A vehicle driving control method, vehicle, and storage medium

Abstract

The present invention discloses a vehicle driving control method, a vehicle and a storage medium. The method includes: obtaining the state information of the vehicle, and determining the tire state of the vehicle according to the state information; when there is a tire with a flat tire state, obtaining the tire information and speed information corresponding to the flat tire; determining first control information according to the tire information; determining second control information according to the speed information; controlling the vehicle according to the first control information and the second control information, which solves the problems of high cost and inconvenient operation caused by replacing the spare tire or repairing the tire when the tire has a flat tire during the vehicle driving process. When controlling the vehicle, both the tire and the speed are considered, so that the vehicle can still drive safely when the tire has a flat tire, avoiding replacing or repairing the tire on the road, not increasing the cost of the vehicle, and not requiring the driver to master the method of replacing or repairing the tire, which is convenient for users; there is no need to use special tires, reducing the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle driving control method, a vehicle and a storage medium. Background Art

[0002] During vehicle driving, due to reasons such as uneven road surfaces and sharp objects, tire air leakage may occur. Current vehicle solutions for tire air leakage are as follows: 1) Replace the spare tire. However, this method increases the vehicle weight and space, and for drivers with less strength, it is not convenient to operate when replacing the spare tire; 2) Use a vehicle tire repair tool. This method increases the vehicle cost and is only effective for holes less than 5 mm. In addition, some repair fluids corrode the tires, and at the same time, the driver or passengers need to know the tire repair method; 3) Anti-puncture special tires. This method has a high price, complex repair, and the tire structure affects the vehicle driving performance. Summary of the Invention

[0003] The present invention provides a vehicle driving control method, a vehicle and a storage medium to solve the safety control of the vehicle when a tire leaks during vehicle driving.

[0004] According to one aspect of the present invention, there is provided a vehicle driving control method, including:

[0005] Obtain the status information of the vehicle, and determine the tire status of the vehicle according to the status information;

[0006] When there is a tire with a status of air leakage, obtain the tire information and speed information corresponding to the air-leaking tire;

[0007] Determine first control information according to the tire information;

[0008] Determine second control information according to the speed information;

[0009] Control the vehicle according to the first control information and the second control information.

[0010] According to another aspect of the present invention, there is provided a vehicle, the vehicle includes:

[0011] At least one processor; and

[0012] A memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle driving control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle driving control method according to any embodiment of the present invention when executed.

[0015] The technical solution of the embodiment of the present invention obtains the state information of the vehicle and determines the tire state of the vehicle according to the state information; when there is a tire with a flat tire state, obtains the tire information and speed information corresponding to the flat tire; determines the first control information according to the tire information; determines the second control information according to the speed information; and controls the vehicle according to the first control information and the second control information, solving the problems of high cost and inconvenient operation caused by replacing the spare tire or repairing the tire during the vehicle driving process. By judging whether the tire is flat through the state information of the vehicle, after the tire is flat, obtains the corresponding tire information and speed information, generates the first control information according to the tire information, generates the second control information according to the speed information, and considers both the tire and the speed when controlling the vehicle according to the first control information and the second control information, so that the vehicle can still drive safely when the tire is flat, avoiding replacing or repairing the tire on the road, not increasing the cost of the vehicle, and not requiring the driver to master the method of replacing or repairing the tire, which is convenient for users; without using special tires, the cost is reduced.

[0016] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a flowchart of a vehicle driving control method provided according to Embodiment 1 of the present invention;

[0019] Figure 2 is a flowchart of a vehicle driving control method provided according to Embodiment 2 of the present invention;

[0020] Figure 3 is a vertical balance schematic diagram of a tire flat state provided according to Embodiment 2 of the present invention;

[0021] Figure 4It is a schematic longitudinal balance diagram of the tire flat state provided by Embodiment 2 of the present invention;

[0022] Figure 5 It is a schematic structural diagram of a vehicle driving control device provided by Embodiment 3 of the present invention;

[0023] Figure 6 It is a schematic structural diagram of a vehicle implementing the vehicle driving control method of the embodiment of the present invention. Detailed implementation manners

[0024] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 This is a flowchart of a vehicle driving control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of vehicle driving control. This method can be executed by a vehicle driving control device, which can be implemented in the form of hardware and / or software, and the vehicle driving control device can be configured in a vehicle. As Figure 1 shown, the method includes:

[0028] S101. Obtain the state information of the vehicle, and determine the tire state of the vehicle according to the state information.

[0029] In this embodiment, the status information may be information that can reflect the current status of the vehicle during vehicle driving. For example, information about the vehicle's tires, information for controlling the vehicle during vehicle driving, and the like. The tire status may be normal or flat, which is used to indicate whether the vehicle's tire is flat.

