A vehicle driving control method, device, electronic device or storage medium

Abstract

This invention discloses a vehicle driving control method, device, electronic device, or storage medium. The method acquires vehicle driving data during vehicle operation and determines if the vehicle is stuck in sand. If the vehicle meets the conditions for being stuck, it controls and adjusts the height and steering of the wheels stuck in sand, as well as controls the vehicle's power output to move the vehicle along the driving direction. This process determines if the vehicle is able to escape the sand trap, and if the conditions for escaping the trap are met, the control process confirms that the vehicle has successfully escaped the sand trap. By identifying the vehicle stuck in sand and its state through vehicle driving data, the method adjusts the wheel height and steering when the vehicle is stuck, causing sand around the stuck wheels to flow towards the bottom of the sand pit formed after the wheels are lifted, filling the pit. It also allows for a repositioning of the wheels to avoid landing on the original wheel trajectory, achieving a smooth start and timely, safe escape from the sand trap.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automotive electronic control, and more particularly to a vehicle driving control method, device, electronic device or storage medium. Background Technology

[0002] Due to the loose and fluid nature of desert sand, vehicles are prone to getting stuck in sand pits. Improper driving methods can cause the wheels to continuously "dig" into the sand, sinking deeper and deeper. This places high demands on driving skills and experience, which inadvertently limits some people's aspirations for a pleasant journey.

[0003] Currently, the solutions for vehicles getting stuck in sand pits are: 1) using a jack to lift the stuck wheel and using tools such as a shovel to clear the sand around the tire to reduce driving resistance; this is obviously not suitable for drivers with less strength, especially female users; 2) seeking help from other vehicles and using a tow rope to pull the stuck vehicle out, which is very inconvenient and time-consuming. Summary of the Invention

[0004] This invention provides a vehicle driving control method, device, electronic device, or storage medium to enable a vehicle to get out of trouble in time when it is stuck in sand.

[0005] In a first aspect, embodiments of the present invention provide a vehicle driving control method, including:

[0006] During vehicle operation, vehicle driving data is acquired, and the vehicle driving data is used to determine if the vehicle is trapped in sand.

[0007] When the vehicle meets the conditions for being stuck in sand, the height of the stuck sand wheel and the wheel steering of the stuck sand wheel are controlled and adjusted; and the power output of the vehicle is controlled so that the vehicle moves in the direction of travel.

[0008] The vehicle is assessed for escaping the slump, and if the vehicle meets the escaping conditions, the process of controlling the vehicle to escape from the sand trap is determined.

[0009] Optionally, the vehicle driving data may be used to determine if it is stuck in sand, including one or more of the following:

[0010] The vehicle's driving speed and wheel tangential speed are obtained. The wheel slip ratio is determined based on the driving speed and wheel tangential speed. The wheel slip ratio is judged based on the slip ratio threshold. If the slip ratio threshold is less than the wheel slip ratio, the vehicle is determined to meet the sand trapping judgment condition.

[0011] The ground clearance of the vehicle is obtained, and the ground clearance is determined based on a distance threshold. If the ground clearance is less than the distance threshold, the vehicle is determined to meet the sand trapping criteria.

[0012] If the tangential speed of the wheel is greater than a preset value, the driving distance within a preset time period is determined, and the driving distance is judged based on a preset distance threshold. If the driving distance is less than the preset distance threshold, the vehicle is determined to meet the sand trapping judgment condition.

[0013] Optionally, controlling the height of the sand-trapping wheel and adjusting the wheel steering of the sand-trapping wheel includes:

[0014] The vertical control module controls the active stabilizer bar actuator to adjust the height of the sand trap wheel in the vertical upward direction;

[0015] The steering control module controls the four-wheel steering actuators to adjust the wheel steering of the sand-trapping wheel.

[0016] Optionally, the step of controlling the four-wheel steering actuators via the steering control module to adjust the wheel steering of the sand-trapping wheel includes:

[0017] The steering control module controls the four-wheel steering actuator to make the sand-trapping wheel swing at a preset frequency and preset amplitude, and to adjust the landing direction of the sand-trapping wheel to be different from the sinking direction;

[0018] The method also includes:

[0019] The vertical control module controls the active stabilizer bar actuator to make the sand-trapping wheel land based on the landing direction.

[0020] Optionally, controlling the power output of the vehicle to move the vehicle along the driving direction includes:

[0021] The drive control module controls the power actuator to make the vehicle travel at a preset speed.

