Vehicle escape method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle getting-out method and device, a vehicle and a storage medium, and the method comprises the steps: judging whether the vehicle has a getting-out demand or not based on the state parameters of the vehicle and the current driving data; if the vehicle has the escape demand, acquiring external environment data of the current environment of the vehicle, and judging whether the vehicle meets a preset escape condition or not based on the external environment data; and if the vehicle meets the preset escape condition, when the vehicle is in the automatic escape mode, calculating a target escape posture in which the vehicle can escape based on the current driving data so as to control the vehicle to reach the target escape posture to escape. Therefore, the technical problems that in the related technology, the requirement for the experience and operation level of a user is high when the vehicle is controlled to be out of trouble, the cost of adding an auxiliary device is high, and operation of a green hand is not facilitated are solved.

Description

Technical Field

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

[0002] When the vehicle is trapped, for example, when the front or rear wheels are stuck in a pit, the vehicle can be freed by stepping on the accelerator pedal. However, the effect of freeing the vehicle is generally poor, and effective freeing requires high user experience and operation level. Improper operation will not only prevent the vehicle from being freed, but may also cause friction between the vehicle body and the bottom of the pit, thereby damaging the vehicle. Although adding external auxiliary devices can solve the above problems, it requires users to have relevant auxiliary device operation experience, and the cost is relatively high, which needs to be improved. Summary of the invention

[0003] The present application provides a vehicle escape method, device, vehicle and storage medium to solve the technical problems in the related art that controlling the vehicle escape requires high user experience and operation level, and the cost of adding external auxiliary devices is high, which is not conducive to novice operation.

[0004] A first aspect of the present application provides a method for escaping a vehicle, comprising the following steps: judging whether the vehicle has an escape need based on the vehicle's state parameters and current driving data; if the vehicle has the escape need, collecting external environmental data of the vehicle's current environment, and judging whether the vehicle meets preset escape conditions based on the external environmental data; if the vehicle meets the preset escape conditions, calculating a target escape posture for the vehicle based on the current driving data when the vehicle is in automatic escape mode, so as to control the vehicle to reach the target escape posture for escape.

[0005] Optionally, in one embodiment of the present application, after determining that the vehicle meets the preset escape conditions, it also includes: receiving a user's posture control instruction; when the posture control instruction is a manual control instruction, controlling the vehicle to enter a manual escape mode, and calculating the target body data of the vehicle; generating an operation reminder based on the target body data, and pushing the operation reminder to the user.

[0006] Optionally, in one embodiment of the present application, calculating the target escape posture for the vehicle to escape based on the current driving data includes: respectively calculating the roll angle and pitch angle of the vehicle according to the roll angle acceleration and pitch angle acceleration in the current driving data; calculating the target escape posture based on the collection positions corresponding to the roll angle, the pitch angle, the roll angle acceleration and the pitch angle acceleration.

[0007] Optionally, in one embodiment of the present application, controlling the vehicle to reach the target escape posture for escape includes: collecting the actual posture of the vehicle at the current moment; determining whether the actual posture is consistent with the target escape posture; if the actual posture is inconsistent with the target escape posture and the duration of the inconsistency is greater than a preset duration, determining that the vehicle has failed to complete the posture adjustment, and pushing an adjustment failure reminder to the user.

[0008] Optionally, in one embodiment of the present application, it also includes: if the vehicle does not meet the preset escape conditions, then based on the current positioning information of the vehicle, searching within a preset distance range to see whether there are other vehicles that meet the preset rescue conditions; if there are other vehicles that meet the preset rescue conditions, then generating a corresponding rescue signal based on the current positioning information and the escape requirements, and sending the rescue signal to the other vehicles; if there are no other vehicles that meet the preset rescue conditions, then generating a corresponding rescue signal based on the current positioning information and the escape requirements, and sending the rescue signal to a preset rescue terminal.

[0009] Optionally, in one embodiment of the present application, after sending the rescue signal to the other vehicle, it also includes: detecting whether the vehicle receives a rescue response signal fed back by the other vehicle within a preset waiting time; if the vehicle does not receive the rescue response signal, sending the rescue signal to the preset rescue terminal.

