If the first state meets the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action. As a result, the problem that the vehicle is difficult to escape in complex terrain in the related art and needs to rely on external tools or help, which causes the escape operation to be complicated and time-consuming is solved. Through the intelligent control system and multi-sensor fusion technology, the escape ability and safety of the vehicle in complex terrain are significantly improved.

[0048] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle escape control method as described in the above embodiment.

[0049] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle escape control method as described in the above embodiment.

[0050] A fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the vehicle escape control method described in the above embodiment.

[0051] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0053] Figure 1 A vehicle structure diagram of a four-wheel steering vehicle according to an embodiment of the present application;

[0054] Figure 2 A flowchart of a vehicle escape control method provided according to an embodiment of the present application;

[0055] Figure 3 A device block diagram of a four-wheel steering vehicle according to an embodiment of the present application;

[0056] Figure 4 A logical schematic diagram of a method for getting out of trouble for a four-wheel steering vehicle according to an embodiment of the present application;

[0057] Figure 5 A schematic diagram of a method for getting out of trouble for a four-wheel steering vehicle according to an embodiment of the present application;

[0058] Figure 6 is an exemplary diagram of a vehicle escape control device according to an embodiment of the present application;

[0059] Figure 7 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0061] The following describes the vehicle escape control method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the vehicle mentioned in the above background technology is difficult to escape from the complex terrain, and needs to use external tools or help, which causes the escape operation to be complicated and time-consuming, the present application provides a vehicle escape control method, in which the vehicle is controlled to enter the escape mode based on the user's escape command, the drive motor is controlled to perform the escape action, and the first state of the vehicle is detected at the same time. If the first state meets the preset escape condition, the drive motor is controlled to output the target torque, and the escape control request is sent to the rear wheel steering system, the rear wheel steering system is controlled to rotate at the target limit position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear wheel steering system to perform the escape action. Thus, the problem that the vehicle is difficult to escape from the complex terrain in the related art, and needs to use external tools or help, which causes the escape operation to be complicated and time-consuming, etc., is solved. Through the intelligent control system and multi-sensor fusion technology, the escape ability and safety of the vehicle in complex terrain are significantly improved.

[0062] Specifically, before introducing the embodiments of the present application, the relevant structures involved in the embodiments of the present application are first introduced. Figure 1 As shown, the vehicle of the embodiment of the present application is provided with a large screen control system 1, a front wheel steering system 2, a wheel speed sensor system 3, a front axle drive system 4, an inertia sensor 5, a rear axle drive system 6 and a rear wheel steering system 7.

[0063] Among them, the large screen control system 1 is located in the central control screen in the vehicle cockpit, which integrates the one-key escape system function switch and control device; the front wheel steering system 2 is arranged on the front axle, for the user to operate the steering wheel, transmit the steering angle and assist; the wheel speed sensors 3 are arranged on the four wheels respectively, and the brake system analyzes the pulse signal to calculate the four-wheel speed, and then calculates the vehicle speed and sends it to the CAN (Controller Area Network) bus; the front axle drive system 4 is driven by a motor to drive the front wheel to output the driving torque; the inertia sensor 5 is arranged near the center of mass of the vehicle, measures the dynamic variables such as lateral acceleration, longitudinal acceleration, yaw angular velocity and sends them to the CAN bus; the rear axle drive system 6 is driven by a motor to drive the rear axle to output the driving torque and execute the driving torque request sent by the one-key escape system; the rear wheel steering system 7 is arranged on the rear axle, and the user controls the steering wheel to provide additional rear wheel steering angle to assist driving, and in the escape function, it is responsible for executing the control request instruction sent by the one-key escape system.

[0064] Specifically, Figure 2 A schematic flow chart of a vehicle escape control method provided in an embodiment of the present application.

[0065] like Figure 2 As shown, the vehicle escape control method includes the following steps:

[0066] In step S201, a user's escape instruction is received.