[0022] Optionally, the step of determining whether the vehicle is in a difficult situation includes:

[0023] Determine the new wheel slip ratio and the distance the vehicle has traveled relative to the moment it got stuck in the sand;

[0024] If the new wheel slip ratio is less than the slip ratio threshold, and the vehicle's travel distance relative to the moment it is stuck in the sand is greater than the distance determination threshold, then the vehicle is determined to meet the conditions for getting out of trouble.

[0025] Optionally, the method further includes:

[0026] If the vehicle does not meet the conditions for getting out of trouble, the vehicle's direction of travel is adjusted, and the control process for getting out of trouble in sand is re-executed based on the adjusted direction of travel.

[0027] Optionally, after determining that the vehicle has completed the control process of getting out of the sand trap, the method further includes:

[0028] If no driving operation by the driver is detected after the preset time for the control process of getting out of the sand trap is completed, the parking brake will be applied to the vehicle.

[0029] Secondly, embodiments of the present invention also provide a vehicle driving control device, including: a determination module, a vertical control module, a steering control module, and a drive control module;

[0030] The determination module is used to acquire vehicle driving data during vehicle operation and to determine whether the vehicle is trapped in sand based on the vehicle driving data.

[0031] The vertical control module is used to control and adjust the height of the wheel for getting stuck in sand when the vehicle meets the conditions for getting stuck in sand.

[0032] The steering control module is used to adjust the wheel steering of the sand trap wheel;

[0033] The drive control module is used to control the power output of the vehicle so that the vehicle moves in the driving direction;

[0034] The determination module is also used to determine whether the vehicle is stuck in the sand, and if the vehicle meets the conditions for getting out of the sand, determine that the vehicle has completed the control process of getting out of the sand.

[0035] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0036] At least one processor; and

[0037] A memory communicatively connected to the at least one processor; wherein,

[0038] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle driving control method described in any one of the first aspects.

[0039] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the vehicle driving control method described in any one of the first aspects.

[0040] This invention acquires vehicle driving data during operation and determines if the vehicle is stuck in sand. If the vehicle meets the conditions for being stuck, it controls and adjusts the height and steering of the wheels stuck in sand, as well as the vehicle's power output to move the vehicle along the driving direction. This process determines whether the vehicle is able to escape the sand trap. By identifying the vehicle's sand trap and its state through driving data, the invention adjusts the wheel height and steering when the vehicle is stuck, causing sand around the wheels to flow towards the bottom of the sand pit formed after the wheels are lifted, filling the pit. It also allows for a repositioning of the wheels to avoid landing on the original wheel trajectory, resulting in a smooth start and timely, safe escape from the sand trap. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart of a vehicle driving control method provided in Embodiment 1 of the present invention;

[0043] Figure 2 This is a schematic diagram of a slip ratio function on a sandy road provided in Embodiment 1 of the present invention;

[0044] Figure 3 This is a schematic diagram of the application of a tilting moment provided in Embodiment 1 of the present invention;

[0045] Figure 4 This is a schematic diagram of a vehicle suspension system stiffness curve provided in Embodiment 1 of the present invention;

[0046] Figure 5 This is a schematic diagram of an implementation of a vertical control module and a steering control module provided in Embodiment 1 of the present invention;

[0047] Figure 6 This is a flowchart illustrating a backup and escape procedure provided in Embodiment 1 of the present invention;

[0048] Figure 7 This is a flowchart of a vehicle driving control method provided in Embodiment 1 of the present invention;

[0049] Figure 8 This is a schematic diagram of the structure of a vehicle driving control device provided in Embodiment 2 of the present invention;

[0050] Figure 9This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0053] Example 1

[0054] Figure 1 This is a flowchart of a vehicle driving control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle is stuck in sand. The method can be executed by a vehicle driving control device, which can be implemented in hardware and / or software. This vehicle driving control device can be configured in electronic devices such as vehicle computers, on-board processors, etc. Figure 1 As shown, the method includes:

[0055] S110. During vehicle operation, acquire vehicle driving data and determine whether the vehicle is trapped in sand based on the vehicle driving data.

[0056] The vehicle driving data can be data collected by various sensors on the vehicle during driving, such as, but not limited to, wheel tangential speed, wheel speed, driving speed, ground clearance, wheel angle, wheel angular velocity, and surrounding obstacles. The types and quantity of vehicle driving data acquired can be set according to actual conditions and are not specifically limited here. Optionally, vehicle driving data corresponding to the above data types can be read from the vehicle's data storage or CAN bus, depending on the data type required for sand trap detection. Sand trap detection can be based on comparing the acquired vehicle driving data with its corresponding sand trap threshold data to determine whether the vehicle is trapped in sand. For example, sand trap detection can be performed in real time during vehicle driving; or it can be determined based on the type of road the vehicle is traveling on; or it can be performed when the vehicle is in sand driving mode.