[0010] The second aspect of the present application provides a vehicle escape device, including: a first judgment module, for judging whether the vehicle has an escape need based on the vehicle's state parameters and current driving data; a second judgment module, for collecting external environment data of the vehicle's current environment when the vehicle has the escape need, and judging whether the vehicle meets the preset escape condition based on the external environment data; a first escape module, for calculating a target escape posture for the vehicle based on the current driving data when the vehicle meets the preset escape condition and the vehicle is in automatic escape mode, so as to control the vehicle to reach the target escape posture for escape.

[0011] Optionally, in one embodiment of the present application, it also includes: a receiving module for receiving a user's posture control instruction; a second escape module for controlling the vehicle to enter a manual escape mode and calculating the target body data of the vehicle when the posture control instruction is a manual control instruction; a reminder module for generating an operation reminder based on the target body data and pushing the operation reminder to the user.

[0012] Optionally, in one embodiment of the present application, the first escape module includes: a first calculation unit, used to respectively calculate the roll angle and pitch angle of the vehicle according to the roll angle acceleration and pitch angle acceleration in the current driving data; a second calculation unit, used to calculate the target escape posture based on the collection position corresponding to the roll angle, the pitch angle, the roll angle acceleration and the pitch angle acceleration.

[0013] Optionally, in one embodiment of the present application, the first escape module includes: a collection unit, used to collect the actual posture of the vehicle at the current moment; a judgment unit, used to judge whether the actual posture is consistent with the target escape posture; a reminder unit, used to determine that the vehicle has failed to complete the posture adjustment when the actual posture and the target escape posture are inconsistent and the duration of the inconsistency is greater than a preset time, and push an adjustment failure reminder to the user.

[0014] Optionally, in one embodiment of the present application, it also includes: a search module, which is used to search whether there are other vehicles that meet the preset rescue conditions within a preset distance range based on the current positioning information of the vehicle when the vehicle does not meet the preset escape conditions; a first rescue module, which is used to generate a corresponding rescue signal based on the current positioning information and the escape requirement when there are other vehicles that meet the preset rescue conditions, and send the rescue signal to the other vehicles; a second rescue module, which is used to generate a corresponding rescue signal based on the current positioning information and the escape requirement when there are no other vehicles that meet the preset rescue conditions, and send the rescue signal to a preset rescue terminal.

[0015] Optionally, in one embodiment of the present application, it also includes: a detection module, used to detect whether the vehicle receives the rescue response signal fed back by the other vehicles within a preset waiting time; a sending module, used to send the rescue signal to the preset rescue terminal if the vehicle does not receive the rescue response signal.

[0016] 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 method as described in the above embodiment.

[0017] 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 method as described in the above embodiment.

[0018] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above vehicle escape method.

[0019] When determining that the vehicle needs to escape, the embodiment of the present application can determine whether the vehicle can escape based on the external environment data of the vehicle's current environment, so that when the vehicle is in automatic escape mode, the target escape posture for the vehicle to escape is calculated based on the current driving data, so as to control the vehicle to reach the target escape posture for escape. The requirements for user experience and operation level are relatively low, and no additional auxiliary devices need to be installed, which is conducive to improving the user's driving experience. Therefore, the technical problems in the related art that controlling the vehicle to escape requires high user experience and operation level, and the cost of adding additional auxiliary devices is high, which is not conducive to novice operation are solved.

[0020] 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

[0021] 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:

[0022] Figure 1 A flowchart of a vehicle escape method provided according to an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the principle of a vehicle escape method provided according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a muddy road condition provided according to an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a vehicle with a left front wheel stuck in a mud pit according to an embodiment of the present application;

[0026] Figure 5 A schematic diagram of a vehicle with a left front wheel stuck in a mud pit according to another embodiment of the present application;

[0027] Figure 6 A schematic diagram of vehicle body posture adjustment provided according to an embodiment of the present application;

[0028] Figure 7 A schematic structural diagram of a vehicle escape device provided according to an embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application;. DETAILED DESCRIPTION

[0030] 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.

[0031] The following describes the vehicle escape method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the technical problems that the control of the vehicle escape from the distress in the related technology mentioned in the above background technology requires high user experience and operation level, and the cost of adding additional auxiliary devices is high, which is not conducive to the operation of novice, the present application provides a vehicle escape method, in which, when it is determined that the vehicle has an escape need, it can be judged whether the vehicle can escape according to the external environment data of the vehicle's current environment, so that when the vehicle is in the automatic escape mode, the target escape posture of the vehicle can be calculated according to the current driving data, so as to control the vehicle to reach the target escape posture for escape, and the user's experience and operation level are required to be low, and no additional auxiliary devices are required, which is conducive to improving the user's driving experience. As a result, the technical problems that the control of the vehicle escape from the distress in the related technology requires high user experience and operation level, and the cost of adding additional auxiliary devices is high, which is not conducive to the operation of novice are solved.

