Vehicle tire burst control method and system, vehicle, control equipment and storage medium

Abstract

The invention discloses a vehicle tire burst control method and system, a vehicle, control equipment and a storage medium, and relates to the technical field of vehicle safety control. The method mainly comprises the steps of determining the position of a tire burst wheel according to a vehicle tire burst signal, and identifying a driving scene according to vehicle state information; if the linear driving scene is recognized, acquiring tire braking force pressure according to the position of the flat tire wheel, calculating a yaw torque compensation value according to the tire braking force pressure, performing rear wheel steering adjustment, transferring a driving torque based on the position of the flat tire wheel, and performing vehicle body posture adjustment based on the position of the flat tire wheel; if the scene is recognized as the curve scene, controlling and changing the steering angle of the rear wheel based on the position of the flat tire wheel so as to adjust the yawing torque, transferring the driving torque based on the position of the flat tire wheel, and adjusting the posture of the vehicle body based on the position of the flat tire wheel. According to the vehicle tire burst control scheme, safer driving experience can be provided for the user, and the vehicle using experience and satisfaction degree of the user are improved.

Description

Technical Field

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

[0002] Tire blowout is one of the most frequent problems affecting vehicle driving. According to statistics, the probability of a tire blowout accident is about once every 1,500,000 kilometers. The main causes of tire blowouts are running over foreign objects such as stones and manhole covers, scratching the shoulder of the road, nails, and impact on the road surface. After a tire blowout occurs in an ordinary vehicle, due to the low transmission frequency of the tire pressure sensor, it usually sends a low tire pressure warning 4 seconds after the tire blowout, and most passenger cars do not make special adjustments for tire blowout conditions, which can easily lead to vehicle safety accidents. Summary of the invention

[0003] In order to overcome the above-mentioned defects, the vehicle tire blowout control method, system, vehicle, control device and storage medium proposed in the present application can solve the technical problem of vehicle body instability after a tire blowout.

[0004] In a first aspect, the present application provides a vehicle tire blowout control method, the method comprising:

[0005] In response to a vehicle tire blowout signal, determining a tire blowout wheel position according to the vehicle tire blowout signal;

[0006] Acquire current vehicle status information, and identify driving scenarios according to the vehicle status information;

[0007] If it is identified as a straight-line driving scene, the tire braking pressure is obtained according to the position of the tire-bursting wheel, the yaw torque compensation value is calculated according to the tire braking pressure, the rear wheel steering is adjusted based on the yaw torque compensation value, the driving torque is transferred based on the position of the tire-bursting wheel, and the vehicle body posture is adjusted based on the position of the tire-bursting wheel;

[0008] If it is identified as a curve scene, the rear wheel steering angle is changed based on the position of the tire-bursting wheel to adjust the yaw torque, the driving torque is transferred based on the position of the tire-bursting wheel, and the vehicle body posture is adjusted based on the position of the tire-bursting wheel.

[0009] In some implementations, the vehicle tire blowout control method further includes: in response to the vehicle tire blowout signal, switching the steering wheel steering control mode from a normal driving mode to a tire blowout control mode, the damping torque corresponding to the tire blowout control mode being greater than the damping torque corresponding to the normal driving mode.

[0010] Further, in response to the vehicle tire blowout signal, switching the steering wheel steering control mode from the normal driving mode to the tire blowout control mode includes: in response to the vehicle tire blowout signal, adjusting the value of the steering wheel damping coefficient from a first preset value to a second preset value, and calculating the damping torque of the steering wheel according to the value of the damping coefficient; wherein the first preset value is a value within a preset value range corresponding to the normal driving mode, and the second preset value is a value within a preset value range corresponding to the tire blowout control mode.

[0011] Furthermore, the vehicle status information includes at least vehicle speed, deceleration, lateral acceleration and steering wheel angle.

[0012] In some implementation schemes, identifying the driving scene according to the vehicle state information includes:

[0013] If the vehicle speed exceeds a preset vehicle speed, the deceleration exceeds a preset deceleration, the lateral acceleration does not exceed a preset acceleration, and the steering wheel angle does not exceed a preset steering value, it is identified as a straight-line driving scene;

[0014] If the vehicle speed exceeds the preset vehicle speed and the lateral acceleration exceeds the preset acceleration, or the vehicle speed exceeds the preset vehicle speed and the steering wheel angle exceeds the preset steering value, it is identified as a curve driving scene.

