Vehicle escape method and device, electronic equipment and vehicle

Abstract

The application provides a vehicle escape method and device, electronic equipment and vehicle. The method comprises the following steps: in the escape mode, adjusting the gear of the vehicle to the lowest gear, determining the vehicle state according to the vehicle weight information, the vehicle state comprising a full load state and an empty load state, determining the rising target torque according to the current pedal opening and the vehicle state, taking the rising target torque as the adjustment target, adjusting the current torque according to the escape torque adjustment slope, and the escape torque adjustment slope is smaller than the normal torque adjustment slope in the normal driving mode. Thus, the torque and power of the driving wheel can be gradually increased to a relatively reasonable rising target torque corresponding to the current vehicle state, so as to improve the success rate of the self-help escape of the trapped vehicle and increase the safety performance of the driving vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a method, apparatus, electronic device, and vehicle for getting a vehicle out of trouble. Background Technology

[0002] In related technologies, when a vehicle is stuck, such as when the front or rear wheels are stuck in a pit, the driver usually tries to get out by pressing the accelerator pedal, and may even need to use auxiliary devices. Only with the help of auxiliary devices or external force can the stuck vehicle get out, which often causes great trouble for the driver.

[0003] If a vehicle becomes stuck and the driver presses the accelerator pedal, the torque on the wheels will increase rapidly, which can easily cause the wheels to slip and make it difficult to get out of trouble. Summary of the Invention

[0004] This invention provides a vehicle traction method, device, electronic equipment, and vehicle, which aims to gradually increase the vehicle torque to a reasonable traction torque according to different vehicle load conditions, so as to avoid wheel slippage and difficulty in traction, and improve the vehicle traction effect.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a method for vehicle extrication from difficult situations, including:

[0007] In the escape mode, adjust the vehicle's gear to the lowest setting;

[0008] The vehicle status is determined based on the vehicle weight information, including fully loaded and unloaded status.

[0009] Determine the target torque for ascent based on the current pedal opening and vehicle condition;

[0010] The target torque is increased, and the current torque is adjusted according to the slope of the torque adjustment for getting out of trouble. The slope of the torque adjustment for getting out of trouble is less than the slope of the conventional torque adjustment in normal driving mode.

[0011] Optionally, the method further includes:

[0012] During the process of adjusting the current torque according to the slope of the traction torque adjustment, the motor speed is obtained in real time;

[0013] When the motor speed is greater than a preset speed threshold, the target torque for the decrease is obtained;

[0014] With the target torque for reduction as the adjustment target, the current torque is adjusted according to the conventional torque adjustment slope within a preset adjustment time.

[0015] If the preset adjustment time is exceeded, return to the following steps: determine the target torque for increasing the torque based on the current pedal opening and vehicle status, until the vehicle exits the traction mode.

[0016] Optionally, the vehicle status can be determined based on vehicle weight information, including:

[0017] The vehicle's weight is determined based on its driving force and acceleration.

[0018] When the vehicle's weight is greater than or equal to a first preset weight, the vehicle's status is determined to be the fully loaded state.

[0019] When the vehicle's weight is less than a first preset weight, the vehicle's status is determined to be the unloaded state.

[0020] Optionally, the target torque for lifting is determined based on the pedal opening and vehicle condition, including:

[0021] When the vehicle is in a fully loaded state, a fully loaded escape calibration table is obtained, which includes the correlation between pedal opening and target lifting torque when the vehicle is in a fully loaded state.

[0022] Determine the target ascending torque based on the current pedal opening and the full-load escape calibration table.

[0023] Optionally, the target torque for lifting is determined based on the pedal opening and vehicle condition, including:

[0024] When the vehicle is in an unloaded state, an unloaded escaping calibration table is obtained, which contains the correlation between pedal opening and target lifting torque when the vehicle is in an unloaded state.

[0025] Determine the target ascending torque based on the current pedal opening and the aforementioned no-load escape calibration table.

[0026] Optionally, the method further includes:

[0027] Obtain vehicle first status information, which includes at least: high voltage connection status, vehicle controller fault level, traction switch status, and power take-off status;

[0028] When the high-voltage connection is in a high-voltage connection state, the fault level of the vehicle controller is no greater than level three, the traction switch is in an active state, and the power take-off is in an unengaged state, the vehicle is controlled to enter the traction mode.

