Vehicle control method, device and computer equipment

Abstract

The application relates to a vehicle control method and device, computer equipment, a storage medium and a computer program product. The vehicle control method comprises the following steps: receiving a tire burst signal; calculating a target steering rate of a tire burst vehicle according to vehicle state information of the tire burst vehicle carried by the tire burst signal; and determining braking parameters and steering parameters of the tire burst vehicle according to the target steering rate. Through the setting, the steering and braking systems can be combined to control the vehicle after tire burst in a stable area, the driving safety guarantee of the vehicle after tire burst is improved, the situation that the vehicle is out of control after a tire burst accident is avoided, the automatic calculation of the braking force and the steering rate is adopted to realize the control and stability of the tire burst situation, the influence of the misoperation of the driver on the tire burst vehicle can be reduced, and the nervousness of the driver after tire burst can be effectively relieved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, apparatus, computer equipment, storage medium, and computer program product. Background Technology

[0002] Tire blowouts at high speeds pose a significant safety hazard to vehicle stability and driver safety. Controlling and reducing the harm caused by tire blowouts to vehicles and occupants has always been one of the challenges faced by the automotive industry.

[0003] The current common solution is to replace tires with run-flat tires to reduce the damage caused by a tire blowout, controlling the harm from a hardware perspective. However, the coverage of run-flat tires is limited. Based on existing research, if the driver reacts promptly and takes correct actions after a tire blowout, even with regular tires, the impact of the blowout can be controlled to a certain extent, thus reducing the harm. However, after a tire blowout, drivers often panic and over-control the vehicle, resulting in significant forced movement and oversteering. Preventing driver errors and minimizing the risk of loss of vehicle control are the biggest challenges in reducing the driving risks associated with tire blowouts. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, device, computer equipment, storage medium, and computer program product that can automatically control the braking force and steering angle of a wheel with a blown tire, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a vehicle control method, including:

[0006] Receive tire blowout signal;

[0007] The target turning rate of the vehicle with the blown tire is calculated based on the tire blowout signal carrying the tire blowout wheel status information and the vehicle driving information of the vehicle with the blowout.

[0008] Based on the target steering rate, determine the braking and steering parameters of the vehicle with the blown tire.

[0009] In one embodiment, calculating the target steering rate of the vehicle with the blown tire based on the blown tire state information carried by the blown tire signal and the vehicle driving information of the vehicle with the blown tire includes:

[0010] Calculate the asymmetric torque of the vehicle with the blown tire based on the tire blowout status information and the vehicle driving information;

[0011] The target steering rate of the blown-out wheel is calculated based on the asymmetric torque and the vehicle driving information.

[0012] In one embodiment, the blown tire status information includes the blown tire resistance, and the vehicle driving information includes the wheel track between the left and right tires of the blown vehicle and the friction between the non-blown tire and the ground.

[0013] The step of calculating the asymmetric torque of the vehicle with the blown tire based on the tire blowout state information and the vehicle driving information includes:

[0014] The resistance difference is obtained based on the tire resistance of the tire with the blowout and the friction between the tire without the blowout and the ground.

[0015] The asymmetric torque is calculated based on the resistance difference and the track width between the left and right tires of the vehicle that suffered the tire blowout.

[0016] In one embodiment, calculating the target steering rate of the blown-out wheel based on the asymmetric torque and the vehicle driving information includes:

[0017] Based on the asymmetric torque and the vehicle driving information, calculate the actual state information and predicted state information of the vehicle with the blowout in the non-blowout state.

[0018] The target turning rate is calculated based on the actual state information and the predicted state information.

[0019] In one embodiment, the actual state information includes the actual theoretical maximum steering rate; the vehicle driving information includes the mass of the vehicle with the blown tire, the vehicle's turning radius, longitudinal acceleration, lateral acceleration, and the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively.

[0020] The step of calculating the actual state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information includes:

[0021] Based on the pre-set tire friction coefficient, the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel of the tire blowout vehicle, respectively, calculate the centripetal force of the tire blowout vehicle.

[0022] The actual theoretical maximum turning rate is calculated based on the centripetal force, the mass of the vehicle with the blown tire, and the turning radius of the vehicle with the blown tire.

[0023] In one embodiment, the predicted state information includes the expected steering rate of the vehicle with the blown tire in the non-blowout state, and the vehicle state information includes the steering wheel angle information of the vehicle with the blown tire, the wheelbase of the vehicle with the blown tire, the lateral force after steering of the blown tire wheel and the lateral force after steering of the non-blowout tire wheel, and the mass of the vehicle with the blown tire.

[0024] The step of calculating the predicted state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information includes:

[0025] The total lateral force of the vehicle after a tire blowout is calculated based on the lateral force of the blowout tire after steering and the lateral force of the non-blowout tire after steering.

