Vehicle escape control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle escape control method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: when a vehicle enters an out-of-trap mode, acquiring a preset forward speed and a preset reverse speed set for driving wheels of the vehicle; if the accelerator opening degree of the vehicle is larger than the preset threshold value, the vehicle is controlled to run forwards. And when the forward speed of the driving wheel of the vehicle reaches the preset forward speed and the forward speed difference value of the driving wheel and the driven wheel of the vehicle is larger than a preset first difference value, the vehicle is controlled to run in the reverse direction. And when the reverse speed of the driving wheel of the vehicle reaches the preset reverse speed and the reverse speed difference value of the driving wheel and the driven wheel of the vehicle is larger than a preset second difference value, the vehicle is controlled to run in the forward direction. And the above process is repeatedly executed until the speed difference value of the driving wheel and the driven wheel of the vehicle is smaller than or equal to the corresponding preset difference value, and it is determined that the vehicle gets out of order and enters normal driving. The method and the device can improve the escape efficiency of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for controlling vehicle traction. Background Technology

[0002] Vehicle extrication refers to the use of electronic traction control systems and air suspension technology to help vehicles get out of low-traction surfaces or potholes, such as snow, mud, and sand. Vehicle extrication is an important function of modern vehicles.

[0003] In existing technology, drivers rely on past driving and escaping experience to cycle through the accelerator pedal. The vehicle's internal system adjusts the output torque generated by the drive wheels based on this cycle. When the driver presses the accelerator, the drive wheels generate positive output torque; when the driver releases the accelerator, the drive wheels generate negative output torque. The vehicle then oscillates back and forth in response to these actions, thus escaping from difficult situations.

[0004] However, drivers cannot intuitively perceive a vehicle's ability to get out of trouble based on the output torque generated by the drive wheels. During the cyclical pressing and releasing of the accelerator, it is easy to cause improper adjustment of the output torque, resulting in wheel slippage and reducing the vehicle's efficiency in getting out of trouble. Summary of the Invention

[0005] This application provides a vehicle traction control method, device, electronic device, and storage medium to solve the technical problem of low vehicle traction efficiency in the prior art.

[0006] Firstly, this application provides a method for controlling a vehicle to get out of trouble, comprising:

[0007] When the vehicle enters the traction control mode, in response to the throttle control operation, the throttle opening is determined; if the throttle opening is greater than a preset threshold, the following process is repeated until it is determined that the vehicle can drive normally:

[0008] Control the drive wheels of the vehicle to rotate in the forward direction to control the vehicle to travel in the forward direction; obtain the forward speed of the drive wheels of the vehicle while traveling in the forward direction;

[0009] When the forward speed of the drive wheel reaches a preset forward speed and it is determined that the vehicle has escaped the predicament, the vehicle is controlled to drive normally; when the forward speed of the drive wheel reaches a preset forward speed and it is determined that the vehicle has not escaped the predicament, the drive wheels of the vehicle are controlled to rotate in the opposite direction to control the vehicle to drive in the opposite direction; the reverse speed of the drive wheels of the vehicle during reverse driving is obtained.

[0010] When the reverse speed of the drive wheel reaches the preset reverse speed, and if it is determined that the vehicle has escaped the predicament, the vehicle is controlled to drive normally.

[0011] In one possible design, the drive wheels of the vehicle are controlled to rotate in the forward direction to control the vehicle to travel in the forward direction; obtaining the forward speed of the drive wheels of the vehicle during forward travel includes:

[0012] The vehicle's drive wheels are controlled to generate positive output torque, and the vehicle is driven to travel in a forward direction based on the positive output torque;

[0013] Obtain a preset first correlation relationship between the positive output torque and the positive speed of the vehicle's drive wheels;

[0014] Based on the preset first correlation, the positive output torque is converted into the positive speed of the drive wheels of the vehicle when it is traveling in the forward direction.

[0015] In one possible design, the forward speed of the driven wheel of the vehicle is obtained when the forward speed of the drive wheel reaches a preset forward speed;

[0016] If the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is greater than a preset first difference, the vehicle is determined to be stuck; if the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is less than or equal to the preset first difference, the vehicle is determined to be stuck.

[0017] In one possible design, the drive wheels of the vehicle are controlled to rotate in the opposite direction to control the vehicle to travel in the opposite direction; obtaining the reverse speed of the drive wheels during reverse travel includes:

[0018] The vehicle's drive wheels are controlled to generate a reverse output torque, and the vehicle is driven to travel in the opposite direction based on the reverse output torque.

[0019] Obtain a preset second correlation relationship for the reverse output torque and the reverse speed of the vehicle's drive wheels;

[0020] Based on the preset second correlation, the reverse output torque is converted into the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction.

[0021] In one possible design, the reverse speed of the driven wheel of the vehicle is obtained when the reverse speed of the drive wheel reaches a preset reverse speed.

[0022] If the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is greater than a preset second difference, the vehicle is determined to be stuck; if the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is less than or equal to the preset second difference, the vehicle is determined to be stuck.

[0023] In one possible design, the method further includes:

[0024] The road surface type where the vehicle is located is determined, and a forward safe speed range and a reverse safe speed range are pre-set for the road surface type; wherein, the forward safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the forward direction, and the reverse safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the reverse direction.

[0025] The driver sets a preset forward speed for the vehicle's drive wheels based on the forward safe speed range, and a preset reverse speed for the vehicle's drive wheels based on the reverse safe speed range.