[0029] Optionally, the method further includes:

[0030] In the escaping mode, the vehicle's second state information is acquired, which includes at least: high-voltage connection status, vehicle controller fault level, and escaping switch status.

[0031] When the high-voltage connection status is "high-voltage not connected", or the vehicle controller fault level is greater than level three, or the traction switch status is invalid, the vehicle is controlled to exit the traction mode.

[0032] Secondly, embodiments of the present invention provide a vehicle traction device, comprising:

[0033] The gear adjustment module is used to adjust the vehicle's gear to the lowest gear in the off-road mode;

[0034] The first determining module is used to determine the vehicle status based on vehicle weight information, the vehicle status including fully loaded status and unloaded status.

[0035] The second determining module is used to determine the target torque for lifting based on the current pedal opening and vehicle status;

[0036] The first torque adjustment module is used to adjust the current torque according to the traction torque adjustment slope, with the target torque as the adjustment target. The traction torque adjustment slope is less than the conventional torque adjustment slope in normal driving mode.

[0037] Optionally, the device further includes:

[0038] The first acquisition module is used to acquire the motor speed in real time during the process of adjusting the current torque according to the slope of the traction torque adjustment.

[0039] The second acquisition module is used to acquire the target torque of the decrease when the motor speed is greater than a preset speed threshold.

[0040] The second torque adjustment module is used to adjust the current torque according to the conventional torque adjustment slope within a preset adjustment time, with the target torque being the decrease target torque as the adjustment target.

[0041] The return module is used to return to the following steps when the preset adjustment time is exceeded: determine the target torque for lifting based on the current pedal opening and vehicle status, until the vehicle exits the traction mode.

[0042] Optionally, the first determining module includes:

[0043] The first determining submodule is used to determine the vehicle's weight based on the vehicle's driving force and acceleration.

[0044] The second determining submodule is used to determine the vehicle state as the fully loaded state when the vehicle weight is greater than or equal to the first preset weight.

[0045] The third determining submodule is used to determine the vehicle status as the unloaded state when the vehicle weight is less than the first preset weight.

[0046] Optionally, the second determining module includes:

[0047] The first acquisition submodule is used to acquire a full-load escaping calibration table when the vehicle is in a fully loaded state. The full-load escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in a fully loaded state.

[0048] The fourth determining submodule is used to determine the target rising torque based on the current pedal opening and the full-load escape calibration table.

[0049] Optionally, the second determining module includes:

[0050] The second acquisition submodule is used to acquire an unloaded escaping calibration table when the vehicle is in an unloaded state. The unloaded escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in an unloaded state.

[0051] The fifth determining submodule is used to determine the target ascending torque based on the current pedal opening and the no-load escape calibration table.

[0052] Optionally, the device further includes:

[0053] The third acquisition module is used to acquire the first state information of the vehicle, which includes at least: high voltage connection status, vehicle controller fault level, escape switch status and power take-off status.

[0054] The first mode control module is used to control the vehicle to enter the traction mode when the high-voltage connection status is high-voltage connection, the fault level of the vehicle controller is no greater than level three, the traction switch status is active, and the power take-off status is not engaged.

[0055] Optionally, the device further includes:

[0056] The fourth acquisition module is used to acquire the vehicle's second state information in the escape mode. The vehicle's second state information includes at least: high-voltage connection status, vehicle controller fault level, and escape switch status.

[0057] The second mode control module is used to control the vehicle to exit the traction mode when the high-voltage connection status is high-voltage disconnected, or the vehicle controller fault level is greater than level three, or the traction switch status is invalid.

[0058] Thirdly, embodiments of the present invention also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, it implements the steps of the vehicle extrication method described in the first aspect.

[0059] Fourthly, embodiments of the present invention further provide a vehicle, including a vehicle body and a vehicle traction device disposed on the vehicle body, the vehicle traction device being used to perform the steps of the vehicle traction method described in the first aspect above.