[0026] The torque-counteracting angle is calculated based on the asymmetric torque, the total lateral force after steering, and the wheelbase of the vehicle with the blowout.

[0027] The predicted steering angle is calculated based on the offset torque angle and the steering wheel angle information of the vehicle with the blown tire;

[0028] Calculate the desired steering rate based on the predicted steering angle.

[0029] In one embodiment, the predicted state information includes the expected maximum turning rate of the vehicle with the blown tire; the vehicle state information may include the mass of the vehicle with the blown tire and the turning radius of the vehicle with the blown tire.

[0030] The step of calculating the predicted state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information includes:

[0031] The desired maximum steering rate is calculated based on the pre-set tire friction coefficient, the mass of the vehicle with the blown tire, and the vehicle's turning radius.

[0032] In one embodiment, the actual state information includes the actual theoretical maximum steering rate; the predicted state information includes the expected steering rate and expected maximum steering rate of the vehicle with the blown tire in a non-blowout state.

[0033] The step of calculating the target turning rate based on the actual state information and the predicted state information includes:

[0034] The target steering rate is determined based on the desired steering rate, the desired maximum steering rate, and the actual theoretical maximum steering rate.

[0035] In one embodiment, determining the predicted state information of the vehicle with the blowout based on the asymmetric torque and the vehicle state information includes:

[0036] Based on the asymmetric torque and the vehicle driving information, calculate the torque offset angle of the vehicle with the blowout.

[0037] Based on the offset torque angle and the vehicle driving information, the predicted steering angle of the tire blowout vehicle is calculated;

[0038] The predicted state information is determined using the vehicle Ackermann formula based on the vehicle state information and the predicted steering angle.

[0039] In one embodiment, determining the braking and steering parameters of the tire-blown vehicle based on the target steering rate includes:

[0040] Using the Ackermann formula for vehicles, the required steering angle for the tire blowout vehicle is determined based on the target steering rate;

[0041] The target steering angle of the tire blowout vehicle is determined by superimposing the required steering angle and the offset torque steering angle.

[0042] The steering parameters are determined based on the vehicle driving information and the target steering angle;

[0043] The braking parameters are determined based on the steering angle deviation and the vehicle driving information.

[0044] In one embodiment, the method further includes:

[0045] The vehicle with the blown tire is controlled according to the braking parameters and the steering parameters.

[0046] Secondly, this application also provides a vehicle control device, comprising:

[0047] The receiving module is used to receive tire blowout signals;

[0048] The calculation module is used to calculate the target steering rate of the vehicle with the blown tire based on the tire blowout state information carried by the blowout signal and the vehicle driving information of the vehicle with the blowout.

[0049] The determination module is used to determine the braking parameters and steering parameters of the tire blowout vehicle based on the target steering rate.

[0050] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the vehicle control method described in any of the above embodiments.

[0051] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the vehicle control method described in any of the above embodiments.

[0052] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the vehicle control method described in any of the above embodiments.

[0053] The aforementioned vehicle control methods, devices, computer equipment, storage media, and computer program products can reduce the risk of driver error caused by panic when a tire blowout occurs. Through automated control of the vehicle with a blowout, the vehicle will not overturn due to sudden steering or emergency braking, thereby improving vehicle driving safety and protecting the driver's life. Attached Figure Description

[0054] Figure 1 This is a flowchart illustrating a vehicle control method in one embodiment;

[0055] Figure 2 This is a flowchart illustrating a vehicle control method in one embodiment;

[0056] Figure 3 This is a flowchart illustrating a vehicle control method in one embodiment;

[0057] Figure 4 This is a flowchart illustrating a vehicle control method in one embodiment;

[0058] Figure 5 This is a flowchart illustrating a vehicle control method in one embodiment;

[0059] Figure 6 This is a flowchart illustrating the vehicle control device in one embodiment;

[0060] Figure 7 This is a flowchart illustrating the computing module in a vehicle control device in one embodiment;

[0061] Figure 8 This is a flowchart illustrating the second computing unit in the computing module of a vehicle control device in one embodiment;

[0062] Figure 9 This is a flowchart illustrating the determination module in a vehicle control device in one embodiment;

[0063] Figure 10 This is a structural block diagram of a vehicle control device in one embodiment;

[0064] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0066] In one embodiment, a vehicle control method is provided. This embodiment illustrates the application of this vehicle control method to a processor. It should be noted that the processor can be installed inside the vehicle, such as... Figure 1 As shown, the vehicle control method includes:

[0067] Step 202: Receive tire blowout signal.

[0068] A tire blowout signal can be issued by a tire blowout detection device. For example, when a tire blowout is detected, the tire blowout detection device can be a pressure sensor used to detect the internal pressure of the four tires in front and behind the vehicle. When the internal pressure of any tire drops to a preset alarm threshold in a short period of time, the pressure sensor sends a tire blowout signal to the processor.

[0069] In this embodiment, the processor receives a tire blowout signal from the tire blowout detection device.