[0057] Optionally, the vehicle's driving speed and wheel tangential speed are obtained, the wheel slip ratio is determined based on the driving speed and wheel tangential speed, and the wheel slip ratio is judged based on the slip ratio threshold. If the slip ratio threshold is less than the wheel slip ratio, the vehicle is determined to meet the sand trapping judgment condition.

[0058] The vehicle's speed can be the actual speed it travels, which can be read from the vehicle's dashboard. Wheel tangential velocity can be the linear velocity of the wheel, that is, the instantaneous velocity of a point on the wheel (or any point on an object) when it undergoes curvilinear motion (including circular motion). Its direction is along the tangent of the trajectory, hence it is also called tangential velocity. Wheel slip ratio can be a data point characterizing the proportion of wheel slippage during a gradual braking process from pure rolling to wheel lock-up and dragging. Therefore, slip ratio is also called slip ratio. When a vehicle wheel applies traction or braking force, relative motion occurs between the wheel and the ground. The slip ratio then refers to the proportion of slippage in the wheel's motion, usually denoted by S. The slip ratio threshold can be set according to actual conditions and is not specifically limited here. Determining whether a vehicle meets the criteria for being stuck in sand can be based on various vehicle driving data to determine if the vehicle is stuck in sand.

[0059] It's important to note that slip ratio significantly impacts a vehicle's braking adhesion coefficient and lateral adhesion coefficient, thus affecting its braking performance. When the wheel is in a semi-slip, semi-rolling state, the braking adhesion coefficient reaches its maximum, meaning the braking force is at its maximum. At this point, the lateral adhesion coefficient is also relatively high, indicating good lateral stability (typically around 20%). When the wheel is completely locked up and no longer rolling, the braking adhesion coefficient decreases, while lateral stability becomes zero, making skidding and fishtailing highly likely, potentially leading to accidents. The ABS anti-lock braking system prevents wheel lock-up during braking and maintains the wheel slip ratio within the range of 10% to 30%, ensuring good braking and lateral adhesion between the wheel and the road surface. Even with both the braking adhesion coefficient and lateral adhesion coefficient at relatively high values, this effectively prevents skidding, fishtailing, and loss of steering during braking, improving directional stability. Accordingly, the slip ratio threshold should be set higher than the slip ratio range that the ABS anti-lock braking system can control, i.e., 10% to 30%.

[0060] For example, when the slip ratio P of a vehicle's wheel is greater than 35%, the wheel is determined to be stuck in the sand. The function of slip ratio on a sandy road is approximately as follows: Figure 2 As shown, the formula for calculating the slip ratio is as follows:

[0061]

[0062] Where P is the wheel slip ratio, V R V is the tangential velocity of the wheel, and V is the vehicle's speed.

[0063] Optionally, the vehicle's ground clearance is obtained and judged based on a distance threshold. If the ground clearance is less than the distance threshold, the vehicle is determined to meet the criteria for being trapped in sand. Ground clearance can be the distance between the vehicle chassis and the ground, which can be obtained by sensors installed on the vehicle chassis, such as infrared sensors. Under normal circumstances, the ground clearance should be the perpendicular distance between the contact points of the vehicle chassis and the wheels on the ground. A ground clearance less than the distance threshold indicates that the wheels are sunk below the ground surface, causing a decrease in the distance between the vehicle chassis and the ground, thus determining that the vehicle meets the criteria for being trapped in sand.

[0064] Optionally, if the tangential speed of the wheel is greater than a preset value, the driving distance within a preset time period is determined, and the driving distance is judged based on a preset distance threshold. If the driving distance is less than the preset distance threshold, the vehicle is determined to meet the sand trapping judgment condition.

[0065] It should be noted that determining whether a vehicle meets the criteria for being trapped in sand can be understood as the wheels spinning freely in the sand pit. In this case, the tangential speed of the wheels will be greater than the preset value, but the vehicle is not moving normally. That is, if the vehicle has not traveled the preset distance within the preset time, the vehicle is determined to meet the criteria for being trapped in sand.

[0066] By using driving data from multiple vehicles to determine if a vehicle is stuck in sand, the accuracy of this assessment is improved. Multiple wheels can be assessed simultaneously to determine the number and location of wheels stuck in the sand.

[0067] S120. When the vehicle meets the conditions for determining whether it is stuck in sand, control and adjust the height of the stuck sand wheel and the wheel steering of the stuck sand wheel; and control the power output of the vehicle so that the vehicle moves in the direction of travel.