[0026] In one possible design, the method further includes:

[0027] After detecting that the vehicle has entered the escape mode, determine whether the vehicle is in parking mode; if so, control the vehicle to release the parking mode.

[0028] Control the vehicle to deactivate the anti-slip slope function and set the vehicle to the in-gear state.

[0029] Secondly, this application provides a vehicle traction control device, comprising:

[0030] The determination module is used to determine the throttle opening degree in response to the throttle control operation of the vehicle when it enters the escape mode; if the throttle opening degree is greater than a preset threshold, the following process is repeated until it is determined that the vehicle is driving normally:

[0031] The control module is used to control the drive wheels of the vehicle to rotate in the forward direction, so as to control the vehicle to travel in the forward direction;

[0032] The acquisition module is used to acquire the forward speed of the drive wheels of the vehicle while it is traveling in the forward direction;

[0033] The control module is further configured to control the vehicle to drive normally when the forward speed of the drive wheel reaches a preset forward speed and if it is determined that the vehicle has escaped the predicament; and to control the drive wheels of the vehicle to rotate in the opposite direction when the forward speed of the drive wheel reaches the preset forward speed and if it is determined that the vehicle has not escaped the predicament, so as to control the vehicle to drive in the opposite direction.

[0034] The acquisition module is also used to acquire the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction;

[0035] The control module is also used to control the vehicle to drive normally when the reverse speed of the drive wheel reaches a preset reverse speed and if it is determined that the vehicle has escaped the predicament.

[0036] In one possible design, the control module is further configured to control the drive wheels of the vehicle to generate a positive output torque, and drive the vehicle to travel in a forward direction based on the positive output torque;

[0037] The acquisition module is further configured to acquire a preset first correlation relationship pre-set for the positive output torque and the positive speed of the vehicle's drive wheels;

[0038] The vehicle's traction control device further includes a conversion module, used to convert the positive output torque into the positive speed of the drive wheels of the vehicle while it is traveling in the forward direction, based on the preset first correlation relationship.

[0039] In one possible design, the acquisition module is further configured to acquire the forward speed of the driven wheel of the vehicle when the forward speed of the drive wheel reaches a preset forward speed;

[0040] The determining module is further configured to determine that the vehicle has not escaped the predicament if the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is greater than a preset first difference; and to determine that the vehicle has escaped the predicament if the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is less than or equal to the preset first difference.

[0041] In one possible design, the control module is further configured to control the drive wheels of the vehicle to generate a reverse output torque, and drive the vehicle to travel in the opposite direction based on the reverse output torque;

[0042] The acquisition module is also used to acquire a preset second correlation relationship that is pre-set for the reverse output torque and the reverse speed of the vehicle's drive wheels;

[0043] The conversion module is further configured to convert the reverse output torque into the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction, based on the preset second correlation relationship.

[0044] In one possible design, the acquisition module is further configured to acquire the reverse speed of the driven wheel of the vehicle when the reverse speed of the drive wheel reaches a preset reverse speed;

[0045] The determining module is further configured to determine that the vehicle has not escaped the predicament if the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is greater than a preset second difference; and to determine that the vehicle has escaped the predicament if the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is less than or equal to the preset second difference.

[0046] In one possible design, the determining module is further configured to determine the road surface type where the vehicle is located, and to determine a forward safe speed range and a reverse safe speed range pre-set for the road surface type; wherein, the forward safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the forward direction, and the reverse safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the reverse direction.

[0047] The acquisition module is further configured to acquire a preset forward speed set by the driver for the drive wheels of the vehicle according to the forward safe speed range, and a preset reverse speed set by the driver for the drive wheels of the vehicle according to the reverse safe speed range.

[0048] In one possible design, the control module is further configured to:

[0049] After detecting that the vehicle has entered the escape mode, determine whether the vehicle is in parking mode; if so, control the vehicle to release the parking mode.

[0050] Control the vehicle to deactivate the anti-slip slope function and set the vehicle to the in-gear state.

[0051] Thirdly, this application provides an electronic device comprising: at least one processor and a memory; the memory storing computer-executable instructions; the at least one processor executing the computer-executable instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect above and various possible designs.

[0052] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the methods described in the first aspect above and various possible designs.

[0053] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect and various possible designs of the first aspect.

[0054] The vehicle traction control method, device, electronic equipment, and storage medium provided in this application, when the vehicle enters traction control mode, responds to the throttle control operation of the vehicle and determines the throttle opening. If the throttle opening is greater than a preset threshold, the following process is repeated until it is determined that the vehicle is driving normally: controlling the vehicle's drive wheels to rotate forward to control the vehicle to drive forward, and acquiring the forward speed of the drive wheels during forward driving. When the forward speed of the drive wheels reaches a preset forward speed, and if it is determined that the vehicle has escaped traction, the vehicle is controlled to drive normally. When the forward speed of the drive wheels reaches the preset forward speed, and if it is determined that the vehicle has not escaped traction, the vehicle's drive wheels are controlled to rotate in reverse to control the vehicle to drive in reverse. Simultaneously, the reverse speed of the drive wheels during reverse driving is acquired, and when the reverse speed of the drive wheels reaches a preset reverse speed, and if it is determined that the vehicle has escaped traction, the vehicle is controlled to drive normally. Correlating the control process of the drive wheels with the drive wheel speed means that the control of the drive wheels can be reflected through the drive wheel speed. Therefore, by observing the changes in the speed of the drive wheels, the control process of the drive wheels can be intuitively perceived, thereby achieving precise control of the drive wheels and avoiding insufficient power due to insufficient throttle operation or reversing operation, or wheel slippage due to excessive throttle operation or reversing operation, thus improving the vehicle's efficiency in getting out of trouble. Attached Figure Description

[0055] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0056] Figure 1 A flowchart illustrating the vehicle traction control method provided in this application embodiment. Figure 1 ;

[0057] Figure 2 A flowchart illustrating the vehicle traction control method provided in this application embodiment. Figure 2 ;

[0058] Figure 3 A schematic diagram of a scenario for the vehicle traction control method provided in the embodiments of this application;

[0059] Figure 4 A schematic diagram of the structure of the vehicle traction control device provided in the embodiments of this application;

[0060] Figure 5 This is a hardware structure diagram of the electronic device provided in the embodiments of this application.