[0070] Step 204: Calculate the target steering rate of the vehicle with the blown tire based on the tire blowout status information carried by the blowout signal and the vehicle driving information of the vehicle with the blowout.

[0071] Tire blowout status information reflects the information corresponding to the tire that experienced the blowout, such as the friction between the blown tire and the ground, i.e., tire drag. Vehicle driving information reflects the actual state of the vehicle with the blown tire and relevant parameters of various parts of the vehicle body. Vehicle driving information may include the vehicle's speed, the track width between the left and right tires, the steering wheel angle, and the location of the blown tire.

[0072] After a tire blowout, the driver may panic and swerve the steering wheel, which could cause the vehicle to roll over. Therefore, properly controlling the steering speed of the wheels of a vehicle with a blowout is very important in reducing the driving risks associated with a tire blowout.

[0073] The target steering rate refers to the wheel steering rate that enables a vehicle with a blown tire to maintain a relatively stable steering rate.

[0074] In this embodiment, the processor can calculate a steering rate that enables the vehicle with a blown tire to maintain a relatively stable steering speed based on the actual state of the vehicle and the relevant parameters of each part of the vehicle body.

[0075] Step 206: Determine the braking and steering parameters of the vehicle with the blowout based on the target steering rate.

[0076] The steering rate of a vehicle needs to take into account the vehicle speed, the power of the four front and rear tires, and the tire steering angle. The power of the tires depends on the pushing force and the braking force. In the process of normal driving, if a tire blowout occurs, the driver will usually release the accelerator, which can manually reduce the pushing force to zero. However, due to the vehicle's inertia, the vehicle will still travel a certain distance. At this time, the braking force of the vehicle should be considered. Therefore, properly controlling the braking force of a vehicle with a tire blowout is also of great significance in reducing the driving risks caused by a tire blowout.

[0077] In this embodiment, the processor, based on the steering parameters predicted in step 204 that enable the vehicle with a blown tire to maintain a relatively stable steering rate, further enables the vehicle with a blown tire to adjust the braking parameters when adjusting to that steering rate.

[0078] In the aforementioned vehicle control method, the processor receives a tire blowout signal from the tire blowout detection device and calculates a wheel steering rate that allows the vehicle to maintain a relatively stable steering speed based on the actual state of the vehicle and relevant parameters of various body parts. It then further calculates the necessary braking and steering parameters based on this steering rate. This design reduces the risk of driver error caused by panic during a tire blowout. Automated control of the vehicle prevents it from overturning due to sudden steering or emergency braking, thus improving vehicle safety and protecting the driver's life.

[0079] like Figure 2 As shown, in some optional embodiments, step 204 includes: step 2042, calculating the asymmetric torque of the vehicle with the blown tire based on the blown tire state information and vehicle driving information; step 2044, calculating the target steering rate of the blown tire wheel based on the asymmetric torque and vehicle driving information.

[0080] Further, in an optional embodiment, the blown tire status information may include the blown tire resistance, and the vehicle driving information may include the wheel track between the left and right tires of the blown vehicle and the friction between the non-blown tire and the ground. Step 2042 includes: obtaining a resistance difference value based on the blown tire resistance and the friction between the non-blown tire and the ground; and determining an asymmetric torque based on the resistance difference value and the wheel track between the left and right tires of the blown vehicle.

[0081] Specifically, the resistance difference can be obtained by subtracting the tire resistance of the blown tire from the friction between the tire of the non-blown tire and the ground. The resistance difference can then be multiplied by half the wheel track of the vehicle with the blown tire to obtain the asymmetric torque.

[0082] As an example, the formula used in step 2042 to calculate the asymmetric torque is as follows:

[0083]

[0084] Among them, M z Indicates asymmetric torque, d represents the track width between the left and right tires of the vehicle that suffered a tire blowout, and F represents the torque. TB F represents the tire resistance of the tire with a blown tire, while F represents the friction between the tire without a blown tire and the ground.

[0085] In this embodiment, after calculating the asymmetric torque, the processor further calculates the target steering rate based on the asymmetric torque and information about various components of the vehicle during the tire blowout process.

[0086] like Figure 3 As shown, in some optional embodiments, step 2044 includes: step 20442, determining the actual state information and predicted state information of the vehicle in the non-explosion state based on the asymmetric torque and vehicle driving information; step 20444, calculating the target steering rate based on the actual state information and predicted state information.

[0087] In this embodiment, the processor determines the predicted state information of the vehicle with a blowout but not yet blowout based on the asymmetric torque and vehicle driving information, and determines the actual state information of the vehicle with a blowout but not yet blowout based on the vehicle driving information.