[0060] In this invention, by adjusting the vehicle's gear to the lowest position in the traction-avoidance mode, the vehicle's state is determined based on vehicle weight information, including fully loaded and unloaded states. Based on the current pedal opening and vehicle state, a target torque is determined. Using this target torque as the adjustment target, the current torque is adjusted according to the traction torque adjustment slope, which is lower than the conventional torque adjustment slope in normal driving mode. After the vehicle enters traction-avoidance mode, the gear is adjusted to the lowest position to increase the torque and power of the drive wheels. Then, based on the current pedal opening and vehicle state, a more reasonable target torque is obtained, and the current torque is adjusted according to the traction torque adjustment slope, which is lower than the conventional torque adjustment slope in normal driving mode. This allows the torque and power of the drive wheels to gradually increase to a more reasonable target torque corresponding to the current vehicle state, thereby improving the success rate of the trapped vehicle's autonomous traction and enhancing the vehicle's safety performance. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a flowchart illustrating the steps of a vehicle extrication method according to an embodiment of the present invention;

[0063] Figure 2 This is a flowchart illustrating an example judgment step of a vehicle extrication method according to an embodiment of the present invention;

[0064] Figure 3 This is a schematic diagram of a vehicle traction device according to an embodiment of the present invention;

[0065] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] In related technologies, when a vehicle is stuck, such as when the front or rear wheels are stuck in a pit, the driver usually tries to get out by pressing the accelerator pedal, and may even need to use auxiliary devices. Only with the help of auxiliary devices or external force can the stuck vehicle get out, which often causes great trouble for the driver.

[0068] If a vehicle is stuck and the driver presses the accelerator pedal, the torque on the wheels will increase rapidly, which can easily cause the wheels to slip and make it difficult to get out of trouble. Moreover, the torque and power required to get out of trouble are different for vehicles with different loads. Excessive torque on the drive wheels can easily cause the wheels to slip and make it difficult to get out of trouble.

[0069] To overcome the above problems, this application proposes a vehicle traction method, which aims to gradually increase the vehicle torque to a reasonable traction torque according to different vehicle load conditions, so as to avoid wheel slippage and difficulty in traction, and improve the vehicle traction effect.

[0070] refer to Figure 1 and Figure 2 , Figure 1 This is a flowchart illustrating the steps of a vehicle extrication method according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating an example judgment step of a vehicle extrication method according to an embodiment of the present invention, as follows: Figure 1 and Figure 2 As shown, the vehicle extrication method includes:

[0071] Step S101: In the escape mode, adjust the vehicle gear to the lowest gear.

[0072] In this embodiment, after determining that the vehicle has entered the traction control mode, the vehicle gear is adjusted to the lowest gear and fixed, without further upshifting. The lowest gear here is first gear. For example, if the current gear is neutral, subsequent forward or reverse gears will only engage first gear and will not be upshifted. If the current gear is in another gear (e.g., 2nd, 3rd, etc.), it will automatically shift to first gear and will not be upshifted. This maximizes the torque transmitted to the drive wheels, ensuring sufficient torque for traction control.

[0073] Before step S101, it is necessary to determine whether the vehicle has entered the traction control mode. Specifically, the method for controlling the vehicle to enter the traction control mode is as follows:

[0074] Obtain vehicle first status information, which includes at least: high voltage connection status, vehicle controller fault level, traction switch status, and power take-off status;

[0075] When the high-voltage connection is in a high-voltage connection state, the fault level of the vehicle controller is no greater than level three, the traction switch is in an active state, and the power take-off is in an unengaged state, the vehicle is controlled to enter the traction mode.

[0076] In this embodiment, the vehicle's first state information is first obtained. This first state information includes at least the high-voltage connection status, the vehicle controller fault level, the traction switch status, and the power take-off (PTO) status. The high-voltage connection status includes "high-voltage connected" and "high-voltage disconnected." "High-voltage connected" indicates the vehicle is powered on. If the vehicle controller fault level is greater than level three, the vehicle is not ready to continue driving and needs to be powered off for inspection. The traction switch status includes "active" and "inactive." The traction switch can be a push-button switch. When the user determines the vehicle is stuck (i.e., trapped in a pit), they can press the traction switch, at which point it is active. After escaping, the traction switch can be pressed again, causing it to pop up and become inactive. The PTO status includes "engaged" and "disengaged." Normal vehicle operation is only guaranteed when the PTO is in an "disengaged" state.