[0061] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0062] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0063] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0064] In this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0065] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0066] Vehicle extrication is a core function of modern automobiles, which, when faced with low-traction surfaces or complex terrain, actively corrects power output and vehicle posture through integrated electronic control systems and mechanical structures to help the vehicle get out of trouble.

[0067] The core technologies supporting vehicle extrication are concentrated in electronic traction control system and air suspension technology. The two work together to cover all scenarios of extrication needs, from low-traction surfaces such as snow, mud, and sand to complex terrains such as potholes, ditches, and slopes.

[0068] In existing technology, drivers rely on past driving and escaping experience to cycle through the accelerator pedal. The vehicle's internal system adjusts the output torque generated by the drive wheels based on this cycle. When the driver presses the accelerator, the drive wheels generate positive output torque; when the driver releases the accelerator, the drive wheels generate negative output torque. The vehicle then oscillates back and forth in response to these actions, thus escaping from difficult situations.

[0069] Because the accelerator pedal press-and-release cycle relies entirely on the driver's judgment of road conditions based on past driving experience and trouble-solving skills, it means the driver adjusts the output torque of the drive wheels by feeling when pressing or releasing the accelerator.

[0070] However, the output torque of the drive wheels is an intrinsic operating parameter of the vehicle, and the driver cannot directly observe changes in the output torque of the drive wheels. Therefore, it is difficult for the driver to accurately judge whether the current output torque of the drive wheels matches the road surface traction, which can easily lead to wheel slippage due to improper adjustment of the output torque, reducing the vehicle's ability to get out of trouble.

[0071] To address the aforementioned technical problems, the inventors considered that drivers cannot directly observe the vehicle's internal operating parameters, making it difficult to accurately determine whether the current output torque of the drive wheels matches the road surface adhesion. Based on this, the inventors conceived of using visualized operating parameters to adjust the output torque of the drive wheels. Speed ​​is one of the most commonly used visualized operating parameters, and changes in the output torque of the drive wheels affect their speed. The inventors transformed the adjustment of the drive wheel output torque into an adjustment of the drive wheel speed, thereby achieving a precise match between the drive wheel output torque and the road surface adhesion. When the drive wheel output torque and road surface adhesion are precisely matched, the vehicle's ability to get out of trouble is improved.

[0072] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0073] This application provides a method for controlling vehicle traction. Figure 1 A flowchart illustrating the vehicle traction control method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the vehicle's traction control method includes:

[0074] S101. When the vehicle enters the escape mode, in response to the control operation of the vehicle's throttle, determine the throttle opening; if the throttle opening is greater than the preset threshold, repeat S102-S104 until it is determined that the vehicle is driving normally.

[0075] Understandably, when a vehicle is in complex or challenging road conditions, such as mud, snow, sand, or swamp, it needs to utilize its built-in obstacle-avoidance mode to get out of trouble. However, in such situations, the driver might accidentally activate the parking mode due to tension or panic. Once the parking mode is activated, the vehicle cannot get out of trouble. Therefore, after detecting that the vehicle has entered obstacle-avoidance mode, it is necessary to determine whether the vehicle is actually in parking mode. If the vehicle is in parking mode, it needs to be deactivated. This can be done via physical buttons or virtual signals; the specific method used depends on the vehicle's functional configuration and is not limited here.

[0076] It should be noted that the anti-rollover function is activated by default under normal circumstances. However, in certain scenarios, such as when stuck in a deep ditch, the vehicle needs to repeatedly sway back and forth to get out of trouble. In this situation, the automatic braking of the anti-rollover function will hinder the vehicle's swaying, resulting in inconsistent power transmission and affecting the efficiency of getting out of trouble. Therefore, it is also necessary to control the vehicle to deactivate the anti-rollover function.

[0077] Furthermore, it should be noted that after the vehicle enters the off-road mode, the power from the powertrain needs to be effectively transmitted to the drive wheels so that the drive wheels generate the corresponding output torque, enabling the vehicle to swing back and forth. Therefore, in order to effectively transmit the power from the powertrain to the drive wheels, it is also necessary to ensure that the vehicle is in gear. Being in gear means that the vehicle's transmission system is in a powered connection state.

[0078] Explaining this, when a vehicle is in a difficult situation, the resistance is much greater than normal driving resistance. In this case, to help the vehicle swing back and forth effectively, the powertrain needs to generate enough power to achieve this. The throttle opening is directly related to the vehicle's powertrain; the larger the throttle opening, the greater the power generated by the powertrain. Throttle opening refers to the degree to which the accelerator pedal is depressed, usually expressed as a percentage: 0% means the accelerator pedal is completely released, and 100% means the accelerator pedal is fully depressed.