[0088] In an optional embodiment, the vehicle driving information may include the mass of the vehicle with the blown tire, the vehicle's turning radius, longitudinal acceleration, lateral acceleration, the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. Step 20442 includes: determining the centripetal force of the vehicle with the blown tire based on a preset tire friction coefficient, the normal force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle with the blown tire, and the friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle with the blown tire; and determining the actual state information based on the centripetal force of the vehicle with the blown tire, the mass of the vehicle with the blown tire, and the vehicle's turning radius of the vehicle with the blown tire.

[0089] Specifically, the total pressure value of the vehicle with a blown tire can be obtained by adding the normal forces corresponding to the left front tire, right front tire, left rear tire, and right rear tire respectively. The total friction value of the vehicle with a blown tire can be obtained by adding the friction forces of the left front tire, right front tire, left rear tire, and right rear tire respectively. Then, the product of the square of the total pressure value and the tire friction coefficient is calculated, and the product is subtracted from the square of the total friction value and then the result is raised to the power of the square to obtain the centripetal force of the vehicle with a blown tire.

[0090] Furthermore, the mass of the vehicle with the blown tire is multiplied by its turning radius, and then the centripetal force is divided by the product to obtain the actual state information.

[0091] Based on the vehicle's current acceleration, the formula used in step 20442 to calculate the actual state information is as follows:

[0092]

[0093] Among them, F NNL F NFR F NRL F NRR These represent the normal force applied to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively; F NFL F NFR F NRL F NRR These represent the frictional forces experienced by the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively; μ represents the pre-set tire friction coefficient, and ω... p This indicates the actual status information, where r represents the turning radius of the vehicle with the tire blowout.

[0094] Here, 'r' can be calculated by substituting the steering wheel angle of the vehicle with the tire blowout into the Ackermann equation. Correspondingly, the vehicle driving information includes the steering wheel angle information of the vehicle with the tire blowout.

[0095] As an example, actual condition information could be the actual theoretical maximum steering rate of a vehicle with a blown tire.

[0096] In this embodiment, the processor determines the target steering rate based on the calculated actual theoretical maximum steering rate of the vehicle with a blowout and the predicted state information under the non-blowout state.

[0097] In some optional embodiments, step 20442 includes: calculating the offset torque angle of the tire blowout vehicle based on the asymmetric torque and vehicle driving information; calculating the predicted angle of the tire blowout vehicle based on the offset torque angle and vehicle driving information; and determining the predicted state information based on the predicted angle.

[0098] In an optional embodiment, the predicted state information may include the expected steering rate of the vehicle with the blown tire in the non-blowout state. The vehicle state information may include the steering wheel angle information of the vehicle with the blown tire, the wheelbase of the vehicle with the blown tire, the lateral force after the blown tire wheel turns and the lateral force after the non-blowout tire wheel turns, and the mass of the vehicle with the blown tire. Step 20442 includes: calculating the total lateral force after the blown tire based on the lateral force after the blown tire wheel and the lateral force after the non-blowout tire wheel; calculating the counteracting torque angle based on the asymmetric torque, the total lateral force after the blown tire, and the wheelbase of the vehicle with the blown tire; determining the predicted steering angle based on the counteracting torque angle and the steering wheel angle information of the vehicle with the blown tire; and determining the expected steering rate based on the predicted steering angle.

[0099] Specifically, the processor can add the lateral steering force of the wheel with the tire that has blown out to the lateral steering force of the wheel that has not blown out to obtain the total lateral steering force of the vehicle with the blown tire. Then, it uses twice the asymmetric torque divided by the product of the total lateral steering force and the wheelbase to obtain the counteracting torque angle.

[0100] Furthermore, based on the steering wheel angle information of the vehicle with the tire blowout, the steering wheel angle value of the vehicle with the tire blowout is obtained, and the torque-counteracting angle is subtracted from the steering wheel angle value to obtain the predicted steering angle. Then, the predicted steering angle is converted into the expected steering rate corresponding to each wheel.

[0101] Step 20442: Based on the asymmetric torque and vehicle driving information, the formula used to calculate the torque-counteracting angle θ is as follows:

[0102]

[0103] Among them, M z Indicates asymmetric torque, l represents the wheelbase of the vehicle with the tire blowout, Fy TB Fy represents the lateral force after the wheel with a blown tire turns, while Fy represents the lateral force after the wheel without a blown tire turns.

[0104] As an example, when a rear tire of a vehicle blows out, the formula for offsetting the torque angle θ is as follows:

[0105] ′

[0106] M z =(Fy(θ))

[0107] ′

[0108] Where θ represents the torque angle that counteracts a tire blowout when the rear tire of a vehicle experiences a blowout.

[0109] The predicted steering angle is the difference between the steering wheel angle and the torque-counteracting angle θ. The predicted steering angle is the expected steering angle of a vehicle with a tire blowout.

[0110] Furthermore, the processor converts the desired steering angle into the steering angle corresponding to each wheel, and then converts this into the desired steering rate ω in the predicted state information. m .