[0068] The height of the sand-trapping wheel can be adjusted by raising it using a first preset actuator in the vehicle. The wheel steering can be adjusted by rotating the sand-trapping wheel using a second preset actuator in the vehicle, changing its orientation. The vehicle's power output can be controlled by controlling the power pedal or brake pedal using a third preset actuator in the vehicle to control its movement. In this embodiment, through the above adjustment process, the sand-trapping wheel can detach from the sand pit, and upon landing, its orientation is adjusted to prevent it from falling back into the sand pit. Based on this, the vehicle's movement is controlled, allowing it to exit the sand pit and escape.

[0069] Optionally, lifting the sand-trapping wheel via a first preset actuator in the vehicle can be achieved by controlling the active stabilizer bar actuator via a vertical control module to adjust the height of the sand-trapping wheel in the vertically upward direction.

[0070] Among them, the active stabilizer bar actuator can be a tie rod installed in the vehicle chassis or engine compartment. The active stabilizer bar can prevent the vehicle from tilting severely when cornering at high speed, thereby avoiding safety hazards and increasing the stability of the vehicle when driving. The active stabilizer bar can automatically adjust its range of motion to counteract the vehicle's roll effect.

[0071] For example, see details. Figure 3 When the active stabilizer bar actuator applies a roll moment M1 around the roll center, the left rear wheel bears a vertical force Fz1 + ΔFz, and the right rear wheel bears a vertical force Fz. r The formula for calculating the tilting moment M1 (-ΔFz) is as follows:

[0072]

[0073] Where M1 is the torque applied by the active stabilizer bar system to suppress vehicle roll, Fz1 is the vertical force on the left rear wheel of a normal vehicle, and Fz... rΔFz represents the vertical force on the right rear wheel of a normal vehicle, ΔFz represents the change in the vertical force on the tire after the active stabilizer bar system applies a roll moment, and B represents the vehicle's track width.

[0074] In the vertical upward adjustment of the wheel height for getting stuck in sand, the height h can be the difference between the vehicle's normal ground clearance and the ground clearance when stuck in sand, as shown in the following formula:

[0075] h = H1 - H2

[0076] Where h is the wheel lift height, H1 is the ground clearance of a normal vehicle, and H2 is the ground clearance of the wheel when stuck in sand.

[0077] For example, after determining the vertically upward adjustment height h of the sand-trapping wheel and the roll moment M1 applied by the active stabilizer bar actuator around the roll center, the required force corresponding to height h is obtained according to the vehicle suspension system stiffness curve. The active stabilizer bar actuator, based on the roll moment M1, obtains the actual required force to lift the sand-trapping wheel to the corresponding height h, and applies the corresponding force to the vehicle. The specific vehicle suspension system stiffness curve can be found in [reference needed]. Figure 4 .

[0078] Optionally, changing the orientation of the sand-trapping wheel by rotating it through a second preset actuator in the vehicle can be achieved by controlling the four-wheel steering actuator through the steering control module to adjust the wheel steering of the sand-trapping wheel.

[0079] Among them, a four-wheel steering actuator can be a device that enables independent steering of four wheels. Accordingly, a four-wheel steering actuator can control the four wheels to oscillate at a certain frequency and amplitude.

[0080] Optionally, the steering of the sand-trapping wheel can be adjusted by controlling the four-wheel steering actuator through the steering control module, so that the sand-trapping wheel swings at a preset frequency and preset amplitude, and the landing direction of the sand-trapping wheel is different from the sinking direction.

[0081] Correspondingly, the vertical control module controls the active stabilizer bar actuator to ensure that the sand-trapping wheel lands based on the landing direction.

[0082] The mechanism involves the sand-trapping wheel oscillating at a preset frequency and amplitude. This can be achieved by a four-wheel steering actuator, allowing the sand-trapping wheel to adjust its height vertically upwards and then switch between left and right steering at a certain frequency and amplitude. The landing direction can be the steering direction of the sand-trapping wheel when it lands. Correspondingly, the landing direction can be set according to actual conditions, ensuring that the landing direction of the sand-trapping wheel differs from the direction of sinking (to prevent the sand-trapping wheel from landing along its original trajectory). No specific limitations are imposed here. The sinking direction can be the direction the wheel is in when it is stuck in the sand.

[0083] For example, after the vehicle meets the criteria for being stuck in sand, see the details below. Figure 5 As sand accumulates around the wheels, increasing drag, the vertical control module controls the active stabilizer bar actuators to apply a tilting moment and force, quickly lifting the wheels to a certain height h, causing the sand around the wheels to flow to the bottom of the sand pit. The steering control module controls the four-wheel steering actuators, which, after the wheels are lifted to a certain height h, oscillate left and right at a certain frequency and amplitude, vibrating the surrounding sand to further fill the sand pit and allowing for a precise turn at a certain angle.