[0079] Therefore, it is necessary to ensure that the throttle opening is greater than a preset threshold so that the power generated by the power system can enable the vehicle to swing effectively back and forth. This preset threshold is essentially the throttle opening corresponding to the minimum effective power, calculated based on the current obstacle-avoidance scenario. In other words, the throttle opening corresponding to this preset threshold ensures that the power generated by the power system is exactly equal to the vehicle's resistance in the current obstacle-avoidance scenario. Thus, only by ensuring that the throttle opening is greater than the preset threshold can the power generated by the power system enable the vehicle to swing effectively back and forth.

[0080] S102. Control the drive wheels of the vehicle to rotate in the forward direction so as to control the vehicle to travel in the forward direction; obtain the forward speed of the drive wheels of the vehicle while traveling in the forward direction.

[0081] It should be understood that controlling the vehicle to travel in the forward direction by controlling the drive wheels to rotate in the forward direction is essentially controlling the drive wheels to generate positive output torque, and driving the vehicle to travel in the forward direction based on the positive output torque.

[0082] Since the forward output torque directly affects the forward speed of the vehicle's drive wheels, the vehicle will automatically adjust the forward output torque generated by the drive wheels during forward driving to adapt the forward speed of the drive wheels to the current road conditions.

[0083] Specifically, a preset first correlation is obtained between the positive output torque and the positive speed of the vehicle's drive wheels. The preset first correlation is as follows:

[0084]

[0085]

[0086] in, Indicates the preset positive velocity. Indicates the positive speed of the drive wheel. This represents the speed difference between the preset forward speed and the forward speed of the drive wheel. This indicates the positive output torque. This represents the first proportional coefficient of the proportional-integral controller in the vehicle. This represents the first integral coefficient of the proportional-integral controller.

[0087] Based on the aforementioned preset first correlation, the positive output torque can be converted into the positive speed of the drive wheels when the vehicle is traveling in the forward direction.

[0088] In explanatory terms, the preset forward speed generally refers to the maximum speed limit of the drive wheels when the vehicle is traveling forward under current road conditions. If the speed of the drive wheels is too low when the vehicle is traveling forward, it will result in insufficient power and difficulty in accumulating inertia to overcome obstacles. Conversely, if the speed of the drive wheels is too high, excessive inertia may cause wheel slippage and loss of vehicle control. Therefore, it is necessary to determine a suitable range of drive wheel speeds based on the current road conditions. Within this range, the drive wheel speeds can enable the vehicle to travel stably forward under the current road conditions. The preset forward speed is any drive wheel speed within this range.

[0089] Specifically, the process of determining the preset forward speed is as follows: determine the road surface type where the vehicle is located, and determine the forward safe speed range preset for the road surface type, that is, the safe speed range of the drive wheels allowed for the vehicle to travel in the forward direction. Then, obtain the preset forward speed set by the driver for the vehicle's drive wheels based on the forward safe speed range.

[0090] It should be noted that after the vehicle enters the off-road mode, a pop-up window will appear on the instrument panel prompting the driver to set a preset forward speed. The driver sets the preset forward speed using a combination switch (Set+ button and Set- button), which is usually located on the multi-function control lever on the left or right side of the steering wheel.

[0091] It is worth noting that once a driver has successfully set a preset forward speed, they can subsequently set another preset forward speed, i.e., switch between preset forward speeds. During the switching process, the driver cannot abruptly switch from one preset forward speed to the next; the switch must be performed at a certain rate of change.

[0092] It should be understood that the preset forward speed set by the driver is the forward speed of the drive wheels adapted to the current road conditions. Therefore, by combining the aforementioned preset first correlation, the forward output torque is adjusted to ensure that the forward speed of the drive wheels ultimately matches the preset forward speed.

[0093] It should be explained that in the aforementioned preset first correlation, the forward speed of the drive wheel... In , indicating the first step of the positive output torque test This is because, normally, the forward speed of the drive wheels is not adjusted to the preset forward speed by adjusting the forward output torque only once, but rather the forward output torque is adjusted repeatedly multiple times.

[0094] S103. When the forward speed of the drive wheels reaches the preset forward speed and it is determined that the vehicle has escaped the predicament, control the vehicle to drive normally; when the forward speed of the drive wheels reaches the preset forward speed and it is determined that the vehicle has not escaped the predicament, control the drive wheels of the vehicle to rotate in the opposite direction to control the vehicle to drive in the opposite direction; obtain the reverse speed of the drive wheels of the vehicle during reverse driving.

[0095] The forward speed of the drive wheels is displayed on the vehicle's dashboard. By observing the forward speed of the drive wheels, when it reaches the preset forward speed, it indicates that the vehicle has completed its forward swing. At this point, the vehicle may or may not have escaped the predicament.

[0096] Interpretively, determining whether a vehicle is out of trouble at the moment it completes its forward swing depends on the forward velocities of the drive wheels and driven wheels at that point. Therefore, when the forward velocities of the drive wheels reach a preset forward velocity, the forward velocities of the driven wheels need to be obtained. Specifically, if the difference between the forward velocities of the drive wheels and the driven wheels is greater than a preset first difference, it indicates that the vehicle is not out of trouble. If the difference between the forward velocities of the drive wheels and the driven wheels is less than or equal to the preset first difference, it indicates that the vehicle is out of trouble, and the vehicle can be controlled to drive normally.

[0097] If the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is greater than a preset first difference, meaning the vehicle is not out of trouble, since the vehicle has already swung forward, the next step is to control the vehicle to start swaying backward, i.e., to travel in the opposite direction.