[0067] Specifically, when the user is working or driving off-road in complex terrain or severe weather conditions in the wild, the vehicle may get stuck in mud, snow, sand or other soft roads, which will cause the rear wheels or all four wheels to slip and become unable to move forward. At this time, the user first needs to click the "one-key escape" button on the central control screen in the vehicle's cockpit to send an escape instruction to the escape system; secondly, after the escape system detects that the user has activated the "one-key escape" function, that is, after receiving the user's escape instruction, it starts the escape action through the "one-key escape" system function switch and control device.

[0068] Among them, Figure 3 As shown, the escape system mainly includes a data processing unit 301, a judgment unit 302 and a control unit 303, which are mainly used to receive the user's escape command, judge whether the vehicle is stuck according to the on-board sensor, and send a control request to the execution system.

[0069] In step S202, the vehicle is controlled to enter an escape mode based on the escape instruction, and the drive motor is controlled to perform an escape action. At the same time, a first state of the vehicle is detected, and it is determined whether the first state meets a preset escape condition.

[0070] According to one embodiment of the present application, a first state of a vehicle is detected, and it is determined whether the first state satisfies a preset escape condition, including: obtaining a first driving speed of the vehicle, a current gear of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle; determining whether the first driving speed of the vehicle is less than a first preset threshold, and whether the current gear of the vehicle is in a first target gear, and whether the drive motor torque is greater than a second preset threshold, and whether the drive motor speed is greater than a third preset threshold, and whether the longitudinal acceleration of the vehicle is less than a fourth preset threshold; if the first driving speed of the vehicle is less than the first preset threshold, and the current gear of the vehicle is in the first target gear, and the drive motor torque is greater than the second preset threshold, and the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then it is determined whether the duration of the first driving speed of the vehicle being less than the first preset threshold, and the current gear of the vehicle being in the first target gear, and the drive motor torque being greater than the second preset threshold, and the drive motor speed being greater than the third preset threshold, and the longitudinal acceleration of the vehicle being less than the fourth preset threshold is greater than a fifth preset threshold; if the duration is greater than the fifth preset threshold, then it is determined that the first state satisfies the preset escape condition.

[0071] Among them, the preset escape conditions and the first to fifth preset thresholds can be set by technical personnel in this field according to actual test requirements and are not specifically limited here.

[0072] Specifically, in an embodiment of the present application, after the escape system receives the user's escape command, it controls the vehicle to enter the escape mode based on the escape command, and first controls the drive motor to attempt to perform an escape action, while detecting the first state of the vehicle through the on-board sensors. The on-board sensors mainly include wheel speed sensors, inertia sensors, and motor torque sensors, which are used to detect the vehicle's driving state and environmental information.

[0073] Specifically, if Figure 4 and Figure 5As shown, first, the basic parameters output by the vehicle are received by the data processing unit 301 in the escape system, that is, the first driving speed of the vehicle, the current gear of the vehicle, the drive motor torque, the drive motor speed and the longitudinal acceleration of the vehicle are obtained, and the judgment unit 302 is used to judge whether the first driving speed of the vehicle is less than the first preset threshold, and whether the current gear of the vehicle is in the first target gear, and whether the drive motor torque is greater than the second preset threshold, and whether the drive motor speed is greater than the third preset threshold and whether the longitudinal acceleration of the vehicle is less than the fourth preset threshold; secondly, if the first driving speed of the vehicle is less than the first preset threshold (for example, 3km / h), and the current gear of the vehicle is in the first target gear (for example, D gear or R gear), and the drive motor torque is greater than the second preset threshold (for example, 10Nm), and the drive motor speed is greater than the third preset threshold (for example, 500RPM) and the longitudinal acceleration of the vehicle is less than the fourth preset threshold (for example, 1m / s 2 ), continue to determine whether the duration when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the driving motor torque is greater than the second preset threshold, the driving motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than the fifth preset threshold (for example, 1000ms). If the duration is greater than the fifth preset threshold, it is determined that the first state of the vehicle meets the preset escape condition.