[0084] By applying a tilting torque through the active stabilizer bar actuator to lift the wheel stuck in the sand, and adjusting the steering of the wheel stuck in the sand through the four-wheel steering actuator, the wheel stuck in the sand is prevented from landing on the original wheel trajectory, thereby improving the success rate of vehicle extrication.

[0085] Optionally, controlling the vehicle's power output to move the vehicle along the driving direction can be achieved by controlling the power actuator through the drive control module to make the vehicle travel at a preset driving speed.

[0086] The control actuator can be the power pedal or brake pedal of the vehicle. The preset driving speed can be set according to the actual situation, as long as it can keep the vehicle traveling at a low speed; no specific limitation is made here.

[0087] The vehicle is controlled to drive normally by a power actuator, enabling a smooth start.

[0088] S130. Determine if the vehicle is stuck in the sand. If the vehicle meets the conditions for getting out of trouble, determine that the vehicle has completed the control process of getting out of the sand.

[0089] The determination of whether a vehicle can escape from a difficult situation can be based on comparing the new vehicle driving data obtained after the escape operation with the vehicle driving data under normal conditions. Accordingly, the new vehicle driving data obtained after the escape operation can be the wheel tangential speed, wheel speed, driving speed, ground clearance, wheel angle, wheel angular velocity, and surrounding obstacles when the vehicle's wheels stuck in the sand are raised by the active stabilizer bar actuator and the steering of the stuck wheels is adjusted by the four-wheel steering actuator.

[0090] Optionally, the method for determining whether a vehicle can escape from a tangible obstacle can be: determining a new wheel slip ratio and the distance the vehicle has traveled relative to the moment it is stuck in the sand; if the new wheel slip ratio is less than a slip ratio threshold and the distance the vehicle has traveled relative to the moment it is stuck in the sand is greater than a distance determination threshold, then the vehicle is determined to meet the conditions for escaping the obstacle.

[0091] The calculation of wheel slip ratio can be found in the formula above, and will not be repeated here. It should be understood that the vehicle driving data used to calculate the new wheel slip ratio is the vehicle driving data after the vehicle has been adjusted to get out of trouble. The distance the vehicle traveled relative to the moment it was stuck in the sand can be the distance the stuck wheel moved in a preset direction relative to the position of the stuck sand.

[0092] For example, the wheel slip ratio and the vehicle's travel distance relative to the moment it is stuck in the sand are judged. When the new wheel slip ratio P is less than or equal to 35% and the vehicle's travel distance St relative to the moment it is stuck in the sand is greater than 1m, it is determined that the vehicle meets the conditions for getting out of trouble.

[0093] By calculating and obtaining new vehicle driving data after the extrication process, and comparing the new vehicle driving data with the vehicle's normal driving data, the accuracy of the vehicle extrication condition judgment is ensured.

[0094] Optionally, if no driving operation by the driver is detected after the preset time for completing the control process of getting out of the sand trap, the parking brake will be applied to the vehicle.

[0095] Driving operations can include actions such as turning the steering wheel and pressing the brake pedal. Applying the parking brake can include actions such as pressing the brake pedal and releasing the handbrake.

[0096] For example, once it is determined that the vehicle meets the conditions for getting out of trouble, an alarm is issued and the driver is reminded to take over the vehicle. If the driver performs driving operations on the vehicle within 5 seconds, the sand-trapping escape procedure ends. If the driver does not perform driving operations on the vehicle within 5 seconds, the parking brake is applied to the vehicle to bring it to a smooth stop.

[0097] By reminding the driver to take over the vehicle after confirming that the vehicle meets the conditions for getting out of trouble, and applying the parking brake to the vehicle if the driver fails to take over the vehicle within a preset time, accidents are effectively avoided and the safety of getting out of trouble in sand is improved.

[0098] Optionally, if the vehicle does not meet the conditions for getting out of trouble, the vehicle's direction of travel is adjusted, and the control process for getting out of trouble in sand is re-executed based on the adjusted direction of travel.

[0099] Among these situations, the vehicle may not meet the conditions for getting out of trouble if there are obstacles nearby or on the preset vehicle escape route, meaning the vehicle's distance St relative to the moment it is stuck in the sand is less than 1 meter. Re-executing the sand-trapping escape control process can involve entering a backup escape procedure.