[0015] In some implementation schemes, acquiring the tire braking pressure according to the tire burst wheel position, and calculating the yaw torque compensation value according to the tire braking pressure comprises:

[0016] If it is determined that the tire of the front axle or rear axle has a tire blowout according to the position of the blowout wheel, the tire brake pressure of the left and right wheels of the front axle or rear axle is obtained, the longitudinal force of the left and right wheels of the front axle or rear axle is calculated based on the tire brake pressure of the left and right wheels of the front axle or rear axle, and the size of the yaw torque compensation value is calculated according to the difference in the longitudinal force of the left and right wheels of the front axle or rear axle;

[0017] If it is determined that the tires on the front axle and the rear axle have a tire blowout according to the position of the tire blowout wheel, the tire braking pressure of the four tires of the vehicle is obtained, the longitudinal force of the left and right wheels of the front axle is calculated based on the tire braking pressure of the left and right wheels of the front axle, and the longitudinal force of the left and right wheels of the rear axle is calculated based on the tire braking pressure of the left and right wheels of the rear axle, and the yaw torque compensation value is calculated based on the difference in the longitudinal force of the left and right wheels of the front axle and the difference in the longitudinal force of the left and right wheels of the rear axle.

[0018] In some embodiments, the rear-wheel steering adjustment based on the yaw torque compensation value includes: obtaining a rear-wheel steering angle corresponding to the yaw torque compensation value according to a predetermined correspondence between the yaw torque and the rear-wheel steering angle, and adjusting the rear-wheel steering of the vehicle based on the rear-wheel steering angle.

[0019] In some embodiments, the changing the rear wheel steering angle based on the tire-burst wheel position control to perform yaw torque adjustment includes:

[0020] If it is determined that the tire of the front axle has a puncture according to the position of the punctured wheel, the rear wheel steering angle is controlled to decrease so as to reduce the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle;

[0021] If it is determined that the tire of the rear axle has a tire blowout according to the blowout wheel position, the rear wheel steering angle is controlled to increase so as to increase the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle.

[0022] In some embodiments, the transferring of drive torque based on the tire-bursting wheel position comprises:

[0023] If it is determined according to the position of the tire-bursting wheel that the tire on the front axle has burst, the driving torque is transferred to the rear axle;

[0024] If it is determined according to the position of the tire-bursting wheel that the tire on the rear axle has burst, the driving torque is transferred to the front axle.

[0025] In some embodiments, the vehicle body posture adjustment based on the position of the flat wheel includes: determining a non-flat wheel according to the position of the flat wheel, and adjusting the non-flat wheel suspension height by adjusting the tire load of the non-flat wheel to a target load.

[0026] Furthermore, for the curved driving scenario, the vehicle body posture adjustment based on the tire blown wheel position further includes:

[0027] If it is determined according to the position of the tire-bursting wheel that the tire on the front axle has burst, the roll torque is distributed to the rear axle;

[0028] If it is determined according to the position of the tire-bursting wheel that the tire on the rear axle has burst, the roll torque is distributed to the front axle.

[0029] In a second aspect, the present application provides a vehicle tire blowout control system, comprising: a fusion control system integrated in a domain controller of the vehicle, and a power drive system, a rear wheel steering system, and a fully active suspension system communicatively connected to the domain controller;

[0030] The fusion control system is configured to: respond to a vehicle tire blowout signal, determine the tire blowout wheel position according to the vehicle tire blowout signal, obtain current vehicle state information, and identify a driving scene according to the vehicle state information; if a straight-line driving scene is identified, obtain tire braking force pressure according to the tire blowout wheel position, calculate a yaw torque compensation value according to the tire braking force pressure, control the rear-wheel steering system to perform rear-wheel steering adjustment based on the yaw torque compensation value, control the power drive system to transfer driving torque based on the tire blowout wheel position, and control the full-active suspension system to adjust the vehicle body posture based on the tire blowout wheel position; if a curve scene is identified, control the rear-wheel steering system to change the rear wheel steering angle based on the tire blowout wheel position to perform yaw torque adjustment, control the power drive system to transfer driving torque based on the tire blowout wheel position, and control the full-active suspension system to adjust the vehicle body posture based on the tire blowout wheel position.