[0032] Specifically, Figure 1 A schematic flow chart of a vehicle escape method provided in an embodiment of the present application.

[0033] like Figure 1 As shown, the vehicle escape method includes the following steps:

[0034] In step S101, based on the vehicle's state parameters and current driving data, it is determined whether the vehicle needs to escape.

[0035] It is understandable that when a vehicle is in a driving condition where a tire is stuck in a mud pit and needs to be rescued, there is often a certain height difference in the vehicle body. If the mud pit is not deep or the friction between the wheels and the mud pit is large, the user can escape by increasing the acceleration of the vehicle. However, if the mud pit is deep or the friction between the wheels and the mud pit is small, only increasing the acceleration will not achieve escape.

[0036] In actual implementation, the embodiment of the present application can determine whether the vehicle needs to be rescued based on the vehicle's state parameters (such as the vehicle's height in all directions) and current driving data (such as the vehicle's acceleration). That is, by determining that the vehicle is unbalanced and cannot be rescued by simply increasing the acceleration, the embodiment of the present application can determine that the vehicle needs to be rescued.

[0037] For example, the embodiments of the present application can automatically determine that the vehicle needs to be escaped when the vehicle is in D or R gear; one corner of the vehicle body sinks (the absolute values ​​of the roll angle and the pitch angle are within a certain calibration value range); a wheel suspension height sensor value is X percent (calibration value) smaller than the original suspension height sensor calibration value of the vehicle in this mode; the rotation speed of one or two wheels is greater than the vehicle speed and continues for more than a calibrated time value; and the vehicle speed is less than 2km / h.

[0038] In addition, the embodiments of the present application can also be judged by the user. For example, if the user determines that a tire is stuck in a mud pit and the vehicle cannot be extricated from the mud pit after stepping on the accelerator, the user can manually trigger the need to escape, such as manually triggering a corresponding button or voice triggering a corresponding function.

[0039] In step S102, if the vehicle needs to escape, the external environment data of the vehicle's current environment is collected, and based on the external environment data, it is determined whether the vehicle meets the preset escape conditions.

[0040] It should be noted that when the vehicle is trying to escape by increasing tire friction or tire speed, there will be a certain degree of vehicle acceleration at the moment of escape, and the vehicle will travel out of the pit at a faster speed. If there are obstacles outside the pit or other mud pits outside the pit, it will cause a major safety accident.

[0041] Therefore, when it is determined that the vehicle needs to escape, the embodiments of the present application can collect off-vehicle data of the vehicle's current environment, for example, using a 360° environmental camera (or environmental perception sensors such as lidar, millimeter-wave radar, etc.) to detect the state of the vehicle's surrounding environment in real time, including but not limited to: whether there are obstacles under the vehicle chassis or around the vehicle that restrict the adjustment of the vehicle's posture, whether there are low objects approaching quickly (such as cats and dogs), whether the road surface outside the mud pit is flat, whether there are obstacles outside the pit that may affect the safety of the vehicle, etc., so that the vehicle can drive normally after escaping.

[0042] In step S103, if the vehicle meets the preset escape conditions, then when the vehicle is in the automatic escape mode, a target escape posture for the vehicle to escape is calculated based on the current driving data, so as to control the vehicle to reach the target escape posture for escape.

[0043] After determining that the vehicle needs to be escaped and the escape environment is safe, the embodiment of the present application can perform corresponding processing according to the vehicle's escape mode, wherein the escape mode can include an automatic escape mode and a manual escape mode. Specifically, the user can select the mode trigger by himself. For example, the embodiment of the present application can generate a mode inquiry interface on the center console, which can be selected by the user; it can be triggered according to the user's voice command, etc.; it can also be triggered according to the default trigger mode pre-set by the user, etc.

[0044] Here, the automatic escape mode is explained, and the manual escape mode will be explained later.