[0074] That is, when the first driving speed of the vehicle is less than 3 km / h, the current gear of the vehicle is in D gear or R gear, the drive motor torque is greater than 10 Nm, the drive motor speed is greater than 500 RPM, and the longitudinal acceleration of the vehicle is less than 1 m / s 2 If the vehicle is in a state of being trapped and the duration is greater than 1000ms, it can be determined that the vehicle can no longer escape through the driving motor and needs to further control the rear wheel steering system through the control unit 303 to execute an escape action.

[0075] In step S203, if the first state satisfies the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action.

[0076] Among them, the target torque, target frequency, target limit position and target position can all be set by those skilled in the art according to actual test requirements and are not specifically limited here.

[0077] Specifically, when the first state of the vehicle satisfies the preset escape conditions, the control unit 303 of the escape system controls the drive motor to output the target torque, for example, 30 Nm, and sends an escape control request to the rear-wheel steering system to control the rear-wheel steering system to rotate at the target extreme position at the target frequency. For example, the rear-wheel steering system is controlled to rotate back and forth between the left and right extreme positions at a frequency of 0.1 Hz, and the position with the largest road adhesion coefficient, i.e., the target position, is found by changing the left and right loads, center of gravity position, and traction distribution of the vehicle to prevent the rear wheels from slipping and improve the vehicle's escape ability, thereby controlling the rear-wheel steering system to perform the escape action.

[0078] According to one embodiment of the present application, after controlling the rear-wheel steering system to perform an escape action, it also includes: detecting a second state of the vehicle; determining whether the second state is in an escape state; if the second state is in an escape state, obtaining the second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold value; if the second driving speed is greater than the sixth preset threshold value, controlling the rear-wheel steering system to return to the steering center position, and controlling the vehicle to exit the escape mode.

[0079] According to one embodiment of the present application, determining whether the second state is in an escape state includes: determining whether the first driving speed of the vehicle is greater than or equal to a first preset threshold, or whether the current gear of the vehicle is in a second target gear, or whether the drive motor torque is less than or equal to the second preset threshold, or whether the drive motor speed is less than or equal to a third preset threshold, or whether the longitudinal acceleration of the vehicle is greater than or equal to a fourth preset threshold; if the first driving speed of the vehicle is greater than or equal to the first preset threshold, or the current gear of the vehicle is in the second target gear, or the drive motor torque is less than or equal to the second preset threshold, or the drive motor speed is less than or equal to the third preset threshold, or the longitudinal acceleration of the vehicle is greater than or equal to the fourth preset threshold, then the second state is determined to be in an escape state.

[0080] According to one embodiment of the present application, after detecting the second state of the vehicle, it also includes: determining whether an exit escape command from the user is received; if an exit escape command from the user is received, controlling the rear-wheel steering system to return to the steering center position, and controlling the vehicle to exit the escape mode.

[0081] Among them, the sixth preset threshold can be set by technical personnel in this field according to actual test requirements and is not specifically limited here.

[0082] Specifically, in the embodiment of the present application, after controlling the rear-wheel steering system to execute the escape action, the second state of the vehicle is further detected, that is, whether the current state of the vehicle after executing the escape action is that it has escaped from the trouble. If it is detected that the second state of the vehicle is in the escape state, the second driving speed of the vehicle is obtained, that is, the current speed of the vehicle after executing the escape action. If the second driving speed is greater than the sixth preset threshold value (for example, 3km / h), it means that the vehicle has escaped from the trouble. The rear-wheel steering system is controlled to return to the steering center position, and the vehicle is controlled to exit the one-button escape mode.