[0100] For example, see details. Figure 6The vertical control module controls the active stabilizer bar actuators to quickly lift the stuck wheel to a certain height h. The vehicle's central control screen prompts "Please confirm the direction of travel" and provides a "recommended" option as well as a manual direction adjustment option. If an obstacle is detected nearby (an obstacle exists on the preset escape route), the central control screen issues a warning. The steering control module controls the four-wheel steering actuators, causing the stuck wheel to oscillate left and right at a certain frequency and amplitude, vibrating the surrounding sand to further fill the sand pit. A specific turning angle is selected to stop the control; the angle can be a system-recommended angle, such as 40°, or an angle freely chosen by the driver. The vertical control module controls the active stabilizer bar actuators, allowing the wheel to land. Because the wheel lands at an angle, it prevents the stuck wheel from landing on its original trajectory. The drive control module controls the power actuators to make the vehicle travel at a preset speed. The system assesses the wheel slip ratio and the vehicle's distance traveled relative to the moment it became stuck in the sand. If the new wheel slip ratio P is less than or equal to 35% and the vehicle's distance traveled St relative to the moment it became stuck is greater than 1 meter, it is determined that there are no obstacles in the vicinity of the vehicle or on the preset escape route. Once the vehicle meets the backup escape conditions, an alarm is issued to alert the driver to take over. If the driver performs driving operations within 5 seconds, the sand-stuck escape procedure ends. If the driver does not perform driving operations within 5 seconds, the parking brake is applied to bring the vehicle to a smooth stop.

[0101] By alerting the driver when obstacles are detected around the vehicle or in the preset direction of travel, accidents can be effectively avoided, further improving the safety of getting out of sand traps.

[0102] In an optional embodiment, see details below. Figure 7The automatic sand trap evacuation control system is activated, signals are read, and vehicle driving data is acquired. When the slip ratio P of one or more wheels exceeds 35%, the vehicle is determined to be stuck in sand, and the system displays "Automatic Extrication" with the options "Yes" and "No." If the driver selects "Yes," the vertical control module controls the active stabilizer bar actuator to quickly lift the stuck wheel to a certain height h, causing the sand around the stuck wheel to flow towards the bottom of the sandpit and fill it. The steering control module controls the four-wheel steering actuators, causing the stuck wheel to oscillate left and right at a certain frequency and amplitude, vibrating the surrounding sand and further filling the sandpit. The vertical control module controls the active stabilizer bar actuator to bring the wheel to the ground. The drive control module controls the power actuator to ensure the vehicle travels at a preset speed, avoiding sudden acceleration and maintaining a relatively low speed. The system assesses the wheel slip ratio and the distance the vehicle travels in the direction of travel. When the wheel slip ratio P ≤ 35% and the vehicle's distance St relative to the moment it became stuck in the sand is greater than 1 meter, the system displays "Successfully escaped the strait, please take over the vehicle" and issues an alarm. If the wheel slip ratio P and the vehicle's distance St relative to the moment it became stuck in the sand do not meet the preset conditions, a backup escape procedure is initiated. The system checks whether the driver takes over the vehicle within 5 seconds. If the driver performs any driving operations within 5 seconds, the escape procedure ends. If the driver does not perform any driving operations within 5 seconds, the braking control module controls the braking device (applies the parking brake) to bring the vehicle to a smooth stop.

[0103] The technical solution of this embodiment acquires vehicle driving data during vehicle operation and determines whether the vehicle is stuck in sand. If the vehicle meets the conditions for being stuck, the system controls and adjusts the height and steering of the wheels stuck in sand, as well as the vehicle's power output to move the vehicle along the driving direction. This process determines whether the vehicle is able to escape the sand trap. If the vehicle meets the conditions for escaping the trap, the system determines that the vehicle has successfully escaped the sand trap. By identifying the vehicle stuck in sand and its state through vehicle driving data, the system adjusts the wheel height and steering when the vehicle is stuck, causing sand around the wheels to flow towards the bottom of the sand pit formed after the wheels are lifted, filling the pit. The system also allows for a repositioning of the wheels to avoid landing on the original wheel trajectory, resulting in a smooth start and timely, safe escape from the trap.

[0104] Example 2

[0105] Figure 8 This is a structural schematic diagram of a vehicle driving control device provided in Embodiment 2 of the present invention. Figure 8 As shown, the device includes: a determination module 810, a vertical control module 820, a steering control module 830, and a drive control module 840.

[0106] The determination module 810 is used to acquire vehicle driving data during vehicle operation and to determine whether the vehicle is trapped in sand based on the vehicle driving data.

[0107] The vertical control module 820 is used to control and adjust the height of the wheel when the vehicle meets the conditions for being stuck in sand.

[0108] The steering control module 830 is used to adjust the wheel steering of the sand-trapping wheel.

[0109] The drive control module 840 is used to control the power output of the vehicle so that the vehicle moves in the driving direction.

