Vehicle escape control method and storage medium

Abstract

The present invention belongs to the field of vehicle control technology, and specifically relates to a vehicle escape control method and storage medium. The vehicle escape control method in the present invention is applied to a continuously variable transmission, including obtaining a first parameter group of the vehicle according to the running state of the vehicle, judging that the vehicle is in a muddy road section stuck condition according to the first parameter group of the vehicle satisfying a first preset condition, activating an escape button according to the vehicle being in a muddy road section stuck condition, so as to adjust the engine speed to the maximum torque speed, adjust the maximum vehicle speed and the required transmission ratio change rate to the muddy road section respectively, adjust the maximum vehicle speed to the muddy road section escape speed value, adjust the required transmission ratio change rate to the muddy road section escape threshold, and put the vehicle into four-wheel drive mode, select the vehicle escape direction according to the escape button being activated and press the accelerator pedal. By using the vehicle escape control method in this technical solution, it is possible to achieve rapid and intelligent escape of the vehicle, improve the escape success rate and escape efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a vehicle escape control method and a storage medium. Background Art

[0002] Tractors equipped with hydromechanical continuously variable transmissions are prone to becoming stuck due to harsh operating environments. Existing methods for tractors equipped with stepped transmissions are often used, making timely escape difficult. Furthermore, the few methods and procedures for tractors equipped with continuously variable transmissions suffer from poor reliability and inefficiency. Summary of the Invention

[0003] The present invention aims to at least address the problem of low vehicle escape efficiency in existing continuously variable transmissions. This objective is achieved through the following technical solutions:

[0004] A first aspect of the present invention provides a vehicle escape control method, which is applied to a continuously variable transmission, comprising:

[0005] According to the vehicle being in a running state, obtaining a first parameter group of the vehicle;

[0006] According to the first parameter group of the vehicle satisfying the first preset condition, it is determined that the vehicle is in a muddy road section and is stuck in the vehicle;

[0007] According to the vehicle being stuck in a muddy road, the escape button is activated to adjust the engine speed to the maximum torque speed, the maximum vehicle speed to the muddy road escape speed value, the required transmission ratio change rate to the muddy road escape threshold, and the vehicle starts the four-wheel drive mode;

[0008] When the escape button is activated, select the direction in which the vehicle will escape and press the accelerator pedal.

[0009] By using the vehicle escape control method in the present technical solution, when the first preset condition is met according to the first parameter group of the vehicle, it can be determined that the vehicle is stuck in a muddy road section, and then the engine speed is adjusted to the maximum torque speed, the maximum vehicle speed is adjusted to the muddy road escape speed value, the required transmission ratio change rate is adjusted to the muddy road escape threshold, and the vehicle is turned on in four-wheel drive mode. The performance parameters of the vehicle can be adjusted to cooperate with the operator's choice of escape direction and the drive of the accelerator pedal, thereby realizing the vehicle's rapid and intelligent escape, improving reliability, escape success rate and escape efficiency. In addition, the control method of the present invention is applied to a continuously variable transmission, so that vehicles with a continuously variable transmission can also perform high-efficiency and high-reliability escape operations.

[0010] In addition, the vehicle escape control method according to the present invention may also have the following additional technical features:

[0011] In some embodiments of the present invention, obtaining the first vehicle parameter group includes:

[0012] Obtain wheel speed, GPS actual vehicle speed and actual output torque.

[0013] In some embodiments of the present invention, the first parameter group of the vehicle satisfies the first preset condition, including:

[0014] According to the GPS actual vehicle speed being less than the vehicle speed threshold, the wheel speed being greater than the wheel speed threshold, and the actual output torque being less than the maximum torque threshold for the muddy road section, it is determined that the first parameter group of the vehicle meets the first preset condition.

[0015] In some embodiments of the present invention, after obtaining the first parameter group of the vehicle according to the vehicle being in the running state, the method further includes:

[0016] Obtain the second parameter group of the vehicle;

[0017] According to the first parameter group of the vehicle and the second parameter group of the vehicle satisfying the second preset condition, it is determined that the vehicle is in a heavy load stuck condition;

[0018] According to the vehicle being stuck with a heavy load, the escape button is activated to adjust the engine speed to the maximum torque speed, the maximum vehicle speed to the heavy load escape speed value, the required transmission ratio change rate to the heavy load escape threshold, and the vehicle starts the four-wheel drive mode;

[0019] When the escape button is activated, select the vehicle's escape direction and press the accelerator pedal.

[0020] In some embodiments of the present invention, obtaining the second vehicle parameter group includes:

[0021] Obtain the required vehicle speed and engine load rate.