[0045] When the vehicle is in automatic escape mode, the embodiment of the present application can calculate the target escape posture of the vehicle based on current driving data, such as acceleration data collected by the vehicle body acceleration sensor, and use the target escape posture to control the height adjustment of the vehicle's suspension system, so as to keep the vehicle body stable, increase wheel adhesion, and achieve the purpose of escape.

[0046] Optionally, in one embodiment of the present application, a target escape posture for the vehicle to escape is calculated based on current driving data, including: respectively calculating the roll angle and pitch angle of the vehicle according to the roll angle acceleration and pitch angle acceleration in the current driving data; and calculating the target escape posture based on the collection positions corresponding to the roll angle, pitch angle, roll angle acceleration and pitch angle acceleration.

[0047] For example, the roll angle and pitch angle acceleration of the embodiment of the present application can be calculated by the vehicle body acceleration sensor signal, and then the roll angle and pitch angle are obtained by integrating them:

[0048] Acc_FL=Car_Az-a*PitchAcc-c*RollAcc;

[0049] Acc_FR=Car_Az-a*PitchAcc+d*RollAcc;

[0050] Acc_RL=Car_Az+b*PitchAcc-e*RollAcc;

[0051] Acc_RR=Car_Az+b*PitchAcc-f*RollAcc;

[0052] Among them, Acc_FL is the left front body acceleration signal, Acc_FR is the right front body acceleration signal, Acc_RL is the left rear body acceleration signal, Acc_RR is the right rear body acceleration signal, Car_az is the body center of mass acceleration, PitchAcc is the pitch angle acceleration, and RollAcc is the roll angle acceleration.

[0053] Among them, a and b are the longitudinal distances from the center of mass to the front axle and rear axle body acceleration sensors, respectively, and c, d, e, and f are the lateral distances from the center of mass to the left front, right front, left rear, and right rear body acceleration sensors, respectively.

[0054] After obtaining the pitch angle and the roll angle, the embodiment of the present application can determine the target escape posture in a variety of ways.

[0055] For example, the embodiment of the present application can construct a corresponding escape model and use a large amount of sample data for training, with pitch angle, roll angle and escape result as input and escape posture as output, so that the trained escape model can output the target escape posture.

[0056] For another example, the embodiment of the present application can calculate the vehicle body posture that maximizes the wheel adhesion based on the pitch angle and the roll angle to obtain the target escape posture, etc.

[0057] Optionally, in one embodiment of the present application, controlling the vehicle to reach a target escape posture for escape includes: collecting the actual posture of the vehicle at the current moment; determining whether the actual posture is consistent with the target escape posture; if the actual posture is inconsistent with the target escape posture and the duration of the inconsistency is greater than a preset duration, determining that the vehicle has failed to complete the posture adjustment, and pushing an adjustment failure reminder to the user.

[0058] Furthermore, the embodiments of the present application can determine the actual posture of the vehicle at the current moment through the parameters fed back by the suspension system, and judge whether the actual posture is consistent with the target escape posture. If they are consistent, it is determined that the vehicle has completed the posture change and can escape. If they are inconsistent, the changes in the actual posture are continuously recorded until the duration of the inconsistency is greater than a certain period of time, and it is determined that the vehicle cannot complete the posture adjustment due to a malfunction or other reasons. At this time, an adjustment failure reminder can be sent to allow the user to confirm whether there are environmental factors affecting it or whether there is a malfunction, etc., so that the user can send rescue information in time to escape.

[0059] Optionally, in one embodiment of the present application, after determining that the vehicle meets the preset escape conditions, it also includes: receiving a user's posture control instruction; when the posture control instruction is a manual control instruction, controlling the vehicle to enter a manual escape mode and calculating the target body data of the vehicle; generating an operation reminder based on the target body data, and pushing the operation reminder to the user.

[0060] Here, the manual escape mode is explained.

[0061] The embodiment of the present application can receive manual control instructions from the user, thereby determining that the vehicle enters a manual escape mode. The embodiment of the present application can calculate the target body data of the vehicle, that is, the suspension adjustment data required for escape. According to the target body data, the embodiment of the present application can generate corresponding operation reminders. If the suspension adjustment can be completed at one time, the adjustment operation of the target body data is directly generated. If it cannot be completed at one time, it can be broken down into multiple steps, and corresponding reminders are given in turn according to the user's completion status.