[0110] The determination module 810 is also used to determine the vehicle's ability to escape from entrapment, and if the vehicle meets the entrapment conditions, determine that the vehicle has completed the control process of escaping from the sand entrapment.

[0111] Optionally, the determination module 810 includes one or more of the following:

[0112] The first slip ratio determination module is used to acquire the vehicle's driving speed and wheel tangential speed, determine the wheel slip ratio based on the driving speed and wheel tangential speed, and determine the wheel slip ratio based on a slip ratio threshold. If the slip ratio threshold is less than the wheel slip ratio, the vehicle is determined to meet the sand trapping determination condition.

[0113] The ground clearance determination module is used to obtain the ground clearance of the vehicle and determine the ground clearance based on a distance threshold. If the ground clearance is less than the distance threshold, the vehicle is determined to meet the sand trapping determination condition.

[0114] The distance judgment module is used to determine the driving distance within a preset time period when the tangential speed of the wheel is greater than a preset value, and to judge the driving distance based on a preset distance threshold. If the driving distance is less than the preset distance threshold, the vehicle is determined to meet the sand trapping judgment condition.

[0115] Optionally, the vertical control module 820 includes:

[0116] An active stabilizer bar control module is used to control the active stabilizer bar actuator via a vertical control module to adjust the height of the sand trap wheel in the vertically upward direction;

[0117] The steering control module 830 includes:

[0118] The four-wheel steering control module is used to control the four-wheel steering actuator through the steering control module to adjust the wheel steering of the sand-trapping wheel.

[0119] Optionally, the four-wheel steering control module is specifically used for:

[0120] The steering control module controls the four-wheel steering actuator to make the sand-trapping wheel swing at a preset frequency and preset amplitude, and to adjust the landing direction of the sand-trapping wheel to be different from the sinking direction;

[0121] Accordingly, the active stabilizer bar control module is specifically used for:

[0122] The vertical control module controls the active stabilizer bar actuator to make the sand-trapping wheel land based on the landing direction.

[0123] Optionally, the drive control module 840 includes:

[0124] The control module for the power actuator is used to control the power actuator through the drive control module so that the vehicle travels at a preset speed.

[0125] Optionally, the determination module 810 includes:

[0126] The second slip ratio determination module is used to determine the new wheel slip ratio and the distance the vehicle has traveled relative to the moment it got stuck in the sand.

[0127] The vehicle extrication determination module is used to determine that the vehicle meets the extrication conditions if the new wheel slip ratio is less than the slip ratio threshold and the vehicle's travel distance relative to the moment it is stuck in the sand is greater than the distance determination threshold.

[0128] Optionally, the vehicle driving control device further includes:

[0129] The direction control module is used to adjust the vehicle's direction of travel when the vehicle does not meet the conditions for getting out of trouble, and to re-execute the control process for getting out of trouble by sand based on the adjusted direction of travel.

[0130] Optionally, the vehicle driving control device further includes:

[0131] The braking module is used to apply the parking brake to the vehicle after determining that the vehicle has completed the control process of getting out of the sand trap. If no driving operation by the driver is detected after a preset time period of the control process of getting out of the sand trap is completed, the braking module is used to determine that the vehicle has completed the control process of getting out of the sand trap.

[0132] The vehicle driving control device provided in the embodiments of the present invention can execute the vehicle driving control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0133] Example 3

[0134] Figure 9This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0135] like Figure 9 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0136] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0137] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle driving control methods.

[0138] In some embodiments, the vehicle driving control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle driving control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle driving control method by any other suitable means (e.g., by means of firmware).

[0139] Various embodiments of the systems and techniques described above herein 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), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0140] Computer programs for implementing the vehicle driving control method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0141] Example 4

[0142] Embodiment 4 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle driving control method, the method comprising:

[0143] During vehicle operation, vehicle driving data is acquired, and the vehicle driving data is used to determine if the vehicle is trapped in sand.

[0144] When the vehicle meets the conditions for being stuck in sand, the height of the stuck sand wheel and the wheel steering of the stuck sand wheel are controlled and adjusted; and the power output of the vehicle is controlled so that the vehicle moves in the direction of travel.

[0145] The vehicle is assessed for escaping the slump, and if the vehicle meets the escaping conditions, the process of controlling the vehicle to escape from the sand trap is determined.

[0146] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide 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 sound input, voice input, or tactile input).