[0031] In some embodiments, the vehicle tire blowout control system further includes a steer-by-wire system communicatively coupled to the domain controller;

[0032] The steer-by-wire system is configured to: in response to the vehicle tire blowout signal, switch the steering wheel steering control mode from a normal driving mode to a tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0033] In a third aspect, the present application provides a control device, comprising a processor and a storage device, wherein the storage device is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the vehicle tire blowout control method described in any one of the technical solutions of the above-mentioned vehicle tire blowout control method.

[0034] In a fourth aspect, the present application provides a vehicle, comprising the above-mentioned vehicle tire blowout control system or control device.

[0035] In a fifth aspect, the present application provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the vehicle tire blowout control method described in any one of the technical solutions of the above-mentioned vehicle tire blowout control method.

[0036] The above one or more technical solutions of the present application have at least one or more of the following beneficial effects:

[0037] In the technical solution of implementing the present application, in response to a vehicle tire blowout signal, different tire blowout control strategies can be determined based on scene recognition, and then rear-wheel steering adjustment, drive torque conversion, vehicle body posture balance, and hand force compensation are performed based on the control strategy, thereby achieving vehicle stability control that is more in line with actual application needs. For tire blowout conditions, it can provide users with a safer driving experience and improve users' vehicle experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. Among them:

[0039] Figure 1 is a schematic diagram of an application scenario of the vehicle tire blowout control method according to an embodiment of the present application;

[0040] Figure 2 This is a schematic flow chart of the main steps of a vehicle tire blowout control method according to an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of a vehicle architecture equipped with a vehicle tire blowout control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0043] In the description of the present application, "module", "system", "unit" and "processor" may include hardware, software or a combination of the two. A module, system or unit may include hardware circuits, various suitable sensors, communication ports, memory, and may also include software parts, such as program code, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store program code, such as a disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B or A and B. The singular terms "one" and "the" may also include plural forms.

[0044] Currently, most drivers will not slam on the brakes or steer sharply after a tire blowout. At low and medium speeds, users may still need to step on the accelerator, apply minor brakes, make minor steering corrections, and maintain vehicle speed. Only when the vehicle is about to stop will they begin to slowly increase the brakes and make major steering corrections. At medium and high speeds, users will usually apply gradually increasing brake force after a tire blowout, and park smoothly by slightly adjusting the steering wheel. Some drivers will have abnormal / stressful behavior after a tire blowout, specifically:

[0045] 1. If you brake suddenly after a tire blows out at high speed in a straight line, the ABS function may be activated. After the ABS is activated, the vehicle's lane keeping ability deteriorates due to the distribution of braking force, and the vehicle may deviate from the lane.

[0046] 2. After a tire bursts on a high-speed curve, the vehicle may oversteer or understeer due to changes in the tire lateral force, and its tracking performance will deteriorate.

[0047] 3. After a tire blows out, the rolling radius of the tire wheel becomes smaller, and the body posture is not stable enough, which can easily cause the driver to panic.

[0048] Based on the current status of tire blowout warning and tire blowout condition control strategies in the above industry, as well as the development of sensor sampling transmission and chassis domain control technology, the present application provides a vehicle tire blowout control solution that quickly senses and transmits the tire pressure sensor to a fusion control system when a vehicle tire blows, and then the fusion control system performs yaw torque control, body posture balance, and hand force compensation based on scene recognition.

[0049] The following describes the embodiments of the present application in conjunction with the drawings in the specification. It should be understood that the embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments in the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0050] like Figure 1As shown, it is a schematic diagram of the application scenario of the embodiment of the present application. The application scenario diagram includes a perception module, a control module, an execution module and a reminder module, wherein the perception module is mainly used to detect the tire pressure of the left wheel, right wheel, left wheel and right wheel of the front axle of the vehicle, and the tire pressure detection signal is transmitted to the control module via a receiver. When a tire blowout is detected based on the tire pressure detection signal, the vehicle tire blowout control system is triggered to start working, mainly including identifying the driving scene according to the vehicle tire blowout signal, and interacting with the execution module and / or the reminder module according to the tire blowout control strategy corresponding to different driving scenes. It should be understood that the reminder module can be a human-computer interaction component in the vehicle cockpit, and the execution module can be each existing main component system in the vehicle, such as a rear-wheel steering system, a power drive system, a fully active suspension system and a wire-controlled steering system. The above-mentioned systems mentioned in the embodiment of the present application should be understood as including the hardware of the vehicle and the functional software in the controller. In this application scenario, the control of rear-wheel steering, four-wheel drive, fully active suspension and wire-controlled steering can be realized based on the execution module, and human-computer prompts are performed based on the functional components in the reminder module.