[0062] Optionally, in one embodiment of the present application, it also includes: if the vehicle does not meet the preset escape conditions, then based on the current positioning information of the vehicle, searching within a preset distance range to see whether there are other vehicles that meet the preset rescue conditions; if there are other vehicles that meet the preset rescue conditions, then based on the current positioning information and the escape requirements, a corresponding rescue signal is generated, and the rescue signal is sent to the other vehicles; if there are no other vehicles that meet the preset rescue conditions, then based on the current positioning information and the escape requirements, a corresponding rescue signal is generated, and the rescue signal is sent to a preset rescue terminal.

[0063] As a possible implementation method, if the vehicle does not meet the escape conditions, the embodiment of the present application can escape by seeking external help.

[0064] The embodiment of the present application can search for other vehicles that meet the preset rescue conditions within a certain distance range with the vehicle as the center. The preset rescue conditions may include: the vehicle has passed the rescue certification, the vehicle is equipped with rescue equipment, and the vehicle is authorized in advance on the rescue platform or other terminals so that the vehicle can receive the rescue signal light.

[0065] If other vehicles that meet the preset rescue conditions are searched, the embodiment of the present application can generate a rescue signal based on the vehicle's positioning and escape needs (such as escape from a mud pit, escape from an ice surface, escape from a breakdown, etc.), and send the rescue signal to other vehicles so that other vehicles can complete the rescue based on the positioning information and escape needs.

[0066] If other vehicles that meet the preset rescue conditions cannot be found, the embodiment of the present application can generate a rescue signal based on the vehicle's location and escape requirements, and send the rescue signal to a rescue terminal, such as a car company service terminal, a vehicle maintenance terminal, a road rescue terminal, etc., so that relevant technicians can prepare rescue equipment according to the rescue signal to complete the rescue.

[0067] Optionally, in one embodiment of the present application, after sending a rescue signal to other vehicles, it also includes: detecting whether the vehicle receives a rescue response signal fed back by other vehicles within a preset waiting time; if the vehicle does not receive a rescue response signal, sending a rescue signal to a preset rescue terminal. It is understandable that after other vehicles receive the rescue signal, the drivers of other vehicles can judge whether the vehicle they are driving meets the rescue conditions based on the rescue signal. For example, if the vehicle's escape requirement is to escape from a mud pit, and other vehicles are only equipped with wheel anti-skid chains without the required equipment, the driver will ignore or reject the received rescue signal.

[0068] The embodiment of the present application can determine whether there is a vehicle response by receiving a rescue response signal fed back by other vehicles within a certain waiting period. If there is no vehicle response, the embodiment of the present application can send a rescue signal to the rescue terminal to wait for rescue.

[0069] The preset waiting time can be set by those skilled in the art according to actual conditions and is not specifically limited here.

[0070] Combination Figure 2-Figure 6 As shown, the working principle of the vehicle escape method of the embodiment of the present application is described in detail using an embodiment.

[0071] In the actual implementation process, the embodiments of the present application can use the motor system as the power source, and realize active suspension or air suspension that adjusts the vertical force of the suspension in real time through the hydraulic system or mechanical system. The posture of the whole vehicle can be adjusted by adjusting the four main forces of the suspension, thereby increasing the adhesion of the wheels and helping the vehicle to get out of trouble.

[0072] For example, after the vehicle is stuck in a mud pit, it can be freed through active suspension control. The vehicle is in intelligent control mode by default. If it is determined that there is a need to escape, the central control screen pops up a prompt for escape, and the user can choose automatic control or manual control (if there is no selection in the 10-second countdown, the default automatic control mode) or no control. The user can interact with the car by manually clicking on the central control screen to confirm, voice control, or gestures.

[0073] Select automatic escape mode: The vehicle will automatically calculate based on the control algorithm that a wheel (automatically identifying the left and right front and rear wheels) is stuck in the mud pit. Under the premise of meeting the safety strategy, the vehicle will automatically adjust the body posture according to the system control algorithm to increase the wheel ground contact force. After the adjustment is completed, the vehicle will leave.

[0074] Select manual escape mode: according to the situation of the vehicle stuck in the mud pit, the user manually selects the mud pit escape option on the vehicle's central control screen. The central control interface will have independent lifting and lowering controls for the four wheels, and the user can adjust them by himself. After the user has completed the adjustment, the vehicle will automatically determine whether the safety strategy is met. If so, the user can drive away.