[0111] In an optional embodiment, the predicted state information may include the expected maximum steering rate, and the vehicle state information may include the mass of the vehicle with the blown tire and the vehicle's turning radius. Step 20442 includes: calculating the expected maximum steering rate based on a preset tire friction coefficient, the mass of the vehicle with the blown tire, and the vehicle's turning radius.

[0112] Specifically, the processor can calculate the gravity based on the mass of the vehicle with the blown tire, then multiply the gravity by the tire friction coefficient to obtain the total friction force of the vehicle with the blown tire, then divide the total friction force by the product of the mass of the vehicle with the blown tire and the turning radius of the vehicle, and then take the power to obtain the desired maximum turning rate.

[0113] As an example, the processor calculates the expected maximum turning rate from the predicted state information using the following formula:

[0114]

[0115] Where m represents the mass of the vehicle with the tire blowout, ω n This indicates the expected maximum steering rate.

[0116] In an optional embodiment, the predicted state information may include the expected steering rate and the expected maximum steering rate of the vehicle with the blown tire in the non-blowout state, and the actual state information may include the actual theoretical maximum steering rate of the vehicle with the blown tire. Step 20444 includes: determining the target steering rate based on the expected steering rate, the expected maximum steering rate and the actual theoretical maximum steering rate of the vehicle with the blown tire in the non-blowout state.

[0117] Specifically, the processor can divide the desired steering rate by the desired maximum steering rate, and then multiply it by the actual theoretical maximum steering rate to obtain the target steering rate.

[0118] As an example, the processor can calculate the target turning rate using the following formula:

[0119]

[0120] Where, ω n ω represents the desired maximum steering rate; p ω represents the actual theoretical maximum turning rate. m ω represents the desired turning rate; T Indicates the target turning rate.

[0121] like Figure 4 As shown, in some optional embodiments, step 206 includes: step 2062, using the vehicle Ackermann formula to determine the required steering angle of the tire blowout vehicle based on the target steering rate; step 2064, superimposing the required steering angle and the torque-counteracting steering angle to determine the target steering angle of the tire blowout vehicle; step 2066, determining steering parameters based on vehicle driving information and the target steering angle; and step 2068, determining braking parameters based on the steering angle deviation and vehicle driving information.

[0122] Demand steering angle refers to the angle at which the tires need to turn to maintain stability when a vehicle experiences a tire blowout.

[0123] The target steering angle refers to the angle at which the tires need to turn to maintain stability of the vehicle after the blowout, following the offset torque angle generated by the blowout.

[0124] Target steering torque refers to the torque required to make the tires of a vehicle with a blown tire turn at the target steering angle.

[0125] In this embodiment, the processor uses the vehicle Ackermann formula to calculate the required steering angle based on the target steering rate. Then, it superimposes the required steering angle with the offset torque angle θ to obtain the target steering angle. Finally, based on the target steering angle, combined with the vehicle speed, acceleration, and other conditions of the vehicle with the blown tire, it provides a suitable target steering torque.

[0126] Vehicle driving information can also include the difference in braking force between the left and right sides of a vehicle with a tire blowout.

[0127] The difference in vehicle performance caused by the difference between the actual steering wheel angle and the target steering angle can be achieved by changing the braking force. Specifically, based on the vehicle's steering characteristics, the difference in the lateral force caused by this difference can be obtained. As an example, the lateral force can be converted into the difference between the left and right longitudinal forces using the following formula:

[0128] F Y l = F X d

[0129] Among them, F Y F represents the difference between the actual steering wheel angle and the target steering angle. X This indicates the difference in braking force between the left and right sides of a vehicle that has experienced a tire blowout.

[0130] Furthermore, F is expressed using the following formula. X Converted into braking force values ​​for each tire of the vehicle that suffered a tire blowout:

[0131] F X =F XFL -F XFR +F XRL -F XRR

[0132] Where F XXL F XFR F XRL F XRR The additional braking force required for the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively.

[0133] like Figure 5 As shown, in some optional embodiments, the vehicle control method further includes: step 203, controlling the vehicle with a blown tire according to braking parameters and steering parameters.

[0134] The aforementioned vehicle control method combines steering and braking systems to keep the vehicle in a stable range after a tire blowout, improving driving safety and preventing loss of control after a blowout. By automatically calculating braking force and steering rate, the method controls and stabilizes the blowout situation, reducing the impact of driver error on the blowout vehicle and effectively alleviating the driver's anxiety after a blowout.

[0135] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0136] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0137] In one embodiment, such as Figure 6 As shown, a vehicle control device 600 is provided, including: a receiving module 602, a determining module 604, and an access module 606, wherein: the receiving module 602 is used to receive a tire blowout signal; the calculating module 604 is used to calculate the target steering rate of the tire blowout vehicle based on the vehicle status information of the tire blowout vehicle carried by the tire blowout signal; and the determining module 606 is used to determine the braking parameters and steering parameters of the tire blowout vehicle based on the target steering rate.