[0077] Therefore, when the high-voltage connection is in the high-voltage connection state, the fault level of the vehicle controller is no greater than level three, the traction switch is in the active state, and the power take-off is in the disengaged state, the vehicle is controlled to enter the traction mode.

[0078] Step S102: Determine the vehicle status based on the vehicle weight information, including the fully loaded status and the unloaded status.

[0079] In this embodiment, the current vehicle status can be determined based on vehicle weight information. The vehicle status is divided into fully loaded and unloaded states according to the different vehicle weights, so that different extrication strategies can be implemented according to different vehicle statuses.

[0080] Specifically, in one feasible implementation, the method for determining the vehicle status based on vehicle weight information is as follows:

[0081] The vehicle's weight is determined based on its driving force and acceleration.

[0082] When the vehicle's weight is greater than or equal to a first preset weight, the vehicle's status is determined to be the fully loaded state.

[0083] When the vehicle's weight is less than a first preset weight, the vehicle's status is determined to be the unloaded state.

[0084] In this embodiment, the driving force and acceleration of the vehicle are acquired, and the vehicle weight is determined based on the relationship between the driving force, acceleration, and vehicle weight. Specifically, the ratio of driving force to acceleration is the vehicle weight. Then, the relationship between the vehicle weight and a first preset weight is determined. The first preset weight is used to distinguish whether the vehicle is in an empty or fully loaded state. When the vehicle weight is greater than or equal to the first preset weight, the vehicle is determined to be in a fully loaded state. When the vehicle weight is less than the first preset weight, the vehicle is determined to be in an empty state. The specific first preset weight can be set according to the actual situation. For example, the first preset weight can be 25 tons.

[0085] Step S103: Determine the target torque for lifting based on the current pedal opening and vehicle status.

[0086] In this embodiment, the relationship between pedal opening and target torque varies depending on the vehicle state. After determining the vehicle state, the target torque can be determined based on the current pedal opening and the vehicle state.

[0087] Specifically, in one feasible implementation, the method for determining the target torque based on the current pedal opening and vehicle status can be as follows:

[0088] When the vehicle is in a fully loaded state, a fully loaded escape calibration table is obtained, which includes the correlation between pedal opening and target lifting torque when the vehicle is in a fully loaded state.

[0089] Determine the target ascending torque based on the current pedal opening and the full-load escape calibration table.

[0090] In this embodiment, a full-load traction calibration table corresponds to the full-load traction state. This table contains the correlation between pedal opening and target torque under full load conditions. The current pedal opening is obtained, and based on this opening, the corresponding target torque is retrieved from the full-load traction calibration table. This allows for the acquisition of a torque more suitable for the full-load state to help the vehicle escape traction, thereby increasing the probability of successful escape. Specifically, in the full-load traction calibration table, a 100% pedal opening corresponds to a target torque of 1500 Nm (calibrated value), and a 0% opening corresponds to a target torque of 0 Nm.

[0091] Specifically, in one feasible implementation, the method for determining the target torque based on the current pedal opening and vehicle status can be as follows:

[0092] When the vehicle is in an unloaded state, an unloaded escaping calibration table is obtained, which contains the correlation between pedal opening and target lifting torque when the vehicle is in an unloaded state.

[0093] Determine the target ascending torque based on the current pedal opening and the aforementioned no-load escape calibration table.

[0094] In this embodiment, an unloaded state corresponds to an unloaded escape calibration table. This table contains the correlation between pedal opening and target torque in the unloaded state. The current pedal opening is obtained, and based on this opening, the corresponding target torque is retrieved from the unloaded escape calibration table. This allows for the acquisition of a torque more suitable for the unloaded state to help the vehicle escape, thereby increasing the probability of escape. Specifically, in the unloaded escape calibration table, a 100% pedal opening corresponds to a target torque of 1000 Nm (calibrated value), and a 0% opening corresponds to a target torque of 0 Nm.