[0083] Specifically, if the vehicle's first driving speed is greater than or equal to the first preset threshold, or the vehicle's current gear is in the second target gear, or the drive motor torque is less than or equal to the second preset threshold, or the drive motor speed is less than or equal to the third preset threshold, or the vehicle's longitudinal acceleration is greater than or equal to the fourth preset threshold, that is, the vehicle's first driving speed is greater than or equal to 3km / h, the vehicle's current gear is not in D gear and is not in R gear, the drive motor torque is less than or equal to 10Nm, the drive motor speed is less than or equal to 500RPM, and the vehicle's longitudinal acceleration is greater than or equal to 1m / s 2 When the second state of the vehicle is determined to be in an escape state, when the second driving speed of the vehicle is greater than 3 km / h, the rear-wheel steering system is controlled to return to the steering center position, and the vehicle is controlled to exit the one-button escape mode.

[0084] Optionally, if the escape system receives an exit escape command from the user, that is, the user actively exits the escape function, the escape system controls the rear-wheel steering system to return to the steering center position, and controls the vehicle to exit the one-button escape mode.

[0085] In summary, if Figure 5 As shown, the embodiment of the present application is based on a one-key escape system that receives an escape command sent by a user, and starts to judge the vehicle state according to the vehicle speed, drive motor signal, etc. When it is judged that the vehicle is stuck, it starts to send a torque request to the drive motor, and at the same time sends an escape request control signal to the rear-wheel steering system. At this time, the rear-wheel steering system starts to turn left and right at a fixed frequency. During the process, the escape system always monitors the vehicle state. When it is detected that the vehicle has been successfully escaped or the user actively exits the escape function, the escape system sends a neutral return signal to the rear-wheel steering system and exits the escape function. As a result, the following beneficial effects can be achieved:

[0086] (1) Improve the efficiency of escape: Through the automated control strategy, the user's operating burden is reduced and the efficiency of escape is improved;

[0087] (2) Enhanced safety: Ensure the safety and stability of the vehicle in complex terrain through real-time monitoring and adjustment;

[0088] (3) Adapt to various road conditions: It is suitable for various complex road conditions such as muddy and sandy roads, which expands the application range of the vehicle.

[0089] According to the vehicle escape control method of the embodiment of the present application, the vehicle is controlled to enter the escape mode based on the escape command of the user, the drive motor is controlled to perform the escape action, and the first state of the vehicle is detected at the same time. If the first state meets the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action. Thus, the problem that the vehicle is difficult to escape in complex terrain in the related art and needs to rely on external tools or help, which causes the escape operation to be complicated and time-consuming, etc., is solved. Through the intelligent control system and multi-sensor fusion technology, the escape ability and safety of the vehicle in complex terrain are significantly improved.

[0090] Next, the vehicle escape control device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0091] Figure 6 It is a block diagram of a vehicle escape control device according to an embodiment of the present application.

[0092] like Figure 6 As shown, the vehicle escape control device 10 includes:

[0093] The receiving module 100 is used to receive a user's escape instruction;

[0094] The detection module 200 is used to control the vehicle to enter an escape mode based on the escape instruction, and control the drive motor to perform an escape action, and at the same time detect a first state of the vehicle and determine whether the first state meets a preset escape condition;

[0095] The control module 300 is used to control the drive motor to output the target torque if the first state meets the preset escape condition, and send an escape control request to the rear-wheel steering system, control the rear-wheel steering system to rotate at the target extreme position at the target frequency, and determine the target position corresponding to the maximum road adhesion coefficient of the vehicle, so as to control the rear-wheel steering system to perform the escape action.

[0096] According to one embodiment of the present application, the detection module 200 is specifically used for:

[0097] Obtaining a first driving speed of the vehicle, a current gear position of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle;

[0098] Determining whether a first driving speed of the vehicle is less than a first preset threshold, whether a current gear of the vehicle is in a first target gear, whether a drive motor torque is greater than a second preset threshold, whether a drive motor speed is greater than a third preset threshold, and whether a longitudinal acceleration of the vehicle is less than a fourth preset threshold;

[0099] If the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the driving motor torque is greater than the second preset threshold, the driving motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then determine whether the duration of the time when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the driving motor torque is greater than the second preset threshold, the driving motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than the fifth preset threshold;

[0100] If the duration is longer than the fifth preset threshold, it is determined that the first state meets the preset escape condition.