[0051] See attached Figure 2 , Figure 2 FIG. 1 is a flow chart of the main steps of a vehicle tire blowout control method according to an embodiment of the present application. Figure 1 As shown, the vehicle tire blowout control method provided in the embodiment of the present application mainly includes the following steps S11 to S14.

[0052] Step S11: responding to a vehicle tire blowout signal, determining a tire blowout wheel position according to the vehicle tire blowout signal;

[0053] In this embodiment, the vehicle tire blowout signal may be obtained based on the tire pressure sensor of the vehicle, and the tire blowout signal includes but is not limited to the tire pressure value and the tire blowout flag when the tire blowout occurs. The tire blowout flag may be used to characterize the tire that has blown out, that is, the tire blowout wheel position may be determined according to the tire blowout flag. For example, the tire pressure sensor for detecting the left front tire of the vehicle will send a tire blowout signal to the domain controller when detecting a tire blowout.

[0054] Step S12: obtaining current vehicle status information, identifying a driving scene according to the vehicle status information, and executing step S13 if it is a straight-line driving scene, and executing step S14 if it is a curved driving scene;

[0055] The vehicle status information in this embodiment at least includes vehicle speed, deceleration, lateral acceleration (Ay) and steering wheel angle (SWA). It is understandable that the vehicle status information may also include other parameter information of the vehicle, such as wheelbase. The vehicle status information in this embodiment may be directly obtained from the existing various component systems of the vehicle or calculated.

[0056] In some implementations, identifying the driving scene according to the vehicle state information in this step may include:

[0057] If the vehicle status information satisfies the conditions that the vehicle speed exceeds the preset speed, the deceleration exceeds the preset deceleration, the lateral acceleration does not exceed the preset acceleration, and the steering wheel angle does not exceed the preset steering value, then it is identified as a straight-line driving scene;

[0058] If the vehicle status information satisfies the conditions that the vehicle speed exceeds the preset speed and the lateral acceleration exceeds the preset acceleration, or the vehicle speed exceeds the preset speed and the steering wheel angle exceeds the preset steering value, it is identified as a curve driving scene.

[0059] The preset vehicle speed, preset deceleration, preset acceleration, and preset steering value in this embodiment can be customized according to actual needs.

[0060] Furthermore, the vehicle status information in the embodiment of the present application may also include a stability control status, which can be directly obtained from the vehicle's braking system. The stability control status is divided into an activated state and an inactivated state, wherein the activated state is used to characterize that the tire blowout control in the straight driving scenario of the present application is not allowed to be triggered. For example, when it is identified as a straight driving scenario, if the stability control state is in an activated state, step S13 will not be triggered. If the stability control state is in an inactivated state, step S13 will be triggered.

[0061] Step S13: acquiring tire braking pressure according to the position of the tire-bursting wheel, calculating a yaw torque compensation value according to the tire braking pressure, performing rear wheel steering adjustment based on the yaw torque compensation value, transferring driving torque based on the position of the tire-bursting wheel, and adjusting vehicle body posture based on the position of the tire-bursting wheel;

[0062] In some implementations, obtaining the tire braking force pressure according to the tire burst wheel position in this step, and calculating the yaw torque compensation value according to the tire braking force pressure may include:

[0063] If it is determined that a tire on the front axle or rear axle has a tire blowout according to the position of the blown wheel, the tire braking pressure of the left and right wheels of the front axle or rear axle is obtained, and the longitudinal force of the left and right wheels of the front axle or rear axle is calculated based on the tire braking pressure of the left and right wheels of the front axle or rear axle, and the size of the yaw torque compensation value is calculated according to the difference in the longitudinal force of the left and right wheels of the front axle or rear axle.