[0138] like Figure 7 As shown, in some optional embodiments, the vehicle status information includes the status information of the blown tire and the vehicle driving information of the blown tire; the calculation module 604 includes: a first calculation unit 6042, used to calculate the asymmetric torque of the blown tire based on the status information of the blown tire and the vehicle driving information; and a second calculation unit 6044, used to calculate the target steering rate of the blown tire wheel based on the asymmetric torque and the vehicle driving information.

[0139] like Figure 8 As shown, in some optional embodiments, the second calculation unit 6044 includes: a determining component 60442, used to determine the actual state information and predicted state information of the vehicle in the non-explosion state of the tire blowout based on the asymmetric torque and vehicle driving information; and a calculation component 60444, used to calculate the target steering rate based on the actual state information and the predicted state information.

[0140] In some optional embodiments, the determining component 60442 is further configured to: calculate the offset torque angle of the tire blowout vehicle based on the asymmetric torque and vehicle driving information; calculate the predicted angle of the tire blowout vehicle based on the offset torque angle and vehicle driving information; and determine the predicted state information based on the vehicle state information and the predicted angle using the vehicle Ackermann formula.

[0141] like Figure 9 As shown, in some optional embodiments, the determining module 606 includes: a first determining unit 6062, used to determine the required steering angle of the tire blowout vehicle based on the target steering rate using the vehicle Ackermann formula; a second determining unit 6064, used to superimpose the required steering angle and the torque-counteracting steering angle to determine the target steering angle of the tire blowout vehicle; a third determining unit 6066, used to determine steering parameters based on vehicle driving information and the target steering angle; and a fourth determining unit 6068, used to determine braking parameters based on the steering angle deviation and vehicle driving information.

[0142] In some alternative embodiments, the vehicle control device 600 further includes:

[0143] Control module 603 is used to control the vehicle with a blown tire according to braking and steering parameters.

[0144] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0145] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0146] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps: receiving a tire blowout signal; calculating a target steering rate for the tire blowout vehicle based on vehicle status information of the tire blowout vehicle carried by the tire blowout signal; and determining braking parameters and steering parameters of the tire blowout vehicle based on the target steering rate.

[0148] In some optional embodiments, the vehicle status information includes the status information of the blown tire and the vehicle driving information of the blown tire; when the computer program product is executed by the processor, it is also used to perform the following steps: calculating the asymmetric torque of the blown tire based on the status information of the blown tire and the vehicle driving information; and calculating the target steering rate of the blown tire wheel based on the asymmetric torque and the vehicle driving information.

[0149] In some optional embodiments, when the computer program product is executed by the processor, it is further configured to perform the following steps: determining, based on the asymmetric torque and the vehicle driving information, the actual state information and predicted state information of the vehicle in the non-explosion state after the tire blowout; and calculating the target steering rate based on the actual state information and the predicted state information.

[0150] In some optional embodiments, when the computer program product is executed by the processor, it is also used to perform the following steps: calculating the offset torque angle of the tire blowout vehicle based on the asymmetric torque and the vehicle driving information; calculating the predicted angle of the tire blowout vehicle based on the offset torque angle and the vehicle driving information; and determining the predicted state information based on the vehicle state information and the predicted angle using the vehicle Ackermann formula.

[0151] In some optional embodiments, the computer program product, when executed by a processor, is further configured to perform the following steps: using the vehicle Ackermann formula, determining the required steering angle of the tire-blown vehicle based on the target steering rate; superimposing the required steering angle and the torque-counteracting angle to determine the target steering angle of the tire-blown vehicle; determining the steering parameters based on the vehicle driving information and the target steering angle; and determining the braking parameters based on the steering angle deviation and the vehicle driving information.

[0152] In some alternative embodiments, the computer program product, when executed by a processor, is also used to perform the following steps: controlling the tire-blown vehicle according to the braking parameters and the steering parameters.

[0153] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: receiving a tire blowout signal; calculating a target steering rate for the tire blowout vehicle based on vehicle status information of the tire blowout vehicle carried by the tire blowout signal; and determining braking parameters and steering parameters of the tire blowout vehicle based on the target steering rate.

[0154] In some optional embodiments, the vehicle status information includes the status information of the blown tire and the vehicle driving information of the blown tire; when the computer program product is executed by the processor, it is also used to perform the following steps: calculating the asymmetric torque of the blown tire based on the status information of the blown tire and the vehicle driving information; and calculating the target steering rate of the blown tire wheel based on the asymmetric torque and the vehicle driving information.

[0155] In some optional embodiments, when the computer program product is executed by the processor, it is further configured to perform the following steps: determining, based on the asymmetric torque and the vehicle driving information, the actual state information and predicted state information of the vehicle in the non-explosion state after the tire blowout; and calculating the target steering rate based on the actual state information and the predicted state information.