[0022] In some embodiments of the present invention, the satisfying the second preset condition according to the first vehicle parameter group and the second vehicle parameter group includes:

[0023] According to the GPS actual vehicle speed being less than the vehicle speed threshold, the demanded vehicle speed being greater than the GPS actual vehicle speed, the actual output torque being greater than the large-load maximum torque threshold, and the engine load rate being in a full-load state, it is determined that the first vehicle parameter group and the second vehicle parameter group meet the second preset condition.

[0024] In some embodiments of the present invention, after the escape button is activated, the vehicle escape direction is selected, and the accelerator pedal is depressed, the method further includes:

[0025] Get the escape protection parameter group;

[0026] According to the escape protection parameter group meeting the third preset condition, the required transmission ratio change rate is adjusted to the first protection threshold, the required vehicle speed value is adjusted to the second protection threshold, and the escape button is turned off.

[0027] In some embodiments of the present invention, obtaining the escape protection parameter group includes:

[0028] Acquire hydraulic system pressure, clutch speed difference and clutch friction work.

[0029] In some embodiments of the present invention, the step of satisfying the third preset condition according to the escape protection parameter group includes:

[0030] According to the hydraulic system pressure being greater than the pressure threshold, the clutch speed difference being greater than the speed difference threshold, and the clutch friction work being greater than the friction work threshold, it is determined that the escape protection parameter group meets the third preset condition.

[0031] A second aspect of the present invention provides a storage medium storing a computer program or instructions, wherein the computer program or instructions enable a computer to execute the steps of the vehicle escape control method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference numerals are used throughout the accompanying drawings to denote the same components. In the accompanying drawings:

[0033] Figure 1 The overall logic flow diagram of the vehicle escape control method according to the embodiment of the present invention is schematically shown;

[0034] Figure 2 The following schematically shows a logic flow diagram of a vehicle stuck on a muddy road section according to an embodiment of the present invention;

[0035] Figure 3 The following schematically shows a logic flow diagram of a vehicle trapped under heavy load according to a vehicle escape control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0037] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0038] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0039] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," and the like. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is flipped, an element described as "below" or "below" another element or feature would then be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device may be otherwise oriented (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein are interpreted accordingly.

[0040] Figure 1 The overall logic flow diagram of the vehicle escape control method according to the embodiment of the present invention is schematically shown. Figure 2 The following schematically shows a logic flow diagram of a vehicle stuck in a muddy road section according to an embodiment of the present invention. Figure 1 and 2 As shown, the present invention proposes a vehicle escape control method and storage medium. The vehicle escape control method of the present invention is applied to a continuously variable transmission, including obtaining a first parameter group of the vehicle according to the running state of the vehicle, judging that the vehicle is in a muddy road stuck condition according to the first parameter group of the vehicle satisfying a first preset condition, activating an escape button according to the vehicle being in a muddy road stuck condition, so as to adjust the engine speed to the maximum torque speed, adjust the maximum vehicle speed to the muddy road escape speed value, adjust the required transmission ratio change rate to the muddy road escape threshold, and turn on the four-wheel drive mode of the vehicle, and according to the escape button being activated, select the vehicle escape direction and press the accelerator pedal.

[0041] By using the vehicle escape control method in the present technical solution, when the first preset condition is met according to the first parameter group of the vehicle, it can be determined that the vehicle is stuck in a muddy road section, and then the engine speed is adjusted to the maximum torque speed, the maximum vehicle speed is adjusted to the muddy road escape speed value, the required transmission ratio change rate is adjusted to the muddy road escape threshold, and the vehicle is turned on in four-wheel drive mode. The performance parameters of the vehicle can be adjusted to cooperate with the operator's choice of escape direction and the drive of the accelerator pedal, thereby realizing the vehicle's rapid and intelligent escape (escape is achieved through the inertia of the entire vehicle) (this is the escape mode), thereby improving reliability, escape success rate and escape efficiency. In addition, the control method of the present invention is applied to a continuously variable transmission, so that vehicles with a continuously variable transmission can also perform high-efficiency and high-reliability escape operations.

[0042] Specifically, in this embodiment, the muddy road escape speed value and the muddy road escape threshold can be obtained through testing and experiments, and need to be specifically analyzed and calculated according to the specific situation. No specific limitation is made in this embodiment.

[0043] In some embodiments of the present invention, Figure 1 and 2 As shown, obtaining the first vehicle parameter group includes:

[0044] Obtain wheel speed, GPS (Global Positioning System) actual vehicle speed, and actual output torque.