[0030] Specifically, the status information of the vehicle is collected in real time. Different types of status information can be collected in different ways. For example, it can be directly collected through hardware such as sensors, or the corresponding information can be determined by controlling the acquisition signal through the vehicle's software, and so on. Analyze the tire status of each tire of the vehicle according to the status information. For example, when the status information includes tire pressure, if the tire pressure is low or the change in tire pressure is large, it is determined that the tire status of the vehicle is flat.

[0031] S102. When there is a tire with a flat status, obtain the tire information and speed information corresponding to the flat tire.

[0032] In this embodiment, the tire information may be the force condition, force magnitude, tire distance, etc. of the tire. The speed information may be speed information such as the vehicle's acceleration, real-time speed, average speed, etc.

[0033] After determining the tire status of each tire of the vehicle, determine whether there is a tire with a flat status. When there is a flat tire, determine the tire information corresponding to the flat tire, which may be the corresponding information of the flat tire or the corresponding information of other tires that work together with the flat tire. The speed information can be collected through sensors or determined according to the vehicle's vehicle control unit ECU.

[0034] S103. Determine the first control information according to the tire information.

[0035] In this embodiment, the first control information can be specifically understood as information for controlling the vehicle to drive safely according to the tire, and the first control information is related to the tire. Since the left and right vehicle heights are unbalanced after the vehicle's tire is flat and the vehicle cannot maintain balance, if the vehicle continues to drive, the service life of the tire will be damaged. Therefore, in the embodiment of the present application, the first control information is determined through the tire information so as to control the vehicle through the first control information and avoid damage to the tire. Analyze the force on the tire through the tire information, and combine the mechanical principle and formula to determine the force that needs to be applied to the vehicle. The force may include the magnitude, direction, etc. of the force. The first control information is generated according to the force that needs to be applied to the vehicle.

[0036] S104. Determine the second control information according to the speed information.

[0037] In this embodiment, the second control information is information for controlling the safe driving of the vehicle according to the speed, and the second control information is related to the speed of the vehicle. After the tire of the vehicle leaks air, to ensure the driving safety of the vehicle, therefore, it is necessary to control the vehicle according to the speed. Determine whether the current speed of the vehicle is within the safe driving range according to the speed information. If it is not within the safe driving range, control the vehicle to decelerate or stop accelerating, so that the vehicle maintains a lower speed and ensures the driving safety of the vehicle.

[0038] It should be noted that there is no strict order in the execution of S103 and S104. S103 can be executed first, S104 can be executed first, or they can be executed simultaneously. Figure 1 Taking the example of executing S103 first and then S104.

[0039] S105. Control the driving of the vehicle according to the first control information and the second control information.

[0040] Apply a certain force to the vehicle according to the first control information, and control the vehicle to drive under the action of this force to avoid tire damage. Control the driving speed of the vehicle according to the second control information to ensure the safe driving of the vehicle. Control the vehicle from two aspects of the tire and the speed, ensure that the vehicle can still drive safely when the tire leaks air, protect the tire of the vehicle at the same time, avoid tire damage, and extend the service life of the tire. Even if a tire leaks air during the driving of the vehicle, it can drive safely to the repair station without having to replace or repair the tire on the road by itself.

[0041] The embodiment of the present application provides a vehicle driving control method. By obtaining the state information of the vehicle and determining the tire state of the vehicle according to the state information; when there is a tire state of air leakage, obtain the tire information and speed information corresponding to the leaking tire; determine the first control information according to the tire information; determine the second control information according to the speed information; control the vehicle according to the first control information and the second control information, which solves the problems of high cost and inconvenient operation caused by replacing the spare tire or repairing the tire when the tire leaks air during the vehicle driving process. Determine whether the tire leaks air through the state information of the vehicle. After the tire leaks air, obtain the corresponding tire information and speed information, generate the first control information according to the tire information, generate the second control information according to the speed information, and consider both the tire and the speed when controlling the vehicle according to the first control information and the second control information, so that the vehicle can still drive safely when the tire leaks air, avoid replacing or repairing the tire on the road, will not increase the cost of the vehicle, and does not require the driver to master the method of replacing or repairing the tire, which is convenient for users; does not require the use of special tires, reducing costs.

[0042] Embodiment 2

[0043] Figure 2The flowchart of a vehicle driving control method provided in the second embodiment of the present invention. This embodiment is refined on the basis of the above embodiment. As Figure 2 shown, the method includes:

[0044] S201. Obtain the status information of the vehicle.