[0156] In some optional embodiments, when the computer program product is executed by the processor, it is also used to perform the following steps: calculating the offset torque angle of the tire blowout vehicle based on the asymmetric torque and the vehicle driving information; calculating the predicted angle of the tire blowout vehicle based on the offset torque angle and the vehicle driving information; and determining the predicted state information based on the vehicle state information and the predicted angle using the vehicle Ackermann formula.

[0157] In some optional embodiments, the computer program product, when executed by a processor, is further configured to perform the following steps: using the vehicle Ackermann formula, determining the required steering angle of the tire-blown vehicle based on the target steering rate; superimposing the required steering angle and the torque-counteracting angle to determine the target steering angle of the tire-blown vehicle; determining the steering parameters based on the vehicle driving information and the target steering angle; and determining the braking parameters based on the steering angle deviation and the vehicle driving information.

[0158] In some alternative embodiments, the computer program product, when executed by a processor, is also used to perform the following steps: controlling the tire-blown vehicle according to the braking parameters and the steering parameters.

[0159] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0160] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, include: Receive tire blowout signal; Based on the tire blowout signal carrying the tire blowout wheel state information and the vehicle driving information of the blowout vehicle, the target steering rate of the blowout vehicle is calculated, including: calculating the asymmetric torque of the blowout vehicle based on the tire blowout wheel state information and the vehicle driving information; calculating the predicted state information and actual state information of the blowout vehicle in the non-blowout state based on the asymmetric torque and the vehicle driving information; and calculating the target steering rate based on the actual state information and the predicted state information. Based on the target steering rate, determine the braking and steering parameters of the vehicle with the blown tire; The actual state information includes the actual theoretical maximum turning rate; the vehicle driving information includes the mass of the vehicle with the blown tire, the vehicle turning radius, longitudinal acceleration, lateral acceleration, and the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. The step of calculating the actual state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information includes: The centripetal force of the tire blowout vehicle is calculated based on the pre-set tire friction coefficient, the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel of the tire blowout vehicle, respectively. The actual theoretical maximum turning rate is calculated based on the centripetal force, the mass of the vehicle with the blown tire, and the turning radius of the vehicle with the blown tire.

2. The method according to claim 1, characterized in that, The blown tire wheel status information includes the blown tire wheel resistance, and the vehicle driving information includes the wheel track of the left and right tires of the blown vehicle and the friction between the non-blown tires and the ground. The step of calculating the asymmetric torque of the vehicle with the blown tire based on the tire blowout wheel state information and the vehicle driving information includes: The resistance difference is obtained based on the tire resistance of the tire with the blowout and the friction between the tire without the blowout and the ground. The asymmetric torque is calculated based on the resistance difference and the track width between the left and right tires of the vehicle that suffered the tire blowout.

3. The method according to claim 1, characterized in that, The predicted state information includes the expected steering rate of the vehicle with the blown tire in the non-blowout state, and the vehicle driving information includes the steering wheel angle information of the vehicle with the blown tire, the wheelbase of the vehicle with the blown tire, the lateral force after steering of the wheel with the blown tire and the lateral force after steering of the wheel without the blown tire, and the mass of the vehicle with the blown tire. The step of calculating the predicted state information of the vehicle with a blowout in the non-blowout state based on the asymmetric torque and the vehicle driving information includes: The total lateral force of the vehicle after a tire blowout is calculated based on the lateral force of the blowout tire after steering and the lateral force of the non-blowout tire after steering. The torque-counteracting angle is calculated based on the asymmetric torque, the total lateral force after steering, and the wheelbase of the vehicle with the blowout. The predicted steering angle is calculated based on the offset torque angle and the steering wheel angle information of the tire blowout vehicle; Calculate the desired steering rate based on the predicted steering angle.

4. A vehicle control device, characterized in that, include: The receiving module is used to receive tire blowout signals; The calculation module is used to calculate the target steering rate of the vehicle with the blown tire based on the blown tire wheel status information and the vehicle driving information of the vehicle with the blown tire carried by the blown tire signal. The determining module is used to determine the braking parameters and steering parameters of the tire blowout vehicle based on the target steering rate; The computing module includes: The first calculation unit is used to calculate the asymmetric torque of the vehicle with the blown tire based on the tire blowout wheel state information and the vehicle driving information. The second calculation unit is used to calculate the target steering rate of the blown-out wheel based on the asymmetric torque and the vehicle driving information. The second computing unit includes: A determining component is used to calculate the actual state information and predicted state information of the vehicle in the non-explosion state after the tire blowout, based on the asymmetric torque and the vehicle driving information; A calculation unit is used to calculate the target turning rate based on the actual state information and the predicted state information; The actual state information includes the actual theoretical maximum turning rate; the vehicle driving information includes the mass of the vehicle with the blown tire, the vehicle turning radius, longitudinal acceleration, lateral acceleration, and the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. The determining component is specifically used to calculate the centripetal force of the tire blowout vehicle based on the pre-set tire friction coefficient, the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel of the tire blowout vehicle respectively; and to calculate the actual theoretical maximum steering rate based on the centripetal force, the mass of the tire blowout vehicle and the vehicle turning radius of the tire blowout vehicle.