[0098] Specifically, the vehicle is controlled to travel in the opposite direction by controlling the drive wheels to rotate in the opposite direction. Essentially, it controls the drive wheels to generate reverse output torque, which drives the vehicle to travel in the opposite direction.

[0099] Similarly, reverse output torque directly affects the reverse speed of the vehicle's drive wheels. Therefore, when the vehicle is driving in reverse, it will automatically adjust the reverse output torque generated by the drive wheels to adapt the reverse speed of the drive wheels to the current road conditions.

[0100] It should be noted that the preset second correlation between the reverse output torque and the reverse speed of the vehicle's drive wheels is as follows:

[0101]

[0102]

[0103] in, Indicates the preset reverse speed. Indicates the reverse speed of the drive wheel. This represents the speed difference between the preset reverse speed and the reverse speed of the drive wheel. This indicates the reverse output torque. This represents the second proportional coefficient of the proportional-integral controller in the vehicle. This represents the second integral coefficient of the proportional-integral controller.

[0104] Based on the aforementioned preset second correlation, the reverse output torque can be converted into the reverse speed of the drive wheels when the vehicle is traveling in the opposite direction.

[0105] Explained, the preset reverse speed generally refers to the maximum speed limit of the drive wheels when the vehicle is traveling in the opposite direction under the current road conditions. The process of determining the preset reverse speed is the same as the process of determining the preset forward speed in S102. That is, the road surface type where the vehicle is located is determined, and the reverse safe speed range preset for the road surface type is determined, which is the safe speed range of the drive wheels allowed for the vehicle to travel in the opposite direction. Then, the preset reverse speed set by the driver for the vehicle's drive wheels based on the reverse safe speed range is obtained.

[0106] It should be noted that after the vehicle enters the off-road mode, a pop-up window will appear on the instrument panel prompting the driver to set a preset reverse speed. The driver sets the preset reverse speed by changing the gear position on the vehicle's multi-stage gearshift, and the preset reverse speed can also be switched at a certain rate of change.

[0107] Among them, the multi-level column shifter includes the following shift positions. The higher the gear in a multi-level column shifter, the greater the corresponding preset reverse speed. That is, The preset reverse speed corresponding to the block The preset reverse speed corresponding to the block The preset reverse speed corresponding to the block The preset reverse speed corresponding to the block The preset reverse speed corresponding to the block The preset reverse speed corresponding to the block .

[0108] It is worth noting that when multiple levels of guardrails are in When blocking, the corresponding preset reverse speed for In this situation, the vehicle's reverse movement can be considered normal rolling.

[0109] It should also be noted that there is a certain limiting relationship between the preset forward speed and the preset reverse speed. Drivers must refer to the preset forward speed when setting the preset reverse speed. Specifically, if the value of the preset forward speed... Less than the first threshold Then the preset reverse velocity value The value of the preset positive velocity Same. If the preset positive velocity value... Greater than or equal to the first threshold And less than the second threshold Then the preset reverse velocity value The first threshold If the preset positive velocity value Greater than or equal to the second threshold Then the preset reverse velocity value for Understandably, the direction of the preset positive velocity is always opposite to the direction of the preset negative velocity.

[0110] It should be understood that the preset reverse speed set by the driver is the reverse speed of the drive wheels adapted to the current road conditions. Therefore, by combining the aforementioned preset second correlation, the reverse output torque is adjusted to ensure that the reverse speed of the drive wheels ultimately matches the preset reverse speed.

[0111] It should be explained that, in the aforementioned preset second correlation, the reverse speed of the drive wheel... In , indicating the first step of the reverse output torque. This is because, normally, the reverse speed of the drive wheels is not adjusted to the preset reverse speed by adjusting the reverse output torque only once; instead, the reverse output torque is adjusted repeatedly multiple times.

[0112] S104. When the reverse speed of the drive wheels reaches the preset reverse speed, and if it is determined that the vehicle has escaped the predicament, control the vehicle to drive normally.

[0113] The reverse speed of the drive wheels is displayed on the vehicle's dashboard. Observing the reverse speed of the drive wheels, when it reaches the preset reverse speed, it indicates that the vehicle has completed its backward swing. At this point, the vehicle may or may not be out of trouble.

[0114] Explaining the situation, at the moment the vehicle completes its backward swing, determining whether the vehicle is out of trouble depends on the reverse speeds of the drive wheels and driven wheels at that moment. Therefore, when the reverse speed of the drive wheels reaches a preset reverse speed, it is necessary to obtain the reverse speed of the driven wheels. Specifically, if the difference between the reverse speeds of the drive wheels and the driven wheels is less than or equal to a preset second difference, it indicates that the vehicle is out of trouble, and the vehicle can be controlled to drive normally. If the difference between the reverse speeds of the drive wheels and the driven wheels is greater than the preset second difference, it indicates that the vehicle is not out of trouble.

[0115] Understandably, after each forward and backward swing, it's necessary to confirm whether the vehicle is out of trouble. If, after a forward swing, the vehicle is confirmed to be out of trouble, then normal driving is initiated; otherwise, the vehicle continues to swing backward (driving in the opposite direction). Similarly, if, after a backward swing, the vehicle is confirmed to be out of trouble, then normal driving is initiated; otherwise, the vehicle continues to swing forward (driving in the forward direction).

[0116] Therefore, it can be seen that when the vehicle is still stuck, it can swing back and forth, that is, alternate between forward and reverse driving. Once the vehicle has completed a forward or backward swing and is confirmed to be free, it can be controlled to drive normally.