[0045] Optionally, the status information includes the tire pressure change amount and the tire side vehicle height.

[0046] In this embodiment, the tire pressure change amount can be specifically understood as the change amount of the air pressure inside the tire; the tire side vehicle height can be specifically understood as the vehicle height on the side where the tire is located. The tire side vehicle height can be obtained by dividing the vehicle into left and right sides, and the tire side vehicle heights corresponding to the tires on the same side are the same. Or the vehicle can be divided into front, rear, left, and right sides. Taking a vehicle with four tires as an example, the vehicle and the tires are divided into left front, left rear, right front, and right rear, and each tire corresponds to a tire side vehicle height.

[0047] Detect the tire pressure through a tire pressure detection device or sensor, and determine the tire pressure change amount according to the tire pressures at different times. Detect the tire side vehicle height by installing sensors on the vehicle. For the tire side vehicle height on one side, one or more sensors can be used for detection. When the same tire side vehicle height is collected by multiple sensors, the tire side vehicle height can be determined by calculating the average value, median, etc.

[0048] For each tire of the vehicle, determine the tire status respectively through S202 - S205.

[0049] S202. Determine the tire pressure change amount and the tire side vehicle height corresponding to each tire of the vehicle.

[0050] Specifically, the tire pressure change amount and the tire side vehicle height in the status information are stored according to the corresponding relationship with each tire. After obtaining the status information, determine the tire pressure change amount and the tire side vehicle height corresponding to each tire according to the corresponding relationship between each data and the tire.

[0051] S203. Determine the vehicle height change amount according to the tire side vehicle height in combination with the normal vehicle height.

[0052] In this embodiment, the normal vehicle height can be specifically understood as the normal height of the vehicle, that is, the height of the vehicle when the tires are not leaking air. Since the vehicle models of different vehicles may be different, the normal vehicle height is determined according to the vehicle, and the vehicle heights at different positions of the vehicle may also be different. Therefore, the normal vehicle height can be set correspondingly according to different positions. For example, the normal vehicle heights of the left front and left rear of the vehicle can be different, and since most vehicles are symmetric on the left and right sides, the normal vehicle heights corresponding to the left front and right front of the vehicle can be the same.

[0053] Preset the normal vehicle height corresponding to different tires, calculate the difference between the side vehicle height of the tire and its corresponding normal vehicle height, and use the difference as the vehicle height change amount.

[0054] S204. When the tire pressure change amount is greater than the preset tire pressure change amount threshold and the vehicle height change amount is greater than the preset vehicle height change amount threshold, determine that the tire state of the tire is a leak.

[0055] In this embodiment, the preset tire pressure change amount threshold can be specifically understood as the tire pressure boundary value used to determine whether the tire pressure change amount meets the requirements. For example, the preset tire pressure change amount threshold is 0.1 Bar / min; the vehicle height change amount threshold can be specifically understood as the height boundary value used to determine whether the vehicle height change meets the requirements. For example, the preset vehicle height change amount threshold is 10 mm.

[0056] Specifically, preset the preset tire pressure change amount threshold and the preset vehicle height change amount threshold, which can be determined according to different vehicles. Compare the size of the tire pressure change amount with the preset tire pressure change amount threshold, and at the same time compare the size of the vehicle height change amount with the vehicle height change amount threshold. When the tire pressure change amount is greater than the preset tire pressure change amount threshold and the vehicle height change amount is greater than the preset vehicle height change amount threshold, at this time, determine that the tire state of this tire is a leak.

[0057] When the tire pressure change amount is greater than the preset tire pressure change amount threshold, but the vehicle height change amount is not greater than the preset vehicle height change amount threshold, or the vehicle height change amount is greater than the preset vehicle height change amount threshold, but the tire pressure change amount is not greater than the preset tire pressure change amount threshold, at this time, it is determined that it is caused by other reasons and not a tire leak.

[0058] When a tire leak is detected, an alarm message can also be generated for alarm, and the driver can be prompted of the tire leak by means of voice broadcast, displaying text, pictures, etc. on the instrument panel or the center console.

[0059] S205. When there is a tire with a leak state, obtain the tire information and speed information corresponding to the leaking tire.

[0060] Optionally, the tire information includes the normal vertical force of the leaking tire, the normal vertical force of the target tire in the horizontal direction corresponding to the leaking tire, the vertical force change amount, and the vehicle wheelbase.

[0061] In this embodiment, the target tire can be specifically understood as the tire that works together with the leaking tire in the vehicle to ensure the horizontal balance of the vehicle. For example, if the leaking tire is the right rear wheel, the target tire is the left rear wheel. The vertical force change amount can be specifically understood as the change amount of the tire vertical force after the active stabilizer bar system applies a roll moment.