5. The apparatus according to claim 4, characterized in that, The blown tire wheel status information includes the blown tire wheel resistance, and the vehicle driving information includes the wheel track of the left and right tires of the blown vehicle and the friction between the non-blown tires and the ground. The first calculation unit is specifically used to obtain the resistance difference based on the tire resistance of the blown-out wheel and the friction between the non-blown-out wheel and the ground; and to calculate the asymmetric torque based on the resistance difference and the wheel track of the left and right tires of the blown-out vehicle.

6. The apparatus according to claim 4, characterized in that, The predicted state information includes the expected steering rate of the vehicle with the blown tire in the non-blowout state, and the vehicle driving information includes the steering wheel angle information of the vehicle with the blown tire, the wheelbase of the vehicle with the blown tire, the lateral force after steering of the wheel with the blown tire and the lateral force after steering of the wheel without the blown tire, and the mass of the vehicle with the blown tire. The determining component is specifically used to calculate the total lateral force of the vehicle after a tire blowout based on the lateral force of the blowout wheel and the lateral force of the non-blowout wheel after a tire blowout; and to calculate the counteracting torque angle based on the asymmetric torque, the total lateral force after a tire blowout, and the wheelbase of the vehicle after a tire blowout. Based on the offset torque angle and the steering wheel angle information of the tire blowout vehicle, the predicted steering angle is calculated; based on the predicted steering angle, the expected steering rate is calculated.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the following steps: receiving a tire blowout signal; Based on the tire blowout signal carrying the tire blowout wheel state information and the vehicle driving information of the blowout vehicle, the target steering rate of the blowout vehicle is calculated, including: calculating the asymmetric torque of the blowout vehicle based on the tire blowout wheel state information and the vehicle driving information; calculating the actual state information and predicted state information of the blowout vehicle in its non-blowout state based on the asymmetric torque and the vehicle driving information; and calculating the target steering rate based on the actual state information and the predicted state information. Based on the target steering rate, determine the braking and steering parameters of the vehicle with the blown tire; The actual state information involved when the processor executes the computer program includes the actual theoretical maximum steering rate; the vehicle driving information includes the mass of the vehicle with the blown tire, the vehicle's turning radius, longitudinal acceleration, lateral acceleration, and the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively. The process implemented by the processor when executing the computer program, namely calculating the actual state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information, includes: Based on the pre-set tire friction coefficient, the normal force and friction force corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel of the tire blowout vehicle, respectively, calculate the centripetal force of the tire blowout vehicle. The actual theoretical maximum turning rate is calculated based on the centripetal force, the mass of the vehicle with the blown tire, and the turning radius of the vehicle with the blown tire.

8. The computer device according to claim 7, characterized in that, The blown tire wheel status information involved when the processor executes the computer program includes the blown tire wheel resistance, and the vehicle driving information includes the wheel track of the left and right tires of the blown vehicle and the friction between the non-blown tires and the ground. The step of calculating the asymmetric torque of the vehicle with the blown tire based on the tire blowout wheel state information and the vehicle driving information, implemented by the processor when executing the computer program, includes: The resistance difference is obtained based on the tire resistance of the tire with the blowout and the friction between the tire without the blowout and the ground. The asymmetric torque is calculated based on the resistance difference and the track width between the left and right tires of the vehicle that suffered the tire blowout.

9. The computer device according to claim 7, characterized in that, The predicted state information involved when the processor executes the computer program includes the expected steering rate of the vehicle with the blown tire in the non-blowout state, and the vehicle driving information includes the steering wheel angle information of the vehicle with the blown tire, the wheelbase of the vehicle with the blown tire, the lateral force after steering of the wheel with the blown tire and the lateral force after steering of the wheel without the blown tire, and the mass of the vehicle with the blown tire. The process implemented by the processor when executing the computer program, which involves calculating the predicted state information of the vehicle in the non-explosion state based on the asymmetric torque and the vehicle driving information, includes: The total lateral force of the vehicle after a tire blowout is calculated based on the lateral force of the blowout tire after steering and the lateral force of the non-blowout tire after steering. The torque-counteracting angle is calculated based on the asymmetric torque, the total lateral force after steering, and the wheelbase of the vehicle with the blowout. The predicted steering angle is calculated based on the offset torque angle and the steering wheel angle information of the tire blowout vehicle; Calculate the desired steering rate based on the predicted steering angle.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle control method according to any one of claims 1 to 3.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle control method according to any one of claims 1 to 3.

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