Control method, control device, storage medium and processor of active escape function

Abstract

The present invention provides a control method, a control device, a storage medium and a processor for an active escape function, the control method for the active escape function comprises: receiving an active escape instruction, wherein the active escape instruction is used to get the vehicle out of trouble; collecting the working condition information of the vehicle, the working condition information comprises at least one of the following: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the drive shaft information on the trapped tire side of the vehicle; based on the working condition information, generating a control strategy, the control strategy is used to control the target device of the vehicle to execute the target control strategy. By applying the technical solution of the present invention, the vehicle can be automatically escaped without the intervention of the driver under the action of the multiple systems of the active shock absorber system, the braking system, the power system and the tire system of the vehicle, thereby solving the problem that the vehicle in the prior art cannot achieve automatic escape.

Description

Technical Field

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

[0002] With the development of electronic control systems for automobile chassis, more and more vehicles are equipped with active shock absorber systems. The power supply of active shock absorbers is relatively large, and they can respond to road impacts within milliseconds, so active shock absorbers can effectively maintain vehicle stability. Since active shock absorbers can quickly adjust the stroke of the piston rod of the active shock absorber, the vertical force provided by the ground can be rapidly increased during the adjustment of the stroke of the piston rod of the active shock absorber, thereby improving the ground adhesion of the tires, which is used to help vehicles get out of trouble when they are stuck in low-adhesion roads such as sand or snow.

[0003] However, in the prior art, when a vehicle is stuck, the vehicle cannot automatically get out of the jam, and the driver is usually required to intervene by stepping on the accelerator, adjusting the gear, etc. to get the vehicle out of the jam. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method, a control device, a storage medium and a processor for an active escape function, so as to solve the problem in the prior art that vehicles cannot automatically escape from distress.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a control method for an active escape function, comprising: receiving an active escape instruction, wherein the active escape instruction is used to get a vehicle out of trouble; collecting operating condition information of the vehicle, the operating condition information comprising at least one of the following: slip rate of a trapped tire of the vehicle, target stroke of a piston rod of an active shock absorber on the trapped tire side of the vehicle, and drive shaft information on the trapped tire side of the vehicle; based on the operating condition information, generating a control strategy, the control strategy being used to control a target device of the vehicle to execute a target control strategy.

[0006] Optionally, the vehicle's operating condition information is collected, including: collecting the vehicle speed and the wheel speed of the vehicle's tires; determining the slip rate of the tire based on the vehicle speed and the wheel speed; when the slip rate meets a first preset condition, determining that the tire is a trapped tire, and collecting the slip rate of the trapped tire, the target stroke of the piston rod of the active shock absorber on the trapped tire side, and the drive shaft information on the trapped tire side.

[0007] Optionally, a control strategy is generated based on the operating condition information, including: determining a target tire pressure required for the trapped tire based on the slip rate; generating a control strategy based on the target tire pressure, the control strategy being used to control the vehicle's intelligent tire controller to execute a tire pressure control strategy, the tire pressure control strategy being used to control the deflation of the trapped tire until the tire pressure of the trapped tire reaches the target tire pressure.

[0008] Optionally, based on the operating condition information, a control strategy is generated, including: determining the vertical load value of the trapped tire based on the target stroke of the piston rod; determining the response time of the push rod stroke of the active shock absorber based on the target stroke of the piston rod and the vertical load value; comparing the maximum amplitude and maximum frequency of the vehicle body acceptable to the driver with the maximum amplitude and maximum frequency of the piston rod of the active shock absorber within the response time to obtain a comparison result; determining the target amplitude and target frequency of the piston rod of the active shock absorber based on the comparison result; generating a control strategy based on the target amplitude and target frequency, the control strategy being used to control the vehicle's active shock absorber controller to execute a vibration control strategy, and the vibration control strategy being used to control the piston rod of the active shock absorber to vibrate at the target amplitude and target frequency.