[0117] Next, a specific example will be used to summarize the vehicle traction control method provided in this embodiment. Figure 2 A flowchart illustrating the vehicle traction control method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the specific process of the vehicle traction control method provided in this embodiment is as follows:

[0118] S201. After the vehicle enters the escape mode, control the vehicle to release the parking mode and exit the anti-slip function, and set the vehicle to the in-gear state.

[0119] S202. A pop-up window will appear on the vehicle's dashboard prompting the driver to set a preset forward speed and a preset reverse speed.

[0120] Specifically, S202 includes:

[0121] S2021. The driver shall find the forward and reverse safe speed ranges that are pre-set for the road surface type where the vehicle is located.

[0122] The forward safe speed range refers to the safe speed range of the drive wheels allowed when the vehicle is traveling in the forward direction. The reverse safe speed range refers to the safe speed range of the drive wheels allowed when the vehicle is traveling in the reverse direction.

[0123] S2022. The driver selects any drive wheel speed from the forward safe speed range as the preset forward speed, and selects any drive wheel speed from the reverse safe speed range as the preset reverse speed; and enters the preset forward speed and preset reverse speed into the pop-up window on the instrument panel.

[0124] Figure 3 This is a schematic diagram of a scenario for the vehicle traction control method provided in the embodiments of this application, such as... Figure 3As shown, the driver interacts with the surrounding environment in a multimodal manner. That is, the driver can perceive the road conditions around the vehicle, including but not limited to the depth of the tires sinking into the ground, and the type of road surface such as mud, snow, sand, etc.

[0125] It should be understood that, in order to improve adaptability to different road conditions, the permissible forward (reverse) safe speed ranges are usually different for different road surfaces, but the permissible forward and reverse safe speed ranges for each type of road surface are known. Drivers only need to set preset forward and preset reverse speeds according to the permissible forward and reverse safe speed ranges.

[0126] S203. In response to the throttle control operation of the vehicle, determine whether the throttle opening is greater than a preset threshold; if yes, execute S204; otherwise, return to S202.

[0127] S204. Control the vehicle to travel in the forward direction and obtain the forward speed of the drive wheels of the vehicle while traveling in the forward direction.

[0128] S205. Determine whether the forward speed of the drive wheel has reached the preset forward speed; if yes, proceed to S206; otherwise, return to S204.

[0129] S206. Obtain the current forward speed of the drive wheels and the forward speed of the driven wheels of the vehicle; determine whether the difference between the forward speed of the drive wheels and the forward speed of the driven wheels is less than or equal to a preset first difference; if yes, execute S210; if no, execute S207.

[0130] S207. Control the vehicle to travel in the opposite direction and obtain the reverse speed of the drive wheels of the vehicle during reverse travel.

[0131] S208. Determine whether the reverse speed of the drive wheel has reached the preset reverse speed; if yes, execute S209; otherwise, return to S207.

[0132] S209. Obtain the current reverse speed of the drive wheels and the reverse speed of the driven wheels of the vehicle; determine whether the difference between the reverse speed of the drive wheels and the reverse speed of the driven wheels is less than or equal to a preset second difference; if yes, execute S210; if no, return to S204.

[0133] S210: Perform cyclic switching control of the drive wheels traveling in the forward and reverse directions to enable the vehicle to get out of trouble.

[0134] It should be noted that the preset forward speed and preset reverse speed obtained in S2022 are applied in the processes of S204-S209.

[0135] Combination Figure 3In the scenario shown, the driver adjusts the forward output torque of the drive wheels based on a preset forward speed to change the forward speed of the drive wheels when the vehicle is traveling forward. Similarly, based on a preset reverse speed, the driver adjusts the reverse output torque of the drive wheels to change the reverse speed of the drive wheels when the vehicle is traveling in the opposite direction. The preset forward speed, preset reverse speed, and the forward and reverse speeds of the drive wheels are all displayed visually on the instrument panel.

[0136] By repeatedly alternating between forward and reverse driving, if the vehicle has escaped its predicament after each forward or reverse driving phase, the vehicle can be controlled to drive normally.

[0137] It should be understood that, in response to throttle control operations and when the throttle opening exceeds a preset threshold, the vehicle, following the process in steps S204-S210, first travels forward and then reverses. However, in response to throttle control operations and when the throttle opening is less than or equal to the preset threshold, the power generated by the power system is insufficient to allow the vehicle to effectively sway back and forth. Therefore, in this situation, the vehicle cannot extricate itself from a difficult situation.

[0138] The vehicle traction control method provided in this application, when the vehicle enters traction control mode, determines the throttle opening in response to throttle control operations. If the throttle opening is greater than a preset threshold, the following process is repeated until it is determined that the vehicle is driving normally: controlling the vehicle's drive wheels to generate positive output torque, and driving the vehicle forward based on the positive output torque. Then, according to a preset first correlation relationship set for the positive output torque and the positive speed of the vehicle's drive wheels, the positive output torque is converted into the positive speed of the drive wheels during forward driving. When the positive speed of the drive wheels reaches the preset positive speed, if the difference between the current positive speed of the drive wheels and the positive speed of the driven wheels is less than or equal to the preset first difference, it is determined that the vehicle has escaped traction, and the vehicle is controlled to drive normally. If the difference between the current positive speed of the drive wheels and the positive speed of the driven wheels is greater than the preset first difference, it is determined that the vehicle has not escaped traction, controlling the vehicle's drive wheels to generate reverse output torque, and driving the vehicle in reverse based on the reverse output torque. Then, based on a pre-set second correlation between the reverse output torque and the reverse speed of the vehicle's drive wheels, the reverse output torque is converted into the reverse speed of the drive wheels during reverse driving. When the reverse speed of the drive wheels reaches the preset reverse speed, if the difference between the current reverse speed of the drive wheels and the reverse speed of the driven wheels is less than or equal to the preset second difference, it is determined that the vehicle has escaped the predicament, and the vehicle is controlled to drive normally. Correlating the control process of the drive wheels with the drive wheel speed means that the control of the drive wheels can be reflected through the drive wheel speed. Therefore, by observing the changes in the drive wheel speed, the control process of the drive wheels can be intuitively perceived, thereby achieving precise control of the drive wheels and avoiding insufficient power due to insufficient throttle operation or reversing operation, or wheel slippage due to excessive throttle operation or reversing operation, thus improving the vehicle's efficiency in escaping predicaments.