[0075] like Figure 2 As shown, the embodiment of the present application may include the following steps:

[0076] Step S1: Start.

[0077] Step S11: The vehicle automatically identifies whether it needs to escape.

[0078] like Figure 3 , Figure 4 and Figure 5As shown, it is assumed that the left front wheel of the vehicle is stuck in a mud pit. The embodiment of the present application can automatically determine that the vehicle needs to escape when the vehicle gear is in D gear or R gear; one corner of the vehicle body sinks (the absolute values ​​of the roll angle and the pitch angle are within a certain calibration value range); a wheel suspension height sensor value is X percent (calibration value) less than the original suspension height sensor calibration value of the vehicle in this mode; the rotation speed of one or two wheels is greater than the vehicle speed and continues for more than the calibration time value; the vehicle speed is less than 2km / h.

[0079] In the embodiment of the present application, after the user determines that the vehicle needs to be rescued based on the situation on site, the user can manually select the mud pit self-rescue option on the central control screen and select the wheel stuck in the mud pit. Under the premise of meeting the safety strategy, the vehicle will automatically adjust the body posture according to the system algorithm, and after the adjustment is completed, the vehicle will leave.

[0080] Step S2: Vehicle escape control strategy.

[0081] In the embodiment of the present application, an "OK (left front or right front or left rear or right rear wheel) get out of trouble" option may appear on the central control screen, and the user clicks to confirm the execution of the get out of trouble, and the vehicle is controlled to automatic get out of trouble mode (automatic control mode) or manual get out of trouble mode (manual control mode) according to the user's choice.

[0082] Step S3: Automatic escape mode.

[0083] Step S31: In the automatic escape mode, the vehicle can automatically calculate based on the control algorithm that a wheel (automatically identifying the left and right front and rear wheels) is stuck in the mud pit.

[0084] Step S32: Manual escape mode.

[0085] Step S321: The embodiment of the present application can confirm whether the tire stuck in the mud pit is correct; for example, if the left front wheel is selected to get out of trouble, the user can raise the left front suspension to a certain height, or at the same time raise or lower other suspension heights as needed, and the user can determine the target height according to needs (the vehicle lifting height will have a safety setting value, which cannot be greater than this setting value); after the adjustment is completed, click (or voice) to confirm the "adjustment completed" button,

[0086] Step S4: Whether the vehicle posture adjustment is safe. The embodiment of the present application can determine whether the vehicle posture adjustment is safe, that is, whether the preset escape condition is met.

[0087] The embodiments of the present application can determine whether an escape control strategy can be executed based on whether the active suspension actuator has power, torque, etc. limited due to its own functional safety requirements; a 360° environmental camera (or environmental perception sensors such as lidar, millimeter-wave radar, etc.) detects the state of the vehicle's surrounding environment in real time, including but not limited to: whether there are obstacles under the vehicle chassis or around the vehicle that limit the adjustment of the vehicle's posture, whether there are low objects approaching quickly (such as cats and dogs), etc.

[0088] In the automatic escape mode, provided that the safety strategy is met, the vehicle can automatically control its posture and adjust it, and the vehicle computer will display that it is in progress. After the adjustment is completed, the vehicle will remind the user (by text or voice). The user can drive out of the mud pit at a slow speed, and after getting out of the mud, the vehicle will automatically return to the suspension mode before getting out of the mud according to the control algorithm.

[0089] In manual escape mode, if the safety strategy is met, the vehicle will prompt that it can drive away; the user drives away slowly, and after getting out of the trouble, the user clicks (or speaks) the "Escape Completed" option on the central control screen, and the vehicle returns to the suspension mode before the escape.

[0090] Step S41: Execute the vehicle posture adjustment function. Figure 6 As shown, when the user confirms the execution of the escape, the vehicle adjusts the four suspension heights based on a comprehensive judgment of the vehicle's roll angle, pitch angle and suspension travel to keep the vehicle body stable and increase wheel adhesion. After the adjustment is completed, the user is prompted to leave the vehicle.

[0091] Step S411: Is the vehicle posture adjustment safe?

[0092] Step S5: End.