[0045] Specifically, in this embodiment, the first parameter group of the vehicle includes wheel speed, GPS actual vehicle speed and actual output torque, which can be obtained through the speed sensor, vehicle speed sensor and torque sensor on the vehicle respectively. When the values ​​of the wheel speed, GPS actual vehicle speed and actual output torque meet the first preset condition, it is determined that the vehicle is in a muddy road section and is stuck in the vehicle.

[0046] In some embodiments of the present invention, Figure 1 and 2 As shown, according to the first parameter group of the vehicle, satisfying the first preset condition includes:

[0047] According to the GPS actual vehicle speed being less than the vehicle speed threshold, the wheel speed being greater than the wheel speed threshold, and the actual output torque being less than the maximum torque threshold for the muddy road section, it is determined that the first parameter group of the vehicle meets the first preset condition.

[0048] Specifically, in this embodiment, when the GPS actual vehicle speed is less than a vehicle speed threshold, the wheel speed is greater than a wheel speed threshold, and the actual output torque is less than a maximum torque threshold for muddy roads, the first vehicle parameter set satisfies the first preset condition, thereby indicating that the vehicle is in a muddy road stuck condition. In this case, the wheels of a vehicle stuck in a muddy road are able to rotate and are only idling.

[0049] Specifically, when the actual GPS vehicle speed is equal to or greater than the vehicle speed threshold, the wheel speed is less than or equal to the wheel speed threshold, and the actual output torque is equal to or greater than the maximum torque threshold for muddy roads, it means that the first parameter group of the vehicle does not meet the first preset condition, that is, the vehicle is stuck in a non-muddy road section and does not need to perform the following escape operation. At this time, just continue to maintain the current operating state of the vehicle.

[0050] Specifically, in this embodiment, the vehicle speed threshold, wheel speed threshold, maximum torque threshold for muddy roads, and maximum torque threshold for heavy loads can be obtained through testing and experiments, respectively, and require specific analysis and calculation based on specific circumstances. No specific limitations are made in this embodiment.

[0051] In some embodiments of the present invention, Figure 1 and 3 As shown, according to the vehicle being in a running state, after obtaining the first parameter group of the vehicle, the following steps are further included:

[0052] Obtain the second parameter group of the vehicle;

[0053] According to the first parameter group of the vehicle and the second parameter group of the vehicle satisfying the second preset condition, it is determined that the vehicle is in a heavy load stuck condition;

[0054] According to the vehicle being stuck with a heavy load, the escape button is activated to adjust the engine speed to the maximum torque speed, the maximum vehicle speed to the heavy load escape speed value, the required transmission ratio change rate to the heavy load escape threshold, and the vehicle starts the four-wheel drive mode;

[0055] When the escape button is activated, select the vehicle's escape direction and press the accelerator pedal.

[0056] Specifically, in this embodiment, after obtaining the first parameter group of the vehicle, the second parameter group of the vehicle is obtained. If both the first parameter group and the second parameter group of the vehicle meet the second preset condition, it can be determined that the vehicle is in a heavy load stuck condition, and then the engine speed is adjusted to the maximum torque speed, the maximum vehicle speed and the required transmission ratio change rate are adjusted to the heavy load escape speed value respectively, and combined with the four-wheel drive clutch, the performance parameters of the vehicle can be adjusted to cooperate with the operator's choice of escape direction and the drive of the accelerator pedal, thereby realizing the vehicle's rapid and intelligent escape under heavy load stuck conditions, thereby improving reliability, escape success rate and escape efficiency.

[0057] Specifically, in this embodiment, the wheel speed under a heavy load condition is zero because the vehicle speed is in a heavy load stuck state and cannot move, so the wheel remains stationary, but the wheel itself has a certain force.

[0058] In some embodiments of the present invention, Figure 1 and 3 As shown, obtaining the second parameter group of the vehicle includes:

[0059] Obtain the required vehicle speed and engine load rate.

[0060] Specifically, in this embodiment, the vehicle's second parameter group includes the required vehicle speed and engine load rate, which can be obtained through the required vehicle speed value preset on the vehicle and the control panel. When the GPS actual vehicle speed, the actual output torque value, the required vehicle speed and the engine load rate meet the second preset conditions, it is determined that the vehicle is in a high-load stuck condition.

[0061] In some embodiments of the present invention, Figure 1 and 3 As shown, according to the first vehicle parameter group and the second vehicle parameter group, satisfying the second preset condition includes:

[0062] According to the GPS actual vehicle speed being less than the vehicle speed threshold, the demanded vehicle speed being greater than the GPS actual vehicle speed, the actual output torque being greater than the large-load maximum torque threshold, and the engine load rate being in a full-load state, it is determined that the first vehicle parameter group and the second vehicle parameter group meet the second preset condition.