[0139] Figure 4 This is a schematic diagram of the vehicle traction control device provided in the embodiments of this application, as shown below. Figure 4 As shown, the vehicle's traction control device 400 includes: a determination module 401, a control module 402, and an acquisition module 403;

[0140] The determining module 401 is used to determine the throttle opening degree in response to the throttle control operation when the vehicle enters the escape mode; if the throttle opening degree is greater than a preset threshold, the following process is repeated until it is determined that the vehicle is driving normally:

[0141] The control module 402 is used to control the forward rotation of the vehicle's drive wheels in order to control the vehicle to travel in the forward direction;

[0142] The acquisition module 403 is used to acquire the forward speed of the drive wheels of the vehicle while it is moving forward.

[0143] The control module 402 is also used to control the vehicle to drive normally when the forward speed of the drive wheels reaches the preset forward speed and if it is determined that the vehicle has escaped the predicament; and to control the drive wheels of the vehicle to rotate in the opposite direction when the forward speed of the drive wheels reaches the preset forward speed and if it is determined that the vehicle has not escaped the predicament, so as to control the vehicle to drive in the opposite direction.

[0144] The acquisition module 403 is also used to acquire the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction;

[0145] The control module 402 is also used to control the vehicle to drive normally when the reverse speed of the drive wheels reaches the preset reverse speed and if it is determined that the vehicle has escaped the predicament.

[0146] In one possible design, the control module 402 is also used to control the drive wheels of the vehicle to generate positive output torque, and drive the vehicle to travel in the forward direction based on the positive output torque;

[0147] The acquisition module 403 is also used to acquire a preset first correlation relationship that is pre-set for the positive output torque and the positive speed of the vehicle's drive wheels;

[0148] The vehicle traction control device 400 also includes a conversion module 404, which is used to convert the positive output torque into the positive speed of the drive wheels of the vehicle when it is traveling in the forward direction, based on a preset first correlation.

[0149] In one possible design, the acquisition module 403 is also used to acquire the forward speed of the driven wheels of the vehicle when the forward speed of the drive wheels reaches a preset forward speed;

[0150] The determination module 401 is further configured to determine that the vehicle has not escaped the predicament if the difference between the forward speed of the drive wheel and the forward speed of the driven wheel is greater than a preset first difference; and to determine that the vehicle has escaped the predicament if the difference between the forward speed of the drive wheel and the forward speed of the driven wheel is less than or equal to the preset first difference.

[0151] In one possible design, the control module 402 is also used to control the drive wheels of the vehicle to generate a reverse output torque, and drive the vehicle to travel in the opposite direction based on the reverse output torque.

[0152] The acquisition module 403 is also used to acquire a preset second correlation relationship that is pre-set for the reverse output torque and the reverse speed of the vehicle's drive wheels;

[0153] The conversion module 404 is also used to convert the reverse output torque into the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction, based on a preset second correlation.

[0154] In one possible design, the acquisition module 403 is also used to acquire the reverse speed of the driven wheel of the vehicle when the reverse speed of the drive wheel reaches the preset reverse speed.

[0155] The determination module 401 is further configured to determine that the vehicle has not escaped the predicament if the difference between the reverse speed of the drive wheel and the reverse speed of the driven wheel is greater than a preset second difference; and to determine that the vehicle has escaped the predicament if the difference between the reverse speed of the drive wheel and the reverse speed of the driven wheel is less than or equal to the preset second difference.

[0156] In one possible design, the determining module 401 is further used to determine the road surface type where the vehicle is located, and to determine the forward safe speed range and the reverse safe speed range that are pre-set for the road surface type; wherein, the forward safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the forward direction, and the reverse safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the reverse direction.

[0157] The acquisition module 403 is also used to acquire the preset forward speed set by the driver for the drive wheels of the vehicle according to the forward safe speed range, and the preset reverse speed set by the driver for the drive wheels of the vehicle according to the reverse safe speed range.

[0158] In one possible design, the control module 402 is also used for:

[0159] After detecting that the vehicle has entered the escape mode, determine whether the vehicle is in parking mode; if so, control the vehicle to release the parking mode.

[0160] Control the vehicle to deactivate the anti-slip function and set the vehicle to gear.

[0161] The vehicle traction control device provided in this application embodiment can be used to execute the vehicle traction control method in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0162] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. Additionally, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through the integrated logic circuits in the hardware of the processor element or through software instructions.

[0163] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5As shown, the electronic device may include: transceiver 51, processor 52, and memory 55.

[0164] Processor 52 executes computer execution instructions stored in memory, causing processor 52 to perform the scheme in the above embodiments. Processor 52 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0165] The memory 55 is connected to the processor 52 via the system bus and completes communication between them. The memory 55 is used to store computer program instructions.