[0009] Optionally, a control strategy is generated based on the operating condition information, including: determining a target driving force required to escape the trapped tire based on the slip rate and the target tire pressure; generating a control strategy based on the drive shaft information on the trapped tire side of the vehicle and the target driving force to escape, the control strategy being used to control the vehicle controller to execute a drive control strategy, the drive control strategy being used to control the drive shaft on the trapped tire side to be connected to the power motor, control the remaining drive shafts to be disconnected from the power motor, and control the power motor to apply the target driving force to the trapped tire when the target stroke of the piston rod meets a second preset condition.

[0010] Optionally, a target driving force required to escape the trapped tire is determined based on the slip rate and the target tire pressure, including: determining the adhesion coefficient of the trapped tire based on the slip rate and the target tire pressure; determining the target driving force required to escape the trapped tire based on the adhesion coefficient and the vertical load value.

[0011] According to another aspect of an embodiment of the present invention, a control device for an active escape function is provided, comprising: a receiving unit for receiving an active escape instruction, wherein the active escape instruction is used to get a vehicle out of trouble; a collecting unit for collecting operating condition information of the vehicle, the operating condition information comprising at least one of the following: a slip rate of a trapped tire of the vehicle, a target stroke of a piston rod of an active shock absorber on the trapped tire side of the vehicle, and drive shaft information on the trapped tire side of the vehicle; and a control unit for generating a control strategy based on the operating condition information, the control strategy being used to control a target device of the vehicle to execute a target control strategy.

[0012] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein the computer program is configured to control the execution of the above-mentioned active escape function during runtime.

[0013] According to another aspect of an embodiment of the present invention, a processor is provided, and the processor is used to run a program, wherein the processor executes the control method of the active escape function through the computer program.

[0014] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the control method of the active escape function through the computer program.

[0015] By applying the technical solution of the present invention, after receiving an active escape instruction, the operating condition information of the vehicle is first collected, the operating condition information including at least one of the following: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the drive shaft information on the trapped tire side of the vehicle. Based on the operating condition information, a control strategy is generated, and the control strategy is used to control the target device of the vehicle to execute the target control strategy. Under the action of multiple systems such as the active shock absorber system, the braking system, the power system, and the tire system of the vehicle, the vehicle can be automatically escaped without the intervention of the driver, thereby solving the problem that vehicles in the prior art cannot be automatically escaped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic flow chart showing a first embodiment of a control method for an active escape function according to the present invention;

[0018] Figure 2 A schematic flow chart showing a second embodiment of a method for controlling an active escape function according to the present invention;

[0019] Figure 3 It shows a structural block diagram of a control device for active escape function according to one embodiment of the present invention;

[0020] Figure 4 A hardware structure block diagram of an electronic device of a control method for an active escape function according to one embodiment of the present invention is shown;

[0021] Figure 5 A schematic flow chart showing a third embodiment of a method for controlling an active escape function according to the present invention;

[0022] Figure 6 A schematic flow chart showing a fourth embodiment of a method for controlling an active escape function according to the present invention;

[0023] Figure 7 A schematic flow chart of a fifth embodiment of a method for controlling an active escape function according to the present invention is shown. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] According to an embodiment of the present invention, a method embodiment of a control method for an active escape function is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] like Figure 1 FIG. 1 is a flow chart of a first embodiment of a control method for an active escape function according to the present application. Figure 1 As shown, the control method of the active escape function includes the following steps:

[0029] Step S102, receiving an active escape instruction, wherein the active escape instruction is used to get the vehicle out of trouble;

[0030] Step S104, collecting the working condition information of the vehicle, the working condition information including at least one of the following: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the driving shaft information on the trapped tire side of the vehicle;

[0031] Step S106: generating a control strategy based on the operating condition information, where the control strategy is used to control a target device of the vehicle to execute a target control strategy.

[0032] Through the above steps, the vehicle can be automatically freed from trouble under the action of the vehicle's active shock absorber system, braking system, power system, and tire system without the need for driver intervention, thereby solving the problem in the prior art that vehicles cannot be automatically freed from trouble.