[0062] After determining the flat tire, according to the position of the flat tire, taking the center of the vehicle as the origin and the direction of the vehicle head as the longitudinal axis, a rectangular coordinate system is established to determine the tire in the same horizontal direction as the flat tire as the target tire.

[0063] The change amount of the vertical force and the vehicle track are determined in advance. The vehicle track is correspondingly determined after the vehicle is produced. The vehicle track is the distance between two tires in the horizontal direction, for example, the distance between the left front tire and the right front tire. The change amount of the vertical force can be determined according to the change amount of the vertical vector that the vehicle tires and rims can bear. Calculate the difference obtained by subtracting the bearable change amount from the vertical force borne by the vehicle tires under normal conditions, and determine this difference as the change amount of the vertical force.

[0064] As an optional embodiment of this embodiment, this optional embodiment further optimizes obtaining the tire information corresponding to the flat tire as follows:

[0065] A1. For the flat tire and the target tire, respectively obtain the historical tire side vehicle height corresponding to each acquisition moment within a preset time range.

[0066] For the flat tire and the target tire, the normal vertical force of the flat tire and the normal vertical force of the target tire in the tire information are determined in the manner of A1 - A4.

[0067] In this embodiment, the preset time range can be specifically understood as a preset time range, for example, 30 minutes, 20 minutes, etc. The historical tire side vehicle height can be specifically understood as the historical data of the tire side vehicle height, which is collected and stored by sensors, and its acquisition frequency can be the same as or different from the frequency obtained during use.

[0068] The preset time range is divided at a certain time interval to obtain different acquisition moments. Starting from the tire flat time, the end point is determined forward according to the preset time range, and the historical tire side vehicle height at each acquisition moment between the start point and the end point is determined. For example, the preset time range is 20 minutes, the acquisition interval is 1 minute, and the tire flat time is 9:35 on May 1, 2022, then the end point is 9:15 on May 1, 2022, and the historical tire side vehicle height is collected every 1 minute between 9:15 - 9:35. To ensure data accuracy, there is no tire flat situation within the preset time range.

[0069] A2. Determine the historical vehicle height change amount according to each historical tire side vehicle height.

[0070] In this embodiment, the historical vehicle height change can be specifically understood as the change in the vehicle height on the side of the tire. For each historical vehicle height on the side of the tire, calculate the difference between it and the corresponding normal vehicle height to obtain the corresponding historical vehicle height change. Alternatively, for each historical vehicle height on the side of the tire, calculate the difference between it and the historical vehicle height on the side of the tire at the previous moment as the historical vehicle height change.

[0071] A3. Determine the vertical force based on each historical vehicle height change in combination with the stiffness curve of the vehicle suspension system.

[0072] In this embodiment, the stiffness curve of the vehicle suspension system is determined according to the vehicle. That is, after the vehicle is determined, the stiffness curve of the vehicle suspension system is correspondingly determined. The abscissa of the stiffness curve is the distance (i.e., the historical vehicle height change in this application), and the ordinate is the force (i.e., the vertical force in this application).

[0073] For each historical vehicle height change, use it as the abscissa and determine the corresponding ordinate in the stiffness curve of the vehicle suspension system. Take the ordinate as the vertical force.

[0074] Preferably, the unit of the abscissa of the stiffness curve is millimeter (mm), and the unit of the ordinate is Newton (N).

[0075] A4. Determine the corresponding normal vertical force based on each vertical force.

[0076] Perform operations on each vertical force. For example, calculate the average value, maximum value, minimum value, median, weighted sum, etc. to determine the normal vertical force corresponding to the tire.

[0077] S206. Calculate the sum of the normal vertical force of the target tire and the vertical force change to obtain the first vertical force.

[0078] S207. Calculate the difference between the normal vertical force of the flat tire and the vertical force change to obtain the second vertical force.

[0079] S208. Calculate the difference between the first vertical force and the second vertical force.

[0080] S209. Determine the product of the difference and the vehicle track width, and take half of the product as the vehicle roll moment.

[0081] In this embodiment, the vehicle roll moment is the moment applied to the vehicle to suppress vehicle roll. Calculate the product of the sum value and the vehicle track width, and divide the product by 2 to obtain the vehicle roll moment.

[0082] It should be noted that both the first vertical force and the second vertical force are intermediate values involved in the calculation process. Among them, the first vertical force is the vertical force borne by the target tire after applying the vehicle roll moment, and the second vertical force is the vertical force borne by the flat tire after applying the vehicle roll moment.