[0063] Specifically, in this embodiment, when the GPS actual vehicle speed is less than the vehicle speed threshold, the required vehicle speed is greater than the GPS actual vehicle speed, the actual output torque is greater than the large-load maximum torque threshold, and the engine load rate is in a full-load state, it means that the first parameter group of the vehicle and the second parameter group of the vehicle meet the second preset condition, which further indicates that the vehicle is in a large-load stuck condition.

[0064] Specifically, when the GPS actual vehicle speed is equal to or greater than the vehicle speed threshold, the required vehicle speed is less than or equal to the actual vehicle speed, the actual output torque is less than or equal to the heavy load maximum torque threshold, and the engine is not in a fully loaded state, it indicates that the vehicle's first parameter group and second parameter group do not meet the second preset condition, that is, the vehicle is not stuck in a muddy road section and is not stuck in a heavy load condition. There is no need to perform the following escape operation, and the vehicle can continue to maintain its current operating state.

[0065] Specifically, in this embodiment, the required vehicle speed minus the constant value of the speed difference is greater than the GPS actual vehicle speed.

[0066] In some embodiments of the present invention, Figure 1 As shown, after the escape button is activated, the vehicle escape direction is selected and the accelerator pedal is pressed, the following steps are further included:

[0067] Get the escape protection parameter group;

[0068] According to the escape protection parameter group meeting the third preset condition, the required transmission ratio change rate is adjusted to the first protection threshold, the required vehicle speed value is adjusted to the second protection threshold, and the escape button is turned off.

[0069] Specifically, in this embodiment, after the escape operation control is turned on, the vehicle's escape protection parameter group is detected in real time. Once it is detected that the escape protection parameter group meets the third preset condition, the protection logic of the continuously variable transmission is immediately turned on. By limiting the required transmission ratio change rate and the required vehicle speed, the purpose of protecting the safety of the continuously variable transmission mechanical components is achieved (this is the protection mode).

[0070] Specifically, the escape protection mode in this embodiment is applicable to conditions where the vehicle is stuck on muddy roads, and is also applicable to conditions where the vehicle is stuck with a heavy load. After the vehicle is escaped under both conditions, this method can be used to detect the escape protection parameter group. Once it is detected that the escape protection parameter group meets the third preset condition, the protection logic of the continuously variable transmission is immediately activated, and the purpose of protecting the safety of the mechanical components of the continuously variable transmission is achieved by limiting the required transmission ratio change rate and the required vehicle speed (this is the protection mode).

[0071] Specifically, in this embodiment, the first protection threshold and the second protection threshold can be obtained through testing and experiments, respectively, and need to be specifically analyzed and calculated according to specific circumstances. No specific limitation is made in this embodiment.

[0072] In some embodiments of the present invention, Figure 1 As shown, obtaining the escape protection parameter group includes:

[0073] Acquire hydraulic system pressure, clutch speed difference and clutch friction work.

[0074] Specifically, in this embodiment, the escape protection parameter group includes hydraulic system pressure, clutch speed difference and clutch friction work, which can be obtained through corresponding sensors or control panels on the vehicle respectively. When the values ​​of the hydraulic system pressure, clutch speed difference and clutch friction work meet the third preset condition, it is determined that the vehicle needs to take protective measures to protect mechanical components.

[0075] In some embodiments of the present invention, Figure 1 As shown, according to the escape protection parameter group, satisfying the third preset condition includes:

[0076] According to the hydraulic system pressure being greater than the pressure threshold, the clutch speed difference being greater than the speed difference threshold, and the clutch friction work being greater than the friction work threshold, it is determined that the escape protection parameter group meets the third preset condition.

[0077] Specifically, in this embodiment, when the hydraulic system pressure is greater than the pressure threshold, the clutch speed difference is greater than the speed difference threshold, and the clutch friction work is greater than the friction work threshold, it means that the escape protection parameter group meets the third preset condition, and further indicates that the vehicle needs to take protective measures for mechanical components.

[0078] Specifically, when the hydraulic system pressure is less than or equal to the pressure threshold, the clutch speed difference is less than or equal to the speed difference threshold, and the clutch friction work is less than or equal to the friction work threshold, it means that the escape protection parameter group does not meet the second preset condition, that is, the vehicle does not need to protect the mechanical components of the continuously variable transmission during the escape operation, and at this time, the vehicle can continue to maintain the escape operation.