[0064] If it is determined that the tires of the front and rear axles have a puncture according to the position of the punctured wheel, the tire brake pressures of the four tires of the vehicle are obtained, the longitudinal forces of the left and right wheels of the front axle are calculated based on the tire brake pressures of the left and right wheels of the front axle, and the longitudinal forces of the left and right wheels of the rear axle are calculated based on the tire brake pressures of the left and right wheels of the rear axle, and the yaw torque compensation value is calculated based on the difference in the longitudinal forces of the left and right wheels of the front axle and the difference in the longitudinal forces of the left and right wheels of the rear axle. It should be understood that based on the prior art, the yaw torque can be calculated based on the difference in the longitudinal forces and the wheelbase.

[0065] In some embodiments, the rear-wheel steering adjustment based on the yaw torque compensation value in this step includes: obtaining a rear-wheel steering angle corresponding to the yaw torque compensation value according to a predetermined correspondence between the yaw torque and the rear-wheel steering angle, and adjusting the rear-wheel steering of the vehicle based on the rear-wheel steering angle.

[0066] Among them, the size of the rear wheel steering angle corresponding to the yaw torque compensation value can be obtained according to the preset corresponding relationship between the yaw torque and the rear wheel steering angle, and the direction of the rear wheel steering angle can be determined according to the position of the tire-punctured wheel.

[0067] Step S14: Based on the tire-bursting wheel position, the rear wheel steering angle is changed to adjust the yaw torque, the driving torque is transferred based on the tire-bursting wheel position, and the vehicle body posture is adjusted based on the tire-bursting wheel position.

[0068] In some embodiments, the step of changing the rear wheel steering angle based on the tire-burst wheel position control to adjust the yaw torque may specifically include:

[0069] If it is determined that the tire of the front axle has a puncture according to the position of the punctured wheel, the rear wheel steering angle is controlled to decrease so as to reduce the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle;

[0070] If it is determined that the tire of the rear axle has a tire blowout according to the blowout wheel position, the rear wheel steering angle is controlled to increase so as to increase the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle.

[0071] In some embodiments, the transferring of the driving torque based on the tire burst wheel position in the above step S13 and step S14 may specifically include:

[0072] If it is determined according to the position of the tire-bursting wheel that the tire on the front axle has burst, the driving torque is transferred to the rear axle;

[0073] If it is determined according to the position of the tire-bursting wheel that the tire on the rear axle has burst, the driving torque is transferred to the front axle.

[0074] In some implementations, the adjusting of the vehicle body posture based on the position of the tire-bursting wheel in the above step S13 may specifically include the following a1:

[0075] a1: determining a non-flattened wheel according to the position of the flattened wheel, and adjusting the suspension height of the non-flattened wheel by adjusting the tire load of the non-flattened wheel to a target load.

[0076] In some implementations, the vehicle body posture adjustment based on the tire blown wheel position in the above step S14 may specifically include the following a1 and a2:

[0077] a1: determining a non-flattened wheel according to the position of the flattened wheel, and adjusting the suspension height of the non-flattened wheel by adjusting the tire load of the non-flattened wheel to a target load.

[0078] a2: if it is determined according to the position of the flat wheel that the tire on the front axle has a flat tire, the roll torque is allocated to the rear axle; if it is determined according to the position of the flat wheel that the tire on the rear axle has a flat tire, the roll torque is allocated to the front axle.

[0079] Furthermore, in the above a1, the vehicle body posture can be adaptively adjusted in combination with the tire load and the lateral acceleration to optimize the vehicle tilting performance.

[0080] On the basis of the above steps S11 to S14, the vehicle tire blowout control method of this embodiment may further include step S21:

[0081] Step S21: in response to a vehicle tire blowout signal, switching the steering wheel steering control mode from a normal driving mode to a tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0082] In a specific implementation, the steering wheel steering control mode can be configured as a normal driving mode and a tire blowout control mode based on the wire steering system, and when switched to the tire blowout control mode, the effect of increasing the steering hand force of the steering wheel can be achieved. In this embodiment, the controller of the wire steering system pre-stores the value interval of the damping coefficient of the steering wheel, and the value of the damping coefficient in the steering wheel steering control mode is obtained based on the value interval. It can specifically include a preset value interval corresponding to the normal driving mode and a preset value interval corresponding to the tire blowout control mode. Accordingly, the above step S21 can be specifically as follows: in response to the vehicle tire blowout signal, the value of the steering wheel damping coefficient is adjusted from the first preset value to the second preset value, and the damping torque of the steering wheel is calculated according to the value of the damping coefficient; wherein the first preset value is a value within the preset value interval corresponding to the normal driving mode, and the second preset value is a value within the preset value interval corresponding to the tire blowout control mode.