[0083] Exemplarily, steps S206 - S209 can be represented by the following formula:

[0084]

[0085] Where M1 is the vehicle roll moment, Fz l is the normal vertical force of the target tire, Fz r is the normal vertical force of the flat tire, △Fz is the change in vertical force, and B is the vehicle track width.

[0086] S210. Generate first control information based on the vehicle roll moment.

[0087] Generating first control information based on the vehicle roll moment, the first control information can be used to indicate how to control the vehicle.

[0088] S211. Control the vehicle's active stabilizer bar system according to the first control information, so that the active stabilizer bar system controls the vehicle to travel according to the first control information.

[0089] After a tire of the vehicle goes flat, the left and right vehicle heights are unbalanced. To maintain balance and protect the flat tire and the rim on the flat side, the active stabilizer bar system is controlled by the first control information to apply a vehicle roll moment around the roll center, so that the left and right vehicle heights of the vehicle are balanced, ensuring that the flat tire bears a small vertical force that will not cause further damage to the rim and the tire - rim.

[0090] Exemplarily, Figure 3 is a schematic diagram of vertical balance in the flat - tire state provided by an embodiment of the present application, Figure 3 which is a rear view. Taking the right rear tire going flat as an example, the normal vertical force of the right rear tire 31 is Fz r , and the left rear tire 32 is used as the target tire. The normal vertical force of the left rear tire 32 is Fz l . After determining the vehicle roll moment M1, a roll moment is applied around the roll center. At this time, the vertical force borne by the right rear tire 31 is Fz r -ΔFz, and the vertical force borne by the left rear tire 32 is Fz l +ΔFz.

[0091] Optionally, the speed information includes vehicle acceleration and vehicle speed.

[0092] S212. When the vehicle acceleration is greater than a preset acceleration threshold or the vehicle speed is greater than a preset speed threshold, it is determined that the vehicle meets the power control condition.

[0093] In this embodiment, the preset acceleration threshold can be specifically understood as the threshold for judging whether the acceleration of the vehicle is safe. The preset speed threshold can be specifically understood as the threshold for judging whether the driving speed of the vehicle is safe. The power control condition can be specifically understood as the condition for judging whether the vehicle needs power control.

[0094] Specifically, preset the preset acceleration threshold and the preset speed threshold to ensure the safety of the vehicle. Compare the magnitude of the vehicle acceleration with the preset acceleration threshold, and at the same time compare the magnitude of the vehicle speed with the preset speed threshold. If the vehicle acceleration is greater than the preset acceleration threshold, or the vehicle speed is greater than the preset speed threshold, it is determined that the vehicle meets the power control condition.

[0095] S213. Generate second control information according to the preset power output condition.

[0096] In this embodiment, the power output condition can be specifically understood as the condition indicating how the vehicle outputs power. For example, the power output condition is to control the vehicle to have no power output, control the vehicle speed not to exceed the preset speed threshold, and the vehicle acceleration not to exceed the preset acceleration threshold. Preset the power output condition, and the power output condition can be set according to the actual vehicle. Generate second control information according to the power output condition.

[0097] S214. Control the power actuator of the vehicle according to the second control information, so that the power actuator controls the vehicle to travel according to the second control information.

[0098] Control the power actuator according to the second control information to achieve power output control. The power actuator controls the vehicle speed and acceleration according to the second control information, avoiding sudden acceleration operations of the vehicle, and at the same time maintaining the vehicle traveling at a relatively low speed to ensure the safety of the vehicle. For example, when it is detected that the vehicle speed exceeds the preset speed threshold or the vehicle acceleration exceeds the preset acceleration threshold, the power actuator controls mechanisms such as the throttle pedal to prevent the vehicle from accelerating, reduce the vehicle speed to the safe range, and maintain traveling within the safe driving speed range.

[0099] S215. Obtain the yaw angular velocity of the vehicle.

[0100] The yaw angular velocity can be collected by sensors. One or more sensors can be installed on the vehicle to collect the yaw angular velocity. If the number of sensors is multiple, perform mathematical operations on the multiple yaw angular velocities to obtain the final yaw angular velocity. The operation methods can be calculating the average value, maximum value, minimum value, weighted summation, etc.

[0101] S216. When the yaw angular velocity meets the vehicle yaw abnormality condition, determine the braking force and the tires to be controlled.

[0102] In this embodiment, the vehicle yaw abnormal condition may be that the yaw rate of the vehicle is greater than a certain threshold; the tire to be controlled can be specifically understood as the tire with control requirements.