[0093] According to the vehicle escape method proposed in the embodiment of the present application, when it is determined that the vehicle has an escape need, it can be judged whether the vehicle can escape based on the external environment data of the vehicle's current environment, so that when the vehicle is in automatic escape mode, the target escape posture for the vehicle to escape is calculated based on the current driving data, so as to control the vehicle to reach the target escape posture for escape. The requirements for user experience and operation level are relatively low, and no additional auxiliary devices need to be installed, which is conducive to improving the user's driving experience. Therefore, the technical problems in the related art that controlling the vehicle to escape requires high user experience and operation level, and the cost of adding additional auxiliary devices is high, which is not conducive to novice operation are solved.

[0094] Next, the vehicle escape device proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0095] Figure 7 It is a block diagram of a vehicle escape device according to an embodiment of the present application.

[0096] like Figure 7 As shown, the vehicle escape device 10 includes: a first judgment module 100 , a second judgment module 200 and a first escape module 300 .

[0097] Specifically, the first judgment module 100 is used to judge whether the vehicle needs to escape based on the state parameters of the vehicle and the current driving data.

[0098] The second judgment module 200 is used to collect the external environment data of the current environment of the vehicle when the vehicle needs to escape from the jam, and judge whether the vehicle meets the preset escape conditions based on the external environment data.

[0099] The first escape module 300 is used to calculate a target escape posture for the vehicle based on current driving data when the vehicle meets preset escape conditions and is in an automatic escape mode, so as to control the vehicle to reach the target escape posture for escape.

[0100] Optionally, in one embodiment of the present application, the vehicle escape device 10 further includes: a receiving module, a second escape module and a reminder module.

[0101] The receiving module is used to receive the user's gesture control instructions.

[0102] The second escape module is used to control the vehicle to enter a manual escape mode and calculate target vehicle body data when the posture control instruction is a manual control instruction.

[0103] The reminder module is used to generate operation reminders based on the target vehicle body data and push the operation reminders to the user.

[0104] Optionally, in one embodiment of the present application, the first escape module 300 includes: a first calculation unit and a second calculation unit.

[0105] The first calculation unit is used to calculate the roll angle and pitch angle of the vehicle respectively according to the roll angle acceleration and pitch angle acceleration in the current driving data.

[0106] The second calculation unit is used to calculate the target escape posture based on the collection positions corresponding to the roll angle, the pitch angle, the roll angle acceleration and the pitch angle acceleration.

[0107] Optionally, in one embodiment of the present application, the first escape module 300 includes: a collection unit, a judgment unit and a reminder unit.

[0108] The acquisition unit is used to acquire the actual posture of the vehicle at the current moment.

[0109] The judgment unit is used to judge whether the actual posture is consistent with the target escape posture.

[0110] The reminder unit is used to determine that the vehicle has failed to complete the posture adjustment when the actual posture and the target escape posture are inconsistent and the duration of the inconsistency is greater than a preset time, and push the adjustment failure reminder to the user.

[0111] Optionally, in one embodiment of the present application, the vehicle escape device 10 further includes: a search module, a first rescue module and a second rescue module.

[0112] Among them, the search module is used to search for other vehicles that meet the preset rescue conditions within a preset distance range based on the current positioning information of the vehicle when the vehicle does not meet the preset escape conditions.

[0113] The first rescue module is used to generate a corresponding rescue signal based on current positioning information and escape requirements when there are other vehicles that meet the preset rescue conditions, and send the rescue signal to the other vehicles.

[0114] The second rescue module is used to generate a corresponding rescue signal based on the current positioning information and escape requirements when there are no other vehicles that meet the preset rescue conditions, and send the rescue signal to a preset rescue terminal.

[0115] Optionally, in one embodiment of the present application, the vehicle escape device 10 further includes: a detection module and a sending module.

[0116] The detection module is used to detect whether the vehicle receives a rescue response signal fed back by other vehicles within a preset waiting time.

[0117] The sending module is used to send a rescue signal to a preset rescue terminal when the vehicle does not receive a rescue response signal.

[0118] It should be noted that the above explanation of the embodiment of the vehicle escape method is also applicable to the vehicle escape device of this embodiment, and will not be repeated here.

[0119] According to the vehicle escape device proposed in the embodiment of the present application, when it is determined that the vehicle has an escape need, it can judge whether the vehicle can escape based on the external environment data of the vehicle's current environment, so that when the vehicle is in automatic escape mode, the target escape posture for the vehicle to escape is calculated based on the current driving data, so as to control the vehicle to reach the target escape posture for escape. The requirements for the user's experience and operating level are relatively low, and no additional auxiliary devices need to be installed, which is conducive to improving the user's driving experience. Therefore, the technical problems in the related art that controlling the vehicle to escape requires high user experience and operating level, and the cost of adding additional auxiliary devices is high, which is not conducive to novice operation are solved.