[0101] According to one embodiment of the present application, after controlling the rear wheel steering system to perform the escape action, the control module 300 is further configured to:

[0102] detecting a second state of the vehicle;

[0103] Determining whether the second state is in an escape state;

[0104] If the second state is in the escape state, obtaining a second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold;

[0105] If the second driving speed is greater than the sixth preset threshold, the rear-wheel steering system is controlled to return to the steering center position, and the vehicle is controlled to exit the escape mode.

[0106] According to one embodiment of the present application, the control module 300 is specifically configured to:

[0107] Determining whether a first driving speed of the vehicle is greater than or equal to a first preset threshold, or whether a current gear of the vehicle is in a second target gear, or whether a drive motor torque is less than or equal to a second preset threshold, or whether a drive motor speed is less than or equal to a third preset threshold, or whether a longitudinal acceleration of the vehicle is greater than or equal to a fourth preset threshold;

[0108] If the vehicle's first driving speed is greater than or equal to a first preset threshold, or the vehicle's current gear is in a second target gear, or the drive motor torque is less than or equal to a second preset threshold, or the drive motor speed is less than or equal to a third preset threshold, or the vehicle's longitudinal acceleration is greater than or equal to a fourth preset threshold, then the second state is determined to be in an escape state.

[0109] According to one embodiment of the present application, after detecting the second state of the vehicle, the control module 300 is further configured to:

[0110] Determine whether an exit and escape instruction from the user is received;

[0111] If an exit escape command from the user is received, the rear-wheel steering system is controlled to return to the steering center position, and the vehicle is controlled to exit the escape mode.

[0112] According to the vehicle escape control device of the embodiment of the present application, the vehicle is controlled to enter the escape mode based on the escape command of the user, the drive motor is controlled to perform the escape action, and the first state of the vehicle is detected at the same time. If the first state meets the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action. As a result, the problem that the vehicle is difficult to escape in complex terrain in the related art and needs to rely on external tools or help, which causes the escape operation to be complicated and time-consuming is solved. Through the intelligent control system and multi-sensor fusion technology, the escape ability and safety of the vehicle in complex terrain are significantly improved.

[0113] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0114] A memory 701 , a processor 702 , and a computer program stored in the memory 701 and executable on the processor 702 .

[0115] When the processor 702 executes the program, the vehicle escape control method provided in the above embodiment is implemented.

[0116] Furthermore, the vehicle also includes:

[0117] The communication interface 703 is used for communication between the memory 701 and the processor 702 .

[0118] The memory 701 is used to store computer programs that can be executed on the processor 702 .

[0119] The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0120] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0121] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can communicate with each other through an internal interface.

[0122] The processor 702 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0123] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle escape control method is implemented.

[0124] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0125] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0126] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0127] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0128] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0129] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0130] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0131] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle escape control method, characterized in that: The following steps are involved: Receive the user's escape instruction; Based on the escape instruction, the vehicle is controlled to enter an escape mode, and a driving motor is controlled to perform an escape action, while a first state of the vehicle is detected, and it is determined whether the first state satisfies a preset escape condition; If the first state satisfies the preset escape condition, the drive motor is controlled to output the target torque, and an escape control request is sent to the rear-wheel steering system, the rear-wheel steering system is controlled to rotate at the target extreme position at the target frequency, and the target position corresponding to the maximum road adhesion coefficient of the vehicle is determined to control the rear-wheel steering system to perform the escape action.