[0083] It should be understood that in a specific embodiment, in the above steps S13 and S14, the controller may send a rear wheel steering angle compensation request including the magnitude and direction of the rear wheel steering angle to the rear wheel steering system to achieve rear wheel steering adjustment, send a drive torque switching request including the drive torque corresponding axis to the power drive system to achieve drive torque transfer, and send a suspension adjustment request including the wheel corresponding suspension height and / or a torque distribution request including the tilt torque corresponding axis to the full active suspension system to achieve vehicle body posture adjustment. In the above step 21, the steering wheel steering control mode switching request including the vehicle tire blowout signal may be sent to the wire steering system to achieve increased steering hand force.

[0084] It should be noted that the vehicle tire blowout control method of the embodiment of the present application can be applied to Figure 3The vehicle hardware environment shown is composed of a tire pressure sensor, a radio frequency receiver, a smart cockpit domain, a domain controller, and other control systems of the vehicle. Among them, the tire pressure sensor can detect the tire pressure of the four wheels of the vehicle respectively, and transmit the detection signal or the tire blowout signal to the domain controller through the radio frequency receiver. When the domain controller receives the tire blowout signal, on the one hand, it controls other control systems of the vehicle based on the vehicle tire blowout control method of the present application to achieve vehicle stability control, and on the other hand, it can send the tire blowout signal to the smart cockpit domain for safety reminders, and can provide safety reminders or operation instructions to users through various components of the smart cockpit domain, such as display screens, speakers, and instrument panels. Exemplarily, a set of warning signal alarm information system (WTI) can be implemented in the smart cockpit domain based on various components: after receiving the tire blowout signal, it will immediately light up in a prominent position on the instrument panel or head-up display to inform the user that "XX tire pressure is too low, please drive carefully"; the voice reminds the user that "the vehicle's XX wheel has a tire blowout, please hold the steering wheel tightly and avoid sudden braking", and remind the user after X seconds that "please pull over in time while maintaining safety". After the vehicle with a flat tire stops and shifts into parking gear, a voice reminds the user "Please move all occupants to a safe area and remember to place a tripod warning sign" and asks the user whether to call the relevant service hotline. During this period, if a false alarm or missed alarm signal of a flat tire is received from the domain controller, the permanently lit warning on the instrument panel or head-up display will go out and the voice reminder will terminate.

[0085] The vehicle tire blowout control method of the embodiment of the present application can be executed by a control unit (ECU) in the domain controller alone or by multiple control units together. In a specific implementation: the domain controller includes a fusion control system and an actuator distribution and control system, and the actuator distribution and control system is used to interact with the vehicle's rear-wheel steering system, power drive system and fully active suspension system. When the fusion control system receives a tire blowout signal, it will send the signal to the actuator distribution and control system and the vehicle's wire-controlled steering system. The actuator distribution and control system is mainly used to control the vehicle's rear-wheel steering system, power drive system and fully active suspension system in combination with control strategies related to driving scenarios to achieve vehicle stability control.

[0086] Furthermore, based on the Figure 3 , the embodiment of the present application provides a vehicle tire blowout control system, mainly comprising: a fusion control system integrated in a domain controller of the vehicle, and a power drive system, a rear wheel steering system and a fully active suspension system that are communicatively connected to the domain controller;

[0087] In an embodiment of the present application, the fusion control system is configured to: respond to a vehicle tire blowout signal, determine the tire blowout wheel position according to the vehicle tire blowout signal, obtain current vehicle status information, and identify a driving scene according to the vehicle status information; if a straight-line driving scene is identified, the tire braking force pressure is obtained according to the tire blowout wheel position, a yaw torque compensation value is calculated according to the tire braking force pressure, the rear-wheel steering system is controlled to perform rear-wheel steering adjustment based on the yaw torque compensation value, and the power drive system is controlled to transfer the driving torque based on the tire blowout wheel position, and the full-active suspension system is controlled to adjust the vehicle body posture based on the tire blowout wheel position; if a curve scene is identified, the rear-wheel steering system is controlled to change the rear wheel steering angle based on the tire blowout wheel position to perform yaw torque adjustment, and the power drive system is controlled to transfer the driving torque based on the tire blowout wheel position, and the full-active suspension system is controlled to adjust the vehicle body posture based on the tire blowout wheel position.