[0148] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0149] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the 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 cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0150] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0151] The specific embodiments described above do not constitute a limitation on the scope of protection of this 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 principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle driving control method, characterized in that, include: During vehicle operation, vehicle driving data is acquired, and the vehicle driving data is used to determine if the vehicle is trapped in sand. When the vehicle meets the conditions for being stuck in sand, the height of the stuck sand wheel and the wheel steering of the stuck sand wheel are controlled and adjusted; and the power output of the vehicle is controlled so that the vehicle moves in the direction of travel. The vehicle is assessed for escaping the slump, and if the vehicle meets the escaping conditions, the control process for the vehicle to escape from the sand is determined. The control of adjusting the height of the sand-trapping wheel and adjusting the wheel steering of the sand-trapping wheel includes: The vertical control module controls the active stabilizer bar actuator to adjust the height of the sand trap wheel in the vertical upward direction; The steering control module controls the four-wheel steering actuators to adjust the wheel steering of the sand-trapping wheel; The step of controlling the four-wheel steering actuators through the steering control module to adjust the wheel steering of the sand-trapping wheel includes: The steering control module controls the four-wheel steering actuator to make the sand-trapping wheel swing at a preset frequency and preset amplitude, and to adjust the landing direction of the sand-trapping wheel to be different from the sinking direction; The method also includes: The vertical control module controls the active stabilizer bar actuator to make the sand-trapping wheel land based on the landing direction.

2. The method according to claim 1, characterized in that, The vehicle driving data is used to determine if it is stuck in sand, including one or more of the following: The vehicle's driving speed and wheel tangential speed are obtained. The wheel slip ratio is determined based on the driving speed and wheel tangential speed. The wheel slip ratio is judged based on the slip ratio threshold. If the slip ratio threshold is less than the wheel slip ratio, the vehicle is determined to meet the sand trapping judgment condition. The ground clearance of the vehicle is obtained, and the ground clearance is determined based on a distance threshold. If the ground clearance is less than the distance threshold, the vehicle is determined to meet the sand trapping criteria. If the tangential speed of the wheel is greater than a preset value, the driving distance within a preset time period is determined, and the driving distance is judged based on a preset distance threshold. If the driving distance is less than the preset distance threshold, the vehicle is determined to meet the sand trapping judgment condition.

3. The method according to claim 1, characterized in that, Controlling the power output of the vehicle to move the vehicle in the direction of travel includes: The drive control module controls the power actuator to make the vehicle travel at a preset speed.

4. The method according to claim 1, characterized in that, The determination of whether the vehicle can escape difficulties includes: Determine the new wheel slip ratio and the distance the vehicle has traveled relative to the moment it got stuck in the sand; If the new wheel slip ratio is less than the slip ratio threshold, and the vehicle's travel distance relative to the moment it is stuck in the sand is greater than the distance determination threshold, then the vehicle is determined to meet the conditions for getting out of trouble.

5. The method according to claim 1 or 4, characterized in that, The method further includes: If the vehicle does not meet the conditions for getting out of trouble, the vehicle's direction of travel is adjusted, and the control process for getting out of trouble in sand is re-executed based on the adjusted direction of travel.

6. The method according to claim 1, characterized in that, After determining that the vehicle has completed the control process of getting out of the sand, the method further includes: If no driving operation by the driver is detected after the preset time for the control process of getting out of the sand trap is completed, the parking brake will be applied to the vehicle.

7. A vehicle driving control device, characterized in that, include: Decision module, vertical control module, steering control module, drive control module; The determination module is used to acquire vehicle driving data during vehicle operation and to determine whether the vehicle is trapped in sand based on the vehicle driving data. The vertical control module is used to control and adjust the height of the wheel for getting stuck in sand when the vehicle meets the conditions for getting stuck in sand. The steering control module is used to adjust the wheel steering of the sand trap wheel; The drive control module is used to control the power output of the vehicle so that the vehicle moves in the driving direction; The determination module is also used to determine the vehicle's ability to escape from the sand, and if the vehicle meets the conditions for escaping, determine that the vehicle has completed the control process of escaping from the sand. The vertical control module includes: An active stabilizer bar control module is used to control the active stabilizer bar actuator through the vertical control module to adjust the height of the sand trap wheel in the vertically upward direction; The steering control module includes: The four-wheel steering control module is used to control the four-wheel steering actuator and adjust the wheel steering of the sand-trapping wheel through the steering control module; The four-wheel steering control module is specifically used for: The steering control module controls the four-wheel steering actuator to make the sand-trapping wheel swing at a preset frequency and preset amplitude, and to adjust the landing direction of the sand-trapping wheel to be different from the sinking direction; The active stabilizer bar control module is specifically used for: The vertical control module controls the active stabilizing bar actuator to make the sand-trapping wheel land based on the landing direction.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle driving control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle driving control method according to any one of claims 1-6.

Images