2. The method according to claim 1, characterized in that The detecting the first state of the vehicle and determining whether the first state satisfies the preset escape condition includes: Acquiring a first driving speed of the vehicle, a current gear of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle; Determining whether a first driving speed of the vehicle is less than a first preset threshold, whether a current gear of the vehicle is in a first target gear, whether a torque of the drive motor is greater than a second preset threshold, whether a speed of the drive motor is greater than a third preset threshold, and whether a longitudinal acceleration of the vehicle is less than a fourth preset threshold; If the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then determine whether the duration of the time when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than a fifth preset threshold; If the duration is greater than the fifth preset threshold, it is determined that the first state satisfies the preset escape condition.

3. The method according to claim 1, characterized in that After controlling the rear wheel steering system to perform the escape action, the method further includes: detecting a second state of the vehicle; Determining whether the second state is in an escape state; If the second state is in the escape state, obtaining a second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold; If the second driving speed is greater than the sixth preset threshold, the rear-wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

4. The method according to claim 3, characterized in that The determining whether the second state is in the escape state includes: Determining whether a first driving speed of the vehicle is greater than or equal to a first preset threshold, or whether a current gear of the vehicle is in a second target gear, or whether a torque of the drive motor is less than or equal to a second preset threshold, or whether a speed of the drive motor is less than or equal to a third preset threshold, or whether a longitudinal acceleration of the vehicle is greater than or equal to a fourth preset threshold; If the first driving speed of the vehicle is greater than or equal to the first preset threshold, or the current gear of the vehicle is in the second target gear, or the drive motor torque is less than or equal to the second preset threshold, or the drive motor speed is less than or equal to the third preset threshold, or the longitudinal acceleration of the vehicle is greater than or equal to the fourth preset threshold, then the second state is determined to be in the escape state.

5. The method according to claim 3, characterized in that After detecting the second state of the vehicle, the method further comprises: Determining whether an exit and escape instruction from the user is received; If an exit escape mode command from the user is received, the rear wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

6. A vehicle escape control device, characterized in that: include: A receiving module, used for receiving a user's escape instruction; a detection module, configured to control the vehicle to enter an escape mode based on the escape instruction, and control the drive motor to perform an escape action, and simultaneously detect a first state of the vehicle, and determine whether the first state satisfies a preset escape condition; A control module is used to control the drive motor to output a target torque if the first state satisfies the preset escape condition, and send an escape control request to the rear-wheel steering system, control the rear-wheel steering system to rotate at a target extreme position at a target frequency, and determine a target position corresponding to the maximum road adhesion coefficient of the vehicle, so as to control the rear-wheel steering system to perform the escape action.

7. The device according to claim 6, characterized in that The detection module is specifically used for: Acquiring a first driving speed of the vehicle, a current gear of the vehicle, a drive motor torque, a drive motor speed, and a longitudinal acceleration of the vehicle; Determining whether a first driving speed of the vehicle is less than a first preset threshold, whether a current gear of the vehicle is in a first target gear, whether a torque of the drive motor is greater than a second preset threshold, whether a speed of the drive motor is greater than a third preset threshold, and whether a longitudinal acceleration of the vehicle is less than a fourth preset threshold; If the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold, then determine whether the duration of the time when the first driving speed of the vehicle is less than the first preset threshold, the current gear of the vehicle is in the first target gear, the drive motor torque is greater than the second preset threshold, the drive motor speed is greater than the third preset threshold, and the longitudinal acceleration of the vehicle is less than the fourth preset threshold is greater than a fifth preset threshold; If the duration is greater than the fifth preset threshold, it is determined that the first state satisfies the preset escape condition.

8. The device according to claim 6, characterized in that After controlling the rear wheel steering system to perform the escape action, the control module is further used to: detecting a second state of the vehicle; Determining whether the second state is in an escape state; If the second state is in the escape state, obtaining a second driving speed of the vehicle, and determining whether the second driving speed is greater than a sixth preset threshold; If the second driving speed is greater than the sixth preset threshold, the rear-wheel steering system is controlled to return to the steering neutral position, and the vehicle is controlled to exit the escape mode.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle escape control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle escape control method as described in any one of claims 1-5.

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