[0095] Step S104: Using the target torque as the adjustment target, adjust the current torque according to the traction torque adjustment slope, wherein the traction torque adjustment slope is less than the conventional torque adjustment slope in normal driving mode.

[0096] In this embodiment, after determining the target torque, the target torque can be used as the adjustment target. The current torque is adjusted according to the traction torque adjustment slope. The traction torque adjustment slope is less than the conventional torque adjustment slope in normal driving mode, which can slow down the torque increase rate and gradually increase the drive wheel torque to a reasonable traction torque to avoid the wheel slipping too quickly and being unable to get out of trouble. Specifically, the traction torque adjustment slope can be 5Nm / 10ms, and the value range of the conventional torque adjustment slope can be 15-20Nm / 10ms.

[0097] In one feasible implementation, during the process of adjusting the current torque according to the slope of the traction torque adjustment, it is also necessary to obtain the motor speed in real time to avoid the motor speed being too high and the wheel speed being too high, resulting in severe slippage. Specifically, when the motor speed is greater than a preset speed threshold, the target torque for reduction is obtained.

[0098] With the target torque for reduction as the adjustment target, the current torque is adjusted according to the conventional torque adjustment slope within a preset adjustment time.

[0099] If the preset adjustment time is exceeded, return to the following steps: determine the target torque for increasing the torque based on the current pedal opening and vehicle status, until the vehicle exits the traction mode.

[0100] In this embodiment, the preset speed threshold is the maximum motor speed for getting out of trouble, which is set in advance. When the motor speed is too high, it will cause the wheels to spin too fast and slip severely. When the motor speed is greater than the preset speed threshold, the target torque for decreasing speed is obtained. The preset speed threshold can be 2000 revolutions per second, and the target torque for decreasing speed is a small torque that is set in advance. Specifically, the target torque for decreasing speed can be 0 Nm. Then, with the target torque for decreasing speed as the adjustment target, the current torque is adjusted according to the conventional torque adjustment slope within a preset adjustment time. The preset adjustment time can be between 1.5 seconds and 2.5 seconds. For example, the preset adjustment time can be 2 seconds to clear the torque. Then, after the preset adjustment time, normal torque adjustment is performed again, that is, returning to the step: determining the target torque for increasing speed based on the current pedal opening and vehicle status, re-determining the new target torque for increasing speed, and then adjusting the current torque according to the new target torque for increasing speed. This can avoid the wheels spinning too fast and slipping severely, and can improve the getting-out-of-trouble effect until the vehicle exits the getting-out-of-trouble mode.

[0101] In one feasible implementation, the specific method for controlling the vehicle to exit the escape mode is as follows:

[0102] In the escaping mode, the vehicle's second state information is acquired, which includes at least: high-voltage connection status, vehicle controller fault level, and escaping switch status.

[0103] When the high-voltage connection status is "high-voltage not connected", or the vehicle controller fault level is greater than level three, or the traction switch status is invalid, the vehicle is controlled to exit the traction mode.

[0104] In this embodiment, in the escaping mode, the vehicle's second state information can be obtained so as to determine whether to exit the escaping mode based on the vehicle's second state information. Specifically, when the high-voltage connection status is high-voltage disconnected, or the vehicle controller fault level is greater than level three, or the escaping switch status is invalid, the vehicle can be controlled to exit the escaping mode and no longer perform escaping operations.

[0105] Based on the same inventive concept, this application proposes a vehicle traction device, referring to... Figure 3 , Figure 3 This is a schematic diagram of a vehicle traction device according to an embodiment of the present invention, such as... Figure 3 As shown, the device includes:

[0106] The gear adjustment module 301 is used to adjust the vehicle gear to the lowest gear in the off-road mode;

[0107] The first determining module 302 is used to determine the vehicle status based on the vehicle weight information, wherein the vehicle status includes a fully loaded status and an unloaded status.

[0108] The second determining module 303 is used to determine the target torque for lifting based on the current pedal opening and vehicle status;

[0109] The first torque adjustment module 304 is used to adjust the current torque according to the traction torque adjustment slope, with the target torque as the adjustment target. The traction torque adjustment slope is less than the conventional torque adjustment slope in normal driving mode.