[0033] Alternatively, if Figure 5 As shown, collecting the working condition information of the vehicle includes the following steps:

[0034] Step S202, collecting the vehicle speed and the wheel speed of the vehicle tires;

[0035] Step S204, determining the tire slip rate based on the vehicle speed and wheel speed;

[0036] Step S206, when the slip ratio meets the first preset condition, determine that the tire is a trapped tire, collect the slip ratio of the trapped tire, the target stroke of the piston rod of the active shock absorber on the trapped tire side, and the drive shaft information on the trapped tire side.

[0037] In this embodiment, if the current driver starts the active escape command, the active escape function starts to work. The in-traffic sensing module receives the vehicle speed and the four wheel speeds V of the left front, right front, left rear and right rear from the electronic stability program controller of the braking system through the CAN network. wi (i=1, 2, 3, 4), calculate the slip rate s of the four tires according to the following formula i :

[0038]

[0039] Define the slip rate threshold as s max The first preset condition is that the slip rate is greater than the slip rate threshold, and the slip rates s of the four tires are calculated. i Is it greater than s? max If yes, it means that the corresponding tire is slipping, and the trapped tire signal and the trapped tire slip rate s i The information is sent to the escape calculation module, and the piston rod stroke of the active shock absorber on the trapped tire side and the drive shaft information on the trapped tire side are collected.

[0040] Alternatively, if Figure 6 As shown, based on the operating condition information, a control strategy is generated, including the following steps:

[0041] Step S1061, determining a target tire pressure required for the trapped tire based on the slip rate;

[0042] Step S1062, based on the target tire pressure, a control strategy is generated, the control strategy is used to control the vehicle's intelligent tire controller to execute the tire pressure control strategy, the tire pressure control strategy is used to control the trapped tire to deflate until the tire pressure of the trapped tire reaches the target tire pressure.

[0043] Specifically, the escape calculation module determines which tire or tires are slipping (i.e., the trapped tires), and calculates the target tire pressure P required for the trapped tire according to the slip rate value of the trapped tire according to the slip rate-tire pressure curve MAP. i The signal is sent to the intelligent tire controller, which deflates the trapped tire until the tire pressure of the trapped tire reaches the target tire pressure to improve the ground adhesion coefficient of the trapped tire.

[0044] Alternatively, if Figure 7 As shown, based on the operating condition information, a control strategy is generated, including the following steps:

[0045] Step S1063, determining the vertical load value of the trapped tire based on the target stroke of the piston rod;

[0046] Step S1064, determining the response time of the push rod stroke of the active shock absorber based on the piston rod target stroke and the vertical load value;

[0047] Step S1065, comparing the maximum amplitude and maximum frequency of the vehicle body acceptable to the driver with the maximum amplitude and maximum frequency of the piston rod of the active shock absorber within the response time to obtain a comparison result;

[0048] Step S1066, determining a target amplitude and a target frequency of the piston rod of the active shock absorber based on the comparison result;

[0049] Step S1067, generating a control strategy based on the target amplitude and the target frequency, the control strategy is used to control the active shock absorber controller of the vehicle to execute a vibration control strategy, and the vibration control strategy is used to control the piston rod of the active shock absorber to vibrate according to the target amplitude and the target frequency.

[0050] In this embodiment, the escape calculation module sends the active shock absorber piston rod stroke signal of the trapped tire side (left front, right front, left rear, right rear) to the active shock absorber controller. The active shock absorber piston rod target stroke signal is a standard sinusoidal signal, and the amplitude and frequency calibration method is as follows: place the actual vehicle on a four-post platform, send the standard sinusoidal signal to the active shock absorber controller, the active shock absorber controller controls the increase or decrease of the active shock absorber push rod stroke, collects the vehicle height value sent by the vehicle height sensor in the suspension system in real time, and converts it into the actual value of the active shock absorber push rod stroke according to the vehicle height-active shock absorber push rod stroke curve MAP. Record the active shock absorber piston rod target stroke value and tire vertical load value F zi, where the tire vertical load value F zi That is, the load value collected by the force sensor of the four-column action cylinder. zi Compared with the target stroke value of the active shock absorber piston rod, the response time of the active shock absorber push rod stroke is calculated (when the target stroke value of the active shock absorber piston rod reaches the maximum positive amplitude value and the tire vertical load value F with the closest time difference zi The driver subjectively feels the vibration amplitude and frequency of the vehicle body in real time in the car. When the vibration amplitude and frequency of the vehicle body are acceptable to the driver and the response time of the active shock absorber push rod stroke does not exceed the maximum response time, the maximum amplitude and frequency of the standard sinusoidal signal are the amplitude and frequency of the active shock absorber piston rod target stroke signal. Through such control, the active shock absorber can vibrate with the maximum amplitude, thereby increasing the vertical load of the tire, which is beneficial to the active escape of the trapped tire of the vehicle.