[0103] When the yaw rate satisfies the vehicle yaw abnormal condition, according to the position of the flat tire, taking the vehicle center as the origin and the vehicle head direction as the longitudinal axis, a rectangular coordinate system is established, and the tire in the same vertical direction as it is determined as the tire to be controlled. When the number of vehicle tires is greater than 4, there are at least two tires in the vertical direction, and the tire to be controlled can be any one of them. For example, if the right rear tire is flat, the tire to be controlled is the right front tire.

[0104] Exemplarily, taking the threshold as 1.3 times the yaw rate ws of a normal vehicle as an example, when the yaw rate is greater than 1.3 times the yaw rate of a normal vehicle, it is determined that the vehicle yaw is abnormal. The yaw rate of a normal vehicle is calculated based on a vehicle model of the steering wheel angle.

[0105] The limit values of the longitudinal forces Fxl and Fxr that can be provided by the tires of a normal vehicle are determined by multiplying the vertical forces Fzl and Fzr by the road surface friction coefficient. When a tire is flat, taking the flat tire of the right rear side as an example, the vertical force changes to (Fzr - △Fz), and the longitudinal force that can be provided changes to a significant reduction in Fxr, while the left rear tire can normally provide the longitudinal force. At this time, it is equivalent to the vehicle driving on a split road surface, that is, one side is a normal road surface and the other side is an ice surface, and the vehicle is prone to yaw. To suppress yaw, a certain braking force Fx2 needs to be applied to the right front tire to generate a yaw suppression moment. The yaw moment M2 is shown in the following formula. It should be noted that this formula is only for principle explanation.

[0106]

[0107] Among them, M2 is the moment applied by the electronic braking device to suppress the vehicle yaw, Fx l is the longitudinal force of the left rear tire under normal vehicle conditions, Fx r is the longitudinal force of the right rear tire under normal vehicle conditions, △Fx is the change in the longitudinal force caused by the change in the vertical force, Fx 2 The electronic braking is the braking force applied to the tire to be controlled to suppress the vehicle yaw.

[0108] S217. Control the electronic braking actuator of the vehicle according to the braking force, so that the electronic braking actuator controls the tire to be controlled.

[0109] When the yaw rate of the vehicle satisfies the vehicle yaw abnormal condition, at this time, the vehicle has a yaw situation. To maintain the yaw balance of the vehicle, a braking force Fx is applied to the tire to be controlled of the vehicle through the electronic braking actuator 2 to make the vehicle generate a yaw suppression moment M2.

[0110] Exemplarily, Figure 4 FIG. 253 is a longitudinal balance schematic diagram of a tire flat state provided by an embodiment of the present application. Figure 4 FIG. 255 is a top view of a vehicle. Taking the right rear wheel 41 being flat as an example, the right front wheel 42 is used as the tire to be controlled, and a braking force Fx is applied to the right front wheel 42. 2 After that, the longitudinal force borne by the right rear wheel 41 is Fx. r -ΔFx. At the same time, a roll moment M1 is applied to the vehicle, and the vertical force borne by the left rear wheel 43 is Fx. 1 = Fz l +ΔFz.

[0111] It should be noted that there is no strict sequence for generating the first control information and the second control information in the present application, and there is no strict sequence for controlling the vehicle through the first control information, the second control information, and the braking force, and it is preferably carried out simultaneously. Therefore, Figure 2 Taking the parallel execution of S206 - S211, S212 - S214, and S215 - S217 as an example, the control process of the vehicle is described.

[0112] After a tire of the vehicle is punctured and deflated, the present application realizes vehicle attitude control through the active stabilizer bar system to ensure that the punctured tire and the rim bear a small vertical force that will not cause damage; controls the power output of the vehicle through the power actuator to achieve a low power output level to ensure vehicle safety; realizes the left - right balance of the braking force and the driving force through the cooperation of the electronic brake actuator to ensure stable vehicle driving; enables the vehicle to travel at a low speed for a certain distance without changing the spare tire to reach the repair location through the above - mentioned measures. Because the whole vehicle does not need to be equipped with a spare tire, other repair tools, or specially made tires, the weight and use cost of the whole vehicle are reduced, the use space is increased, the driving range and the economy of the whole vehicle are improved, and the user experience is enhanced. At the same time, there is no need to change the spare tire, which is convenient for users.

[0113] Embodiment III

[0114] Figure 5 FIG. 263 is a structural schematic diagram of a vehicle driving control device provided by Embodiment III of the present invention. As Figure 5 shown, the device includes: a state determination module 51, an information acquisition module 52, a first control information generation module 53, a second control information generation module 54, and a control module 55.

[0115] Among them, the state determination module 51 is configured to acquire the state information of the vehicle and determine the tire state of the vehicle according to the state information;

[0116] The information acquisition module 52 is configured to acquire the tire information and speed information corresponding to the flat tire when there is a flat tire state.