[0120] Figure 8A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0121] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0122] When the processor 802 executes the program, the vehicle escape method provided in the above embodiment is implemented.

[0123] Furthermore, the vehicle also includes:

[0124] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0125] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0126] The memory 801 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.

[0127] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 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 (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 8 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.

[0128] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0129] The processor 802 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.

[0130] 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 method is implemented.

[0131] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the vehicle escape method provided by an embodiment of the present invention.

[0132] 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.

[0133] 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.

[0134] 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 N 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.

[0135] 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 by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0136] 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.

[0137] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment 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.

[0138] 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.

[0139] 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 method for escaping a vehicle, characterized in that: The following steps are involved: Based on the vehicle's state parameters and current driving data, determining whether the vehicle needs to be rescued; If the vehicle has the escape requirement, collecting the external environment data of the current environment of the vehicle, and judging whether the vehicle meets the preset escape condition based on the external environment data; If the vehicle meets the preset escape condition, then when the vehicle is in the automatic escape mode, a target escape posture for the vehicle to escape is calculated based on the current driving data, so as to control the vehicle to reach the target escape posture for escape.

2. The method according to claim 1, characterized in that: After determining that the vehicle meets the preset escape condition, the method further includes: Receiving gesture control instructions from a user; When the posture control instruction is a manual control instruction, controlling the vehicle to enter a manual escape mode and calculating target body data of the vehicle; An operation reminder is generated based on the target vehicle body data, and the operation reminder is pushed to the user.

3. The method according to claim 1, characterized in that The calculating the target escape posture of the vehicle based on the current driving data includes: Calculating the roll angle and pitch angle of the vehicle respectively according to the roll angle acceleration and pitch angle acceleration in the current driving data; The target escape posture is calculated based on the roll angle, the pitch angle, the roll angle acceleration, and the collection position corresponding to the pitch angle acceleration.

4. The method according to claim 1, characterized in that: The controlling the vehicle to reach the target escape posture to escape from the distress comprises: Collecting the actual posture of the vehicle at the current moment; Determining whether the actual posture is consistent with the target escape posture; If the actual posture is inconsistent with the target escape posture and the inconsistency lasts longer than a preset time, it is determined that the vehicle has failed to complete the posture adjustment, and an adjustment failure reminder is pushed to the user.

5. The method according to claim 1, characterized in that Also includes: If the vehicle does not meet the preset escape condition, searching for other vehicles meeting the preset rescue condition within a preset distance range based on the current positioning information of the vehicle; If there are other vehicles that meet the preset rescue conditions, generating a corresponding rescue signal based on the current positioning information and the escape requirement, and sending the rescue signal to the other vehicles; If there is no other vehicle that meets the preset rescue condition, a corresponding rescue signal is generated based on the current positioning information and the escape requirement, and the rescue signal is sent to a preset rescue terminal.

6. The method according to claim 5, characterized in that After sending the rescue signal to the other vehicles, the method further includes: Detecting whether the vehicle receives a rescue response signal fed back by the other vehicle within a preset waiting time; If the vehicle does not receive the rescue response signal, the rescue signal is sent to the preset rescue terminal.

7. A vehicle escape device, characterized in that: include: A first judgment module is used to judge whether the vehicle needs to escape based on the vehicle state parameters and current driving data; A second judgment module is used to collect external environment data of the current environment of the vehicle when the vehicle has the escape requirement, and judge whether the vehicle meets the preset escape condition based on the external environment data; The first escape module is used for calculating a target escape posture for the vehicle to escape based on the current driving data when the vehicle meets the preset escape condition and the vehicle is in an automatic escape mode, so as to control the vehicle to reach the target escape posture for escape.

8. The device according to claim 7, characterized in that Also includes: A receiving module, used for receiving gesture control instructions from a user; A second escape module, configured to control the vehicle to enter a manual escape mode and calculate target vehicle body data of the vehicle when the posture control instruction is a manual control instruction; A reminder module is used to generate an operation reminder based on the target vehicle body data and push the operation reminder to the user.

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 method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement a vehicle escape method as described in any one of claims 1-6.

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