[0051] Optionally, a control strategy is generated based on the working condition information, including determining the target driving force required for the trapped tire to escape based on the slip rate and the target tire pressure, and generating a control strategy based on the drive shaft information on the trapped tire side of the vehicle and the target driving force to escape, the control strategy is used to control the vehicle controller to execute the drive control strategy, the drive control strategy is used to control the drive shaft on the trapped tire side to be connected to the power motor, control the remaining drive shafts to be disengaged from the power motor, and control the power motor to apply the target driving force to escape to the trapped tire when the target stroke of the piston rod meets the second preset condition. Specifically, the escape calculation module sends the drive shaft information on the corresponding trapped tire side to the vehicle controller according to the trapped tire, and the vehicle controller only connects the drive shaft corresponding to the trapped tire to the power motor, and the remaining drive shafts are disengaged from the power motor, so that the power output by the power motor only acts on the trapped tire to increase the driving force of the trapped tire. Among them, after the on-board information controller sends the active escape command signal to the vehicle controller, the vehicle controller controls the output torque of the power motor no longer based on the throttle opening, but through control to make the driving force of the trapped tire equal to the target escape driving force sent by the escape calculation module.

[0052] In an exemplary embodiment of the present application, on a vehicle hub test bench, a target escape driving force is sent to a vehicle controller through an escape calculation module, the actual escape driving force at the corresponding tire end is collected, and the response time of the target escape driving force is calculated (the time difference between the same target escape driving force value and the actual escape driving force value).

[0053] Optionally, the target driving force required for the trapped tire to escape is determined based on the slip rate and the target tire pressure, including determining the adhesion coefficient of the trapped tire based on the slip rate and the target tire pressure, and determining the target driving force required for the trapped tire to escape based on the adhesion coefficient and the vertical load value. Specifically, according to the slip rate s of the trapped tire i and the target tire pressure P of the trapped tire i According to the tire slip rate-tire pressure-tire adhesion coefficient curve MAP, which can be obtained from the tire six-component force test bench, the adhesion coefficient of the trapped tire is calculated. According to the adhesion coefficient of the trapped tire And the vertical load value F of the trapped tire zi , calculate the target escape driving force F xi :

[0054]

[0055]

[0056] When the target stroke of the active shock absorber piston rod on the trapped tire side sent by the escape calculation module reaches the maximum positive value, after a delay of t3, the target escape driving force is sent to the vehicle controller and lasts for 0.1s. When the target stroke of the active shock absorber piston rod on the trapped tire side is a value other than the maximum positive value, the target escape driving force value sent to the vehicle controller is always 0. The calculation method of the delay time t3 is as follows:

[0057] t3=t1-t2

[0058] According to another specific embodiment of the present application, a control device for active escape function is also provided, such as Figure 3 As shown, the control device of the active escape function includes a receiving unit 42, a collecting unit 44 and a control unit 46. The receiving unit 42 is used to receive an active escape instruction, wherein the active escape instruction is used to get the vehicle out of trouble. The collecting unit 44 is used to collect the working condition information of the vehicle, and the working condition information includes at least one of the following: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the drive shaft information on the trapped tire side of the vehicle. The function of the control unit 46 is to generate a control strategy based on the working condition information, and the control strategy is used to control the target device of the vehicle to execute the target control strategy.