[0110] Optionally, the device further includes:

[0111] The first acquisition module is used to acquire the motor speed in real time during the process of adjusting the current torque according to the slope of the traction torque adjustment.

[0112] The second acquisition module is used to acquire the target torque of the decrease when the motor speed is greater than a preset speed threshold.

[0113] The second torque adjustment module is used to adjust the current torque according to the conventional torque adjustment slope within a preset adjustment time, with the target torque being the decrease target torque as the adjustment target.

[0114] The return module is used to return to the following steps when the preset adjustment time is exceeded: determine the target torque for lifting based on the current pedal opening and vehicle status, until the vehicle exits the traction mode.

[0115] Optionally, the first determining module includes:

[0116] The first determining submodule is used to determine the vehicle's weight based on the vehicle's driving force and acceleration.

[0117] The second determining submodule is used to determine the vehicle state as the fully loaded state when the vehicle weight is greater than or equal to the first preset weight.

[0118] The third determining submodule is used to determine the vehicle status as the unloaded state when the vehicle weight is less than the first preset weight.

[0119] Optionally, the second determining module includes:

[0120] The first acquisition submodule is used to acquire a full-load escaping calibration table when the vehicle is in a fully loaded state. The full-load escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in a fully loaded state.

[0121] The fourth determining submodule is used to determine the target rising torque based on the current pedal opening and the full-load escape calibration table.

[0122] Optionally, the second determining module includes:

[0123] The second acquisition submodule is used to acquire an unloaded escaping calibration table when the vehicle is in an unloaded state. The unloaded escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in an unloaded state.

[0124] The fifth determining submodule is used to determine the target ascending torque based on the current pedal opening and the no-load escape calibration table.

[0125] Optionally, the device further includes:

[0126] The third acquisition module is used to acquire the first state information of the vehicle, which includes at least: high voltage connection status, vehicle controller fault level, escape switch status and power take-off status.

[0127] The first mode control module is used to control the vehicle to enter the traction mode when the high-voltage connection status is high-voltage connection, the fault level of the vehicle controller is no greater than level three, the traction switch status is active, and the power take-off status is not engaged.

[0128] Optionally, the device further includes:

[0129] The fourth acquisition module is used to acquire the vehicle's second state information in the escape mode. The vehicle's second state information includes at least: high-voltage connection status, vehicle controller fault level, and escape switch status.

[0130] The second mode control module is used to control the vehicle to exit the traction mode when the high-voltage connection status is high-voltage disconnected, or the vehicle controller fault level is greater than level three, or the traction switch status is invalid.

[0131] This application also provides a vehicle, including a vehicle body and a vehicle traction device disposed on the vehicle body, the vehicle traction device being used to perform a vehicle traction method.

[0132] refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention, such as... Figure 4 As shown, this application also provides an electronic device, including:

[0133] Processor 41;

[0134] The device has a memory 42 storing instructions and a computer program stored on the memory 42 that can run on the processor 41. When the computer program is executed by the processor 41, the device performs a vehicle extrication method.

[0135] This application also provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor 41 of an electronic device, enables the electronic device to perform the aforementioned vehicle extrication method.