[0117] The first control information generation module 53 is configured to determine first control information according to the tire information;

[0118] The second control information generation module 54 is configured to determine second control information according to the speed information;

[0119] The control module 55 is configured to control the vehicle to travel according to the first control information and the second control information.

[0120] The embodiment of the present application provides a vehicle driving control device, which solves the problems of high cost and inconvenient operation caused by replacing the spare tire or repairing the tire when the tire leaks during the vehicle driving process. It judges whether the tire leaks through the state information of the vehicle. After the tire leaks, it obtains the corresponding tire information and speed information, generates the first control information according to the tire information, generates the second control information according to the speed information, and considers both the tire and the speed when controlling the vehicle according to the first control information and the second control information, so that the vehicle can still drive safely when the tire leaks, avoiding replacing or repairing the tire on the road, not increasing the cost of the vehicle, and not requiring the driver to master the method of replacing or repairing the tire, which is convenient for users; there is no need to use special tires, reducing costs.

[0121] Optionally, the state information includes the tire pressure change amount and the tire side vehicle height, and the state determination module 51 includes:

[0122] The air pressure and vehicle height determination unit is configured to determine the tire pressure change amount and the tire side vehicle height corresponding to each tire of the vehicle;

[0123] The vehicle height change determination unit is configured to determine the vehicle height change amount according to the tire side vehicle height in combination with the normal vehicle height;

[0124] The state determination unit is configured to determine that the tire state of the tire is leaking when the tire pressure change amount is greater than a preset tire pressure change amount threshold and the vehicle height change amount is greater than a preset vehicle height change amount threshold.

[0125] Optionally, the tire information includes the normal vertical force of the leaking tire, the normal vertical force of the target tire corresponding to the leaking tire in the horizontal direction, the vertical force change amount, and the vehicle wheelbase.

[0126] Optionally, the information acquisition module 52 includes:

[0127] The historical vehicle height determination unit is configured to respectively obtain the historical tire side vehicle heights corresponding to each acquisition moment within a preset time range for the leaking tire and the target tire;

[0128] The historical vehicle height change determination unit is configured to determine the historical vehicle height change amount according to each of the historical tire side vehicle heights;

[0129] A vertical force determination unit, configured to determine a vertical force according to each of the historical vehicle height change amounts in combination with a stiffness curve of a vehicle suspension system;

[0130] A normal vertical force determination unit, configured to determine a corresponding normal vertical force according to each of the vertical forces.

[0131] Optionally, the first control information generation module 53 includes:

[0132] A first vertical force calculation unit, configured to calculate a sum of a normal vertical force of a target tire and the vertical force change amount to obtain a first vertical force;

[0133] A second vertical force calculation unit, configured to calculate a difference between a normal vertical force of a flat tire and the vertical force change amount to obtain a second vertical force;

[0134] A difference calculation unit, configured to calculate a difference between the first vertical force and the second vertical force;

[0135] A roll moment determination unit, configured to determine a product of the difference and a vehicle track width, and take half of the product as a vehicle roll moment;

[0136] A first control information generation unit, configured to generate first control information according to the vehicle roll moment.

[0137] Optionally, the speed information includes a vehicle acceleration and a vehicle speed, and the second control information generation module 54 includes:

[0138] A speed determination unit, configured to determine that the vehicle meets a power control condition when the vehicle acceleration is greater than a preset acceleration threshold or the vehicle speed is greater than a preset speed threshold;

[0139] A second control information generation unit, configured to generate second control information according to a preset power output condition.

[0140] Optionally, the control module 55 includes:

[0141] A first control unit, configured to control an active stabilizer bar system of the vehicle according to the first control information, so that the active stabilizer bar system controls the vehicle to travel according to the first control information;

[0142] A second control unit, configured to control a power actuator of the vehicle according to the second control information, so that the power actuator controls the vehicle to travel according to the second control information.

[0143] Optionally, the device further includes:

[0144] An angular velocity acquisition module, configured to acquire a yaw angular velocity of the vehicle;

[0145] A braking force determination module, configured to determine a braking force and a tire to be controlled when the yaw rate satisfies the vehicle yaw anomaly condition;

[0146] A braking force control module, configured to control an electronic brake actuator of the vehicle according to the braking force, so that the electronic brake actuator controls the tire to be controlled.

[0147] The vehicle driving control device provided by an embodiment of the present invention can execute the vehicle driving control method provided by any embodiment of the present invention, and has function modules and beneficial effects corresponding to the execution of the method.