[0059] In this embodiment, through the above steps, under the action of the vehicle's active shock absorber system, braking system, power system, and tire system, the vehicle can be automatically freed from trouble without the need for driver intervention, thereby solving the problem in the prior art that vehicles cannot be automatically freed from trouble.

[0060] like Figure 2The flowchart of the second embodiment of the control method of the active escape function of the present application is shown. When the vehicle is trapped, the driver presses the active escape button (generally integrated on the display screen of the dashboard, or it can be a separate button), and the on-board information controller sends the active escape command signal to the trapped sensing module and the vehicle controller. The trapped sensing module receives the vehicle speed and four wheel speed signals of the left front, right front, left rear and right rear from the electronic stability program controller of the braking system through the CAN network, calculates the slip rate of each tire to decide the target side (left front, right front, left rear, right rear) tire that is trapped, and sends the trapped tire signal and the trapped tire slip rate signal to the escape calculation module. The escape calculation module sends the target side active shock absorber piston rod target stroke signal to the active shock absorber controller through the CAN network, sends the target escape driving force signal to the vehicle controller through the CAN network, and calculates the tire pressure signal required for escape and sends it to the intelligent tire controller through the CAN network. In this embodiment, the fast response speed of the active shock absorber is utilized, and its large amplitude vibration is utilized to increase the vertical load of the tire. Under the action of the vehicle's multiple systems including the active shock absorber controller, intelligent tire controller and vehicle controller, the system actively takes over the control of the power system without the driver having to intervene by increasing the throttle opening, adjusting the gear, etc., and based on the calibration parameters of the tire slip rate and tire vertical load, accurately calculates the driving force to apply the trapped tire's driving force just when the tire vertical load is the largest, thereby achieving the best escape effect and automatically getting the vehicle out of trouble quickly.

[0061] According to another specific embodiment of the present application, a computer-readable storage medium is also provided, and the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the steps of the control method of the active escape function in the above embodiment.

[0062] According to another specific embodiment of the present application, a processor is also provided, and the processor is used to run a program, wherein when the program is running, the steps of the control method of the active escape function in the above embodiment are executed.

[0063] According to another specific embodiment of the present application, an electronic device is also provided, such as Figure 4 As shown, the electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the steps of the control method of the active escape function in the above embodiment through the computer program.

[0064] This method embodiment may be executed in an electronic device or similar computing device in a vehicle that includes a memory and a processor. Taking the electronic device running on the vehicle as an example, the electronic device of the vehicle may include one or more processors 102 (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a programmable logic device (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the electronic device of the above-mentioned car may also include a transmission device 106 for communication functions, an input and output device 108, and a display 110. It can be understood by those skilled in the art that Figure 4 The structure shown is for illustration only and does not limit the structure of the electronic device of the vehicle. For example, the electronic device of the vehicle may include more or fewer components than those described in the above structure, or may have a configuration different from that described in the above structure.

[0065] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the information processing method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned information processing method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0066] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0067] The display 110 may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or a "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0068] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0069] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present invention.

[0070] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for an active escape function, characterized in that: include: receiving an active escape instruction, wherein the active escape instruction is used to get the vehicle out of trouble; Collecting the working condition information of the vehicle, the working condition information including: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the driving shaft information on the trapped tire side of the vehicle; Based on the operating condition information, a control strategy is generated, wherein the control strategy is used to control a target device of the vehicle to execute a target control strategy; Wherein, based on the operating condition information, a control strategy is generated, including: Determining a target tire pressure required for the trapped tire based on the slip ratio; Based on the target tire pressure, the control strategy is generated, the control strategy is used to control the intelligent tire controller of the vehicle to execute the tire pressure control strategy, the tire pressure control strategy is used to control the trapped tire to deflate until the tire pressure of the trapped tire reaches the target tire pressure; Wherein, generating a control strategy based on the operating condition information further includes: Determining a vertical load value of the trapped tire based on the target stroke of the piston rod; Determining a response time of a push rod stroke of the active shock absorber based on the piston rod target stroke and the vertical load value; Comparing the maximum amplitude and maximum frequency of the vehicle body acceptable to the driver with the maximum amplitude and maximum frequency of the piston rod of the active shock absorber within the response time to obtain a comparison result; Based on the comparison result, determining a target amplitude and a target frequency of the piston rod of the active shock absorber; Based on the target amplitude and the target frequency, the control strategy is generated, and the control strategy is used to control the active shock absorber controller of the vehicle to execute a vibration control strategy, and the vibration control strategy is used to control the piston rod of the active shock absorber to vibrate according to the target amplitude and the target frequency.