[0166] Transceiver 51 can be used to communicate and interact with other devices.

[0167] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Transceivers are used to enable communication between database access devices and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and may also include non-volatile memory.

[0168] The electronic device provided in this application embodiment can be used to execute the method provided in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0169] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed on a computer, cause the computer to perform the method provided in any of the above embodiments.

[0170] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when the at least one processor executes the computer program, it can implement the method provided in any of the above embodiments.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0172] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0173] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0174] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0175] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0176] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0177] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0178] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0179] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. The processor and storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic control unit or main control device.

[0180] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0181] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling vehicle traction, characterized in that, include: When the vehicle enters the escape mode, the throttle opening is determined in response to the control operation of the vehicle's throttle. If the throttle opening is greater than a preset threshold, repeat the following process until it is determined that the vehicle is driving normally: Control the drive wheels of the vehicle to rotate in the forward direction to control the vehicle to travel in the forward direction; obtain the forward speed of the drive wheels of the vehicle while traveling in the forward direction; When the forward speed of the drive wheel reaches a preset forward speed and it is determined that the vehicle has escaped the predicament, the vehicle is controlled to drive normally; when the forward speed of the drive wheel reaches a preset forward speed and it is determined that the vehicle has not escaped the predicament, the drive wheels of the vehicle are controlled to rotate in the opposite direction to control the vehicle to drive in the opposite direction; the reverse speed of the drive wheels of the vehicle during reverse driving is obtained. When the reverse speed of the drive wheel reaches the preset reverse speed, and if it is determined that the vehicle has escaped the predicament, the vehicle is controlled to drive normally.

2. The method according to claim 1, characterized in that, Controlling the drive wheels of the vehicle to rotate in the forward direction to control the vehicle to travel in the forward direction; obtaining the forward speed of the drive wheels of the vehicle during forward travel, including: The vehicle's drive wheels are controlled to generate positive output torque, and the vehicle is driven to travel in a forward direction based on the positive output torque; Obtain a preset first correlation relationship between the positive output torque and the positive speed of the vehicle's drive wheels; Based on the preset first correlation, the positive output torque is converted into the positive speed of the drive wheels of the vehicle when it is traveling in the forward direction.

3. The method according to claim 1, characterized in that, When the forward speed of the drive wheel reaches a preset forward speed, the forward speed of the driven wheel of the vehicle is obtained; If the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is greater than a preset first difference, then the vehicle is determined to be stuck. If the difference between the forward speed of the driving wheel and the forward speed of the driven wheel is less than or equal to the preset first difference, then the vehicle is determined to be free from the entanglement.

4. The method according to claim 1, characterized in that, Controlling the drive wheels of the vehicle to rotate in the opposite direction to control the vehicle to travel in the opposite direction; obtaining the reverse speed of the drive wheels of the vehicle during reverse travel, including: The vehicle's drive wheels are controlled to generate a reverse output torque, and the vehicle is driven to travel in the opposite direction based on the reverse output torque. Obtain a preset second correlation relationship for the reverse output torque and the reverse speed of the vehicle's drive wheels; Based on the preset second correlation, the reverse output torque is converted into the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction.

5. The method according to claim 1, characterized in that, When the reverse speed of the drive wheel reaches the preset reverse speed, the reverse speed of the driven wheel of the vehicle is obtained; If the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is greater than a preset second difference, then the vehicle is determined to be stuck. If the difference between the reverse speed of the driving wheel and the reverse speed of the driven wheel is less than or equal to the preset second difference, then the vehicle is determined to be free from the entanglement.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The road surface type where the vehicle is located is determined, and a forward safe speed range and a reverse safe speed range are pre-set for the road surface type; wherein, the forward safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the forward direction, and the reverse safe speed range represents the safe speed range of the drive wheels allowed when the vehicle is traveling in the reverse direction. The driver sets a preset forward speed for the vehicle's drive wheels based on the forward safe speed range, and a preset reverse speed for the vehicle's drive wheels based on the reverse safe speed range.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: After detecting that the vehicle has entered the escape mode, determine whether the vehicle is in parking mode; if so, control the vehicle to release the parking mode. Control the vehicle to deactivate the anti-slip slope function and set the vehicle to the in-gear state.

8. A vehicle traction control device, characterized in that, include: The determination module is used to determine the throttle opening degree of the throttle in response to the control operation of the throttle of the vehicle when the vehicle enters the escape mode; If the throttle opening is greater than a preset threshold, repeat the following process until it is determined that the vehicle is driving normally: The control module is used to control the drive wheels of the vehicle to rotate in the forward direction, so as to control the vehicle to travel in the forward direction; The acquisition module is used to acquire the forward speed of the drive wheels of the vehicle while it is traveling in the forward direction; The control module is further configured to control the vehicle to drive normally when the forward speed of the drive wheel reaches a preset forward speed and if it is determined that the vehicle has escaped the predicament; and to control the drive wheels of the vehicle to rotate in the opposite direction when the forward speed of the drive wheel reaches the preset forward speed and if it is determined that the vehicle has not escaped the predicament, so as to control the vehicle to drive in the opposite direction. The acquisition module is also used to acquire the reverse speed of the drive wheels of the vehicle when it is traveling in the opposite direction; The control module is also used to control the vehicle to drive normally when the reverse speed of the drive wheel reaches a preset reverse speed and if it is determined that the vehicle has escaped the predicament.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the vehicle traction control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle traction control method as described in any one of claims 1 to 7.

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