[0136] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0137] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0139] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0141] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0142] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0143] The present invention has provided a detailed description of a vehicle extrication method, device, electronic device, and vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for getting a vehicle out of trouble, characterized in that, The method includes: In the escape mode, adjust the vehicle's gear to the lowest setting; The vehicle status is determined based on the vehicle weight information, including fully loaded and unloaded status. Determine the target torque for ascent based on the current pedal opening and vehicle condition; With the target torque as the adjustment target, the current torque is adjusted according to the adjustment slope of the traction torque, so that the torque gradually increases. The adjustment slope of the traction torque is less than the conventional torque adjustment slope in the normal driving mode. The method further includes: During the process of adjusting the current torque according to the slope of the traction torque adjustment, the motor speed is obtained in real time; When the motor speed is greater than a preset speed threshold, the target torque for the decrease is obtained; With the target torque for reduction as the adjustment target, the current torque is adjusted according to the conventional torque adjustment slope within a preset adjustment time. If the preset adjustment time is exceeded, return to the following steps: determine the target torque for lifting based on the current pedal opening and vehicle status, until the vehicle exits the traction mode; The determination of the target torque for lifting, based on the pedal opening and vehicle condition, includes: When the vehicle is in a fully loaded state, a fully loaded escape calibration table is obtained, which includes the correlation between pedal opening and target lifting torque when the vehicle is in a fully loaded state. Obtain the current pedal opening and, based on the current pedal opening, obtain the corresponding target rising torque from the full-load escape calibration table; When the vehicle is in an unloaded state, an unloaded escaping calibration table is obtained, which contains the correlation between pedal opening and target lifting torque when the vehicle is in an unloaded state. Obtain the current pedal opening and, based on the current pedal opening, obtain the corresponding target rising torque from the no-load escape calibration table.

2. The method according to claim 1, characterized in that, Determine the vehicle's status based on its weight information, including: The vehicle's weight is determined based on its driving force and acceleration. When the vehicle's weight is greater than or equal to a first preset weight, the vehicle's status is determined to be the fully loaded state. When the vehicle's weight is less than a first preset weight, the vehicle's status is determined to be the unloaded state.

3. The method according to claim 1, characterized in that, The method further includes: Obtain vehicle first status information, which includes at least: high voltage connection status, vehicle controller fault level, traction switch status, and power take-off status; When the high-voltage connection is in a high-voltage connection state, the fault level of the vehicle controller is no greater than level three, the traction switch is in an active state, and the power take-off is in an unengaged state, the vehicle is controlled to enter the traction mode.

4. The method according to claim 1, characterized in that, The method further includes: In the escaping mode, the vehicle's second state information is acquired, which includes at least: high-voltage connection status, vehicle controller fault level, and escaping switch status. When the high-voltage connection status is "high-voltage not connected", or the vehicle controller fault level is greater than level three, or the traction switch status is invalid, the vehicle is controlled to exit the traction mode.

5. A vehicle traction device, characterized in that, The device includes: The gear adjustment module is used to adjust the vehicle's gear to the lowest gear in the off-road mode; The first determining module is used to determine the vehicle status based on vehicle weight information, the vehicle status including fully loaded status and unloaded status. The second determining module is used to determine the target torque for lifting based on the current pedal opening and vehicle status; The first torque adjustment module is used to adjust the current torque according to the traction torque adjustment slope with the target torque as the adjustment target, so that the torque gradually increases. The traction torque adjustment slope is less than the conventional torque adjustment slope in normal driving mode. The first acquisition module is used to acquire the motor speed in real time during the process of adjusting the current torque according to the slope of the traction torque adjustment. The second acquisition module is used to acquire the target torque of the decrease when the motor speed is greater than a preset speed threshold. The second torque adjustment module is used to adjust the current torque according to the conventional torque adjustment slope within a preset adjustment time, with the target torque being the decrease target torque as the adjustment target. The return module is used to return to the following steps when the preset adjustment time is exceeded: determine the target torque for lifting based on the current pedal opening and vehicle status, until the vehicle exits the traction mode; The second determining module includes: The first acquisition submodule is used to acquire a full-load escaping calibration table when the vehicle is in a fully loaded state. The full-load escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in a fully loaded state. The fourth determination submodule is used to obtain the current pedal opening and, based on the current pedal opening, obtain the corresponding target rising torque from the full-load escape calibration table; The second acquisition submodule is used to acquire an unloaded escaping calibration table when the vehicle is in an unloaded state. The unloaded escaping calibration table contains the correlation between the pedal opening and the target rising torque when the vehicle is in an unloaded state. The fifth determination submodule is used to obtain the current pedal opening and, based on the current pedal opening, obtain the corresponding target rising torque from the no-load escape calibration table.

6. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle extrication method as described in any one of claims 1 to 4.

7. A vehicle, characterized in that, The system includes a vehicle body and a vehicle traction device disposed on the vehicle body, the vehicle traction device being used to perform the vehicle traction method as described in any one of claims 1-4.

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