[0088] In some embodiments, the vehicle tire blowout control system further includes a steer-by-wire system communicatively coupled to the domain controller;

[0089] In an embodiment of the present application, the wire-controlled steer system is configured to: in response to the vehicle tire blowout signal, switch the steering wheel steering control mode from a normal driving mode to a tire blowout control mode, and the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0090] For ease of explanation, the above-mentioned introduction to the vehicle tire blowout control system only shows the part related to the embodiment of the present application. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application.

[0091] It should be understood that since the settings of each controller, control unit, system or module are only for illustrating the functional system of the present application, the corresponding physical device may be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of each module in the figure is only schematic.

[0092] It is understood by those skilled in the art that the various components in the system can be adaptively split or merged. Such splitting or merging of specific functional systems will not cause the technical solution to deviate from the principle of this application, and therefore, the technical solutions after splitting or merging will fall within the protection scope of this application.

[0093] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0094] Furthermore, the present application also provides a control device.

[0095] In an embodiment of a control device according to the present application, the control device mainly includes a processor and a storage device, the storage device can be configured to store a program for executing the vehicle tire blowout control method of the above method embodiment, and the processor can be configured to execute the program in the storage device, which includes but is not limited to the program for executing the vehicle tire blowout control method of the above method embodiment. For ease of explanation, only the part related to the embodiment of the present application is shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application.

[0096] In the embodiment of the present application, the computer device may be a control device device formed by various electronic devices. In some possible implementations, the control device may include multiple storage devices and multiple processors. The program for executing the vehicle tire blowout control method of the above method embodiment may be divided into multiple subprograms, each of which may be loaded and run by a processor to execute different steps of the vehicle tire blowout control method of the above method embodiment. Specifically, each subprogram may be stored in different storage devices, and each processor may be configured to execute the programs in one or more storage devices to jointly implement the vehicle tire blowout control method of the above method embodiment, that is, each processor executes different steps of the vehicle tire blowout control method of the above method embodiment, to jointly implement the vehicle tire blowout control method of the above method embodiment.

[0097] The above-mentioned multiple processors may be processors deployed on the same device. For example, the above-mentioned computer device may be a high-performance device composed of multiple processors, and the above-mentioned multiple processors may be processors configured on the high-performance device. In addition, the above-mentioned multiple processors may also be processors deployed on different devices. For example, the above-mentioned computer device may be a server cluster, and the above-mentioned multiple processors may be processors on different servers in the server cluster.

[0098] Furthermore, the present application also provides a computer-readable storage medium.

[0099] In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the vehicle tire blowout control method of the above method embodiment, and the program can be loaded and run by the processor to implement the above vehicle tire blowout control method. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-transitory computer-readable storage medium.

[0100] So far, the technical solutions of the present application have been described in conjunction with the embodiments shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A vehicle tire blowout control method, characterized in that: The method comprises: In response to a vehicle tire blowout signal, determining a tire blowout wheel position according to the vehicle tire blowout signal; Acquire current vehicle status information, and identify driving scenarios according to the vehicle status information; If it is identified as a straight-line driving scene, the tire braking pressure is obtained according to the position of the tire-bursting wheel, the yaw torque compensation value is calculated according to the tire braking pressure, the rear wheel steering is adjusted based on the yaw torque compensation value, the driving torque is transferred based on the position of the tire-bursting wheel, and the vehicle body posture is adjusted based on the position of the tire-bursting wheel; If it is identified as a curve scene, the rear wheel steering angle is changed based on the position of the tire-bursting wheel to adjust the yaw torque, the driving torque is transferred based on the position of the tire-bursting wheel, and the vehicle body posture is adjusted based on the position of the tire-bursting wheel.

2. The vehicle tire blowout control method according to claim 1, characterized in that: The method further includes: in response to the vehicle tire blowout signal, switching the steering wheel steering control mode from a normal driving mode to a tire blowout control mode, wherein a damping torque corresponding to the tire blowout control mode is greater than a damping torque corresponding to the normal driving mode.