[0079] Furthermore, the vehicle escape control method of the present invention can enable a tractor equipped with a hydraulic-mechanical continuously variable transmission to achieve intelligent, automatic and rapid escape when it is stuck. This method evaluates the working condition based on the performance of the entire vehicle when it is stuck, so as to identify the working conditions of being stuck on muddy roads and being stuck with a heavy load, and activates the escape mode through the escape button in the cab. Different control methods are used according to different stuck conditions. After activating the escape mode, the escape direction is selected through the forward / reverse reversing handle, and escape is carried out after the accelerator pedal is depressed. During the escape process, the status of the mechanical components of the continuously variable transmission is detected in real time. If the bearing capacity is exceeded, the protection program is immediately activated to protect the transmission.

[0080] A second aspect of the present invention provides a storage medium storing a computer program or instructions, which enables a computer to execute the steps of the vehicle escape control method as described above.

[0081] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. A skilled person may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0082] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0083] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any media that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc. Disks typically reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of storage media.

[0084] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A vehicle escape control method, applied to a continuously variable transmission, characterized in that: include: According to the vehicle being in a running state, obtaining a first parameter group of the vehicle; According to the first parameter group of the vehicle satisfying the first preset condition, it is determined that the vehicle is in a muddy road section and is stuck in the vehicle; According to the vehicle being stuck in a muddy road, the escape button is activated to adjust the engine speed to the maximum torque speed, the maximum vehicle speed to the muddy road escape speed value, the required transmission ratio change rate to the muddy road escape threshold, and the vehicle starts the four-wheel drive mode; When the escape button is activated, select the direction in which the vehicle will escape and press the accelerator pedal.

2. The vehicle escape control method according to claim 1, characterized in that: The obtaining of the first vehicle parameter group includes: Obtain wheel speed, GPS actual vehicle speed and actual output torque.

3. The vehicle escape control method according to claim 2, characterized in that: The first parameter group of the vehicle satisfies the first preset condition, including: According to the GPS actual vehicle speed being less than the vehicle speed threshold, the wheel speed being greater than the wheel speed threshold, and the actual output torque being less than the maximum torque threshold for the muddy road section, it is determined that the first parameter group of the vehicle meets the first preset condition.

4. The vehicle escape control method according to claim 2, characterized in that: After obtaining the first parameter group of the vehicle according to the vehicle being in the running state, the method further includes: Obtain the second parameter group of the vehicle; According to the first parameter group of the vehicle and the second parameter group of the vehicle satisfying the second preset condition, it is determined that the vehicle is in a heavy load stuck condition; According to the vehicle being stuck with a heavy load, the escape button is activated to adjust the engine speed to the maximum torque speed, the maximum vehicle speed to the heavy load escape speed value, the required transmission ratio change rate to the heavy load escape threshold, and the vehicle starts the four-wheel drive mode; When the escape button is activated, select the direction in which the vehicle will escape and press the accelerator pedal.

5. The vehicle escape control method according to claim 4, characterized in that: The obtaining of the second vehicle parameter group includes: Obtain the required vehicle speed and engine load rate.

6. The vehicle escape control method according to claim 5, characterized in that: The satisfying of the second preset condition according to the first vehicle parameter group and the second vehicle parameter group includes: According to the GPS actual vehicle speed being less than the vehicle speed threshold, the demanded vehicle speed being greater than the GPS actual vehicle speed, the actual output torque being greater than the large-load maximum torque threshold, and the engine load rate being in a full-load state, it is determined that the first vehicle parameter group and the second vehicle parameter group meet the second preset condition.

7. The vehicle escape control method according to claim 1, characterized in that: After the escape button is activated, the vehicle escape direction is selected and the accelerator pedal is depressed, the following steps are further included: Get the escape protection parameter group; According to the escape protection parameter group meeting the third preset condition, the required transmission ratio change rate is adjusted to the first protection threshold, the required vehicle speed value is adjusted to the second protection threshold, and the escape button is turned off.

8. The vehicle escape control method according to claim 7, characterized in that: The obtaining of the escape protection parameter group includes: Acquire hydraulic system pressure, clutch speed difference and clutch friction work.

9. The vehicle escape control method according to claim 8, characterized in that: The third preset condition is satisfied according to the escape protection parameter group, including: According to the hydraulic system pressure being greater than the pressure threshold, the clutch speed difference being greater than the speed difference threshold, and the clutch friction work being greater than the friction work threshold, it is determined that the escape protection parameter group meets the third preset condition.

10. A storage medium, characterized in that: The storage medium stores a computer program or instructions, which enable a computer to execute the steps of the vehicle escape control method as described in any one of claims 1 to 9.

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