2. The control method of the active escape function according to claim 1, characterized in that: Collecting the operating condition information of the vehicle, including: Collecting the vehicle speed and the wheel speed of the tires of the vehicle; determining a slip ratio of the tire based on the vehicle speed and the wheel speed; When the slip ratio satisfies a first preset condition, the tire is determined to be the trapped tire, and the slip ratio of the trapped tire, the target stroke of the piston rod of the active shock absorber on the trapped tire side, and the drive shaft information on the trapped tire side are collected.

3. The control method of the active escape function according to claim 1, characterized in that: Based on the operating condition information, a control strategy is generated, including: Determining a target driving force required for the trapped tire to escape based on the slip ratio and the target tire pressure; The control strategy is generated based on the drive shaft information on the trapped tire side of the vehicle and the target driving force for escape. The control strategy is used to control the vehicle controller of the vehicle to execute the drive control strategy. The drive control strategy is used to control the drive shaft on the trapped tire side to be connected to the power motor, control the remaining drive shafts to be disconnected from the power motor, and control the power motor to apply the target driving force for escape to the trapped tire when the target stroke of the piston rod meets the second preset condition.

4. The control method of the active escape function according to claim 3, characterized in that: Determining a target driving force required for the trapped tire to escape based on the slip ratio and the target tire pressure includes: determining an adhesion coefficient of the trapped tire based on the slip ratio and the target tire pressure; The target driving force required for the trapped tire to escape is determined based on the adhesion coefficient and the vertical load value.

5. A control device for active escape function, characterized in that: include: A receiving unit, used for receiving an active escape instruction, wherein the active escape instruction is used to get the vehicle out of trouble; A collection unit, used for collecting the working condition information of the vehicle, wherein the working condition information includes: the slip rate of the trapped tire of the vehicle, the target stroke of the piston rod of the active shock absorber on the trapped tire side of the vehicle, and the driving shaft information on the trapped tire side of the vehicle; A control unit, based on the operating condition information, generates a control strategy, wherein the control strategy is used to control a target device of the vehicle to execute a target control strategy; Wherein, based on the operating condition information, a control strategy is generated, including: Determining a target tire pressure required for the trapped tire based on the slip ratio; Based on the target tire pressure, the control strategy is generated, the control strategy is used to control the intelligent tire controller of the vehicle to execute the tire pressure control strategy, the tire pressure control strategy is used to control the trapped tire to deflate until the tire pressure of the trapped tire reaches the target tire pressure; Wherein, generating a control strategy based on the operating condition information further includes: Determining a vertical load value of the trapped tire based on the target stroke of the piston rod; Determining a response time of a push rod stroke of the active shock absorber based on the piston rod target stroke and the vertical load value; Comparing the maximum amplitude and maximum frequency of the vehicle body acceptable to the driver with the maximum amplitude and maximum frequency of the piston rod of the active shock absorber within the response time to obtain a comparison result; Based on the comparison result, determining a target amplitude and a target frequency of the piston rod of the active shock absorber; Based on the target amplitude and the target frequency, the control strategy is generated, and the control strategy is used to control the active shock absorber controller of the vehicle to execute a vibration control strategy, and the vibration control strategy is used to control the piston rod of the active shock absorber to vibrate according to the target amplitude and the target frequency.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program, when running, executes the control method of the active escape function described in any one of claims 1 to 4 above.

7. A processor, characterized in that: The processor is used to run a program, wherein the program executes the control method of the active escape function described in any one of claims 1 to 4 when running.

8. An electronic device, comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to execute the control method of the active escape function according to any one of claims 1 to 4 through the computer program.

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