3. The vehicle tire blowout control method according to claim 2, characterized in that: The method of switching the steering wheel steering control mode from the normal driving mode to the tire blowout control mode in response to the vehicle tire blowout signal includes: in response to the vehicle tire blowout signal, adjusting the value of the steering wheel damping coefficient from a first preset value to a second preset value, and calculating the damping torque of the steering wheel according to the value of the damping coefficient; wherein the first preset value is a value within a preset value range corresponding to the normal driving mode, and the second preset value is a value within a preset value range corresponding to the tire blowout control mode.

4. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The vehicle status information includes vehicle speed, deceleration, lateral acceleration and steering wheel steering angle; The identifying the driving scene according to the vehicle state information comprises: If the vehicle speed exceeds the preset vehicle speed, the deceleration exceeds the preset deceleration, the lateral acceleration does not exceed the preset acceleration, and the steering wheel angle does not exceed the preset steering value, it is identified as a straight-line driving scene; If the vehicle speed exceeds the preset speed and the lateral acceleration exceeds the preset acceleration at the same time, or if the vehicle speed exceeds the preset speed and the steering wheel angle exceeds the preset steering value at the same time, it is identified as a curve driving scene.

5. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The step of acquiring the tire braking pressure according to the position of the tire burst wheel and calculating the yaw torque compensation value according to the tire braking pressure comprises: If it is determined that the tire of the front axle or rear axle has a tire blowout according to the position of the blowout wheel, the tire brake pressure of the left and right wheels of the front axle or rear axle is obtained, the longitudinal force of the left and right wheels of the front axle or rear axle is calculated based on the tire brake pressure of the left and right wheels of the front axle or rear axle, and the size of the yaw torque compensation value is calculated according to the difference in the longitudinal force of the left and right wheels of the front axle or rear axle; If it is determined that the tires of the front axle and the rear axle have a tire blowout according to the position of the tire blowout wheel, the tire braking pressure of the four tires of the vehicle is obtained, the longitudinal force of the left and right wheels of the front axle is calculated based on the tire braking pressure of the left and right wheels of the front axle, and the longitudinal force of the left and right wheels of the rear axle is calculated based on the tire braking pressure of the left and right wheels of the rear axle, and the yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right wheels of the front axle and the difference between the longitudinal forces of the left and right wheels of the rear axle.

6. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The rear wheel steering adjustment based on the yaw torque compensation value includes: obtaining a rear wheel steering angle corresponding to the yaw torque compensation value according to a preset correspondence between the yaw torque and the rear wheel steering angle, and adjusting the rear wheel steering of the vehicle based on the rear wheel steering angle.

7. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The changing of the rear wheel steering angle based on the tire-burst wheel position control to adjust the yaw torque comprises: If it is determined that the tire of the front axle has a puncture according to the position of the punctured wheel, the rear wheel steering angle is controlled to decrease so as to reduce the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle; If it is determined that the tire of the rear axle has a tire blowout according to the blowout wheel position, the rear wheel steering angle is controlled to increase so as to increase the lateral force of the rear axle, and the yaw torque is adjusted based on the change of the lateral force of the rear axle.

8. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The transferring of driving torque based on the position of the tire-bursting wheel comprises: If it is determined according to the position of the tire-bursting wheel that the tire on the front axle has burst, the driving torque is transferred to the rear axle; If it is determined according to the position of the tire-bursting wheel that the tire on the rear axle has burst, the driving torque is transferred to the front axle.

9. The vehicle tire blowout control method according to any one of claims 1 to 3, characterized in that: The adjusting of the vehicle body posture based on the position of the tire-bursting wheel comprises: determining a non-flattened wheel according to the position of the tire-bursting wheel, and adjusting the suspension height of the non-flattened wheel by adjusting the tire load of the non-flattened wheel to a target load.

10. The vehicle tire blowout control method according to claim 9, characterized in that: For the curved driving scenario, the vehicle body posture adjustment based on the tire blown wheel position further includes: If it is determined according to the position of the tire-bursting wheel that the tire on the front axle has burst, the roll torque is distributed to the rear axle; If it is determined according to the position of the tire-bursting wheel that the tire on the rear axle has burst, the roll torque is distributed to the front axle.

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