[0148] Embodiment 4

[0149] Figure 6 FIG. shows a schematic structural diagram of a vehicle 60 that can be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0150] As Figure 6 shown, the vehicle 60 includes at least one processor 61 and a memory communicatively connected to the at least one processor 61, such as a read-only memory (ROM) 62, a random access memory (RAM) 63, etc. The memory stores a computer program executable by the at least one processor. The processor 61 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 62 or the computer program loaded from the storage unit 68 into the random access memory (RAM) 63. In the RAM 63, various programs and data required for the operation of the vehicle 60 can also be stored. The processor 61, the ROM 62, and the RAM 63 are connected to each other through a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0151] Multiple components in the vehicle 60 are connected to the I / O interface 65, including: an input unit 66, such as a keyboard, a mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a magnetic disk, an optical disc, etc.; and a communication unit 69, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 69 allows the vehicle 60 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0152] The processor 61 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 61 executes the various methods and processes described above, such as the vehicle driving control method.

[0153] In some embodiments, the vehicle driving control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 68. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle 60 via the ROM 62 and / or the communication unit 69. When the computer program is loaded into the RAM 63 and executed by the processor 61, one or more steps of the vehicle driving control method described above can be executed. Alternatively, in other embodiments, the processor 61 can be configured to execute the vehicle driving control method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the computer programs are executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] To provide for interaction with a user, the systems and techniques described herein can be implemented on a vehicle that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vehicle. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0158] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0159] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0160] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0161] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle driving control method, characterized in that, it includes: Obtain the state information of the vehicle, and determine the tire state of the vehicle according to the state information; When there is a tire with a flat tire state, obtain the tire information and speed information corresponding to the flat tire; Determine the first control information according to the tire information; Determine the second control information according to the speed information; Control the vehicle to drive according to the first control information and the second control information; Wherein, the tire information includes the normal vertical force of the flat tire, the normal vertical force of the target tire corresponding to the flat tire in the horizontal direction, the vertical force change amount, and the vehicle wheelbase; Wherein, the determining the first control information according to the tire information includes: Calculate the sum of the normal vertical force of the target tire and the vertical force change amount to obtain the first vertical force; Calculate the difference between the normal vertical force of the flat tire and the vertical force change amount to obtain the second vertical force; Calculate the difference between the first vertical force and the second vertical force; Determine the product of the difference value and the vehicle wheelbase, and take half of the product as the vehicle roll moment; Generate the first control information according to the vehicle roll moment.

2. The method according to claim 1, characterized in that, The state information includes the tire pressure change amount and the tire side vehicle height, and the determining the tire state of the vehicle according to the state information includes: Determine the tire pressure change amount and the tire side vehicle height corresponding to each tire of the vehicle; Determine the vehicle height change amount according to the tire side vehicle height combined with the normal vehicle height; When the tire pressure change amount is greater than the preset tire pressure change amount threshold and the vehicle height change amount is greater than the preset vehicle height change amount threshold, determine that the tire state of the tire is flat.

3. The method according to claim 1, characterized in that, Obtaining the tire information corresponding to the flat tire includes: For the flat tire and the target tire, respectively obtain the historical tire side vehicle height corresponding to each acquisition moment within a preset time range; Determine the historical vehicle height change amount according to each of the historical tire side vehicle heights; Determine the vertical force according to each of the historical vehicle height change amounts combined with the stiffness curve of the vehicle suspension system; Determine the corresponding normal vertical force according to each of the vertical forces.

4. The method according to claim 1, characterized in that, The speed information includes the vehicle acceleration and the vehicle speed, and the determining the second control information according to the speed information includes: When the vehicle acceleration is greater than the preset acceleration threshold or the vehicle speed is greater than the preset speed threshold, determine that the vehicle meets the power control condition; Generate the second control information according to the preset power output condition.

5. The method according to claim 1, characterized in that, The controlling the vehicle to drive according to the first control information and the second control information includes: Control the active stabilizer bar system of the vehicle according to the first control information, so that the active stabilizer bar system controls the vehicle to drive according to the first control information; Control the power actuator of the vehicle according to the second control information, so that the power actuator controls the vehicle to drive according to the second control information.

6. The method according to any one of claims 1-5, characterized in that, It further includes: Obtain the yaw rate of the vehicle; When the yaw rate satisfies the vehicle yaw anomaly condition, determine the braking force and the tires to be controlled; Control the electronic braking actuator of the vehicle according to the braking force, so that the electronic braking actuator controls the tires to be controlled.

7. A vehicle, characterized in that, the vehicle includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the vehicle driving control method according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the vehicle driving control method according to any one of claims 1-6 is implemented.

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