A vehicle control method, device, vehicle, and readable storage medium

Abstract

The application discloses a kind of vehicle control methods, belong to vehicle technical field, the method includes: obtaining the tire pressure value of each tire;In the case where at least one of the tire pressure values mutates, obtain driving lane information;Determine target parking rules based on the driving lane information;The target parking rules include first rule and second rule;Control the vehicle deceleration stops to target lane based on the target parking rules.The application applies the scheme of keeping the vehicle driving direction after tire burst in the prior art, and on this basis, the technical scheme of actively controlling the vehicle to park on the right is added, so that the vehicle can stop in the rightmost lane after tire burst failure, to a certain extent, the safety problem caused by stopping the vehicle in the current driving lane is avoided, the possibility of secondary accident is reduced, and driving safety is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a vehicle control method, device, vehicle, and readable storage medium. Background Technology

[0002] Currently, vehicles play an increasingly important role in people's travel, and therefore, road safety is receiving more and more attention. Among various traffic accidents, the proportion caused by tire blowouts is also increasing year by year. Especially on highways, tire blowouts are one of the main causes of various serious traffic accidents, which seriously threaten people's lives and property.

[0003] With the development of the intelligent vehicle field, intelligent driving has become a hot topic. As an important component of strategic emerging industries, intelligent driving is a key integrated application of technology that has emerged during the transition from the internet era to the artificial intelligence era, and it is also one of the strategic high points of the new round of global economic and technological development. Intelligent driving is mostly used for vehicle assisted control. In existing technologies, after a tire blowout, intelligent control methods can be used to maintain the car's current direction of travel and gradually decelerate to a stop, thereby maintaining vehicle stability and improving driving safety.

[0004] However, using the aforementioned existing technologies, once a vehicle stops, it can easily affect vehicles traveling normally in the lane, increasing the risk of secondary accidents and resulting in lower driving safety. Summary of the Invention

[0005] One objective of this invention is to provide a vehicle control method to solve the safety problem caused by a vehicle's tire blowout interfering with other vehicles traveling in the current lane; a second objective is to provide a vehicle control device; a third objective is to provide a vehicle; and a fourth objective is to provide a readable storage medium.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] This invention provides a vehicle control method, characterized in that the method includes:

[0008] Obtain the tire pressure value for each tire;

[0009] In the event of a sudden change in at least one of the tire pressure values, the driving lane information is obtained;

[0010] The target parking rule is determined based on the driving lane information;

[0011] Based on the target parking rules, the vehicle is controlled to decelerate and stop in the target lane.

[0012] According to the above method, after a sudden change in tire pressure, the vehicle controller can take over the vehicle to actively control and stabilize the vehicle body. It can also take corresponding parking rules based on the driving lane information to control the vehicle to stop in a relatively safe target lane, thereby avoiding the risk of interfering with other vehicles in the lane and causing secondary accidents, and improving driving safety.

[0013] Optionally, obtaining lane information in the event of a sudden change in at least one of the tire pressure values ​​includes:

[0014] In the event of a sudden change in at least one of the tire pressure values, the vehicle's lane departure status is confirmed;

[0015] When the lane departure state is "already deviated", obtain the vehicle's current speed;

[0016] If the driving speed is greater than or equal to a first threshold, the driving lane information is obtained.

[0017] Furthermore, the method also includes:

[0018] If the lane departure status is "not deviating", the tire pressure sensor is confirmed to be faulty.

[0019] Furthermore, the method also includes:

[0020] If the driving speed is less than a first threshold, a vehicle alarm signal is sent.

[0021] Furthermore, the method also includes:

[0022] When the driving speed is greater than or equal to a first threshold, the vehicle is controlled to maintain its current driving direction and the emergency warning flashers are activated.

[0023] Optionally, determining the target parking rule based on the driving lane information includes:

[0024] If the driving lane information is the target lane, the target parking rule is determined to be the first rule; the first rule is used to make the vehicle stop directly in the current lane;

[0025] If the driving lane information is another lane, the target parking rule is determined to be the second rule; the second rule is used to cause the vehicle to change lanes to the target lane and stop.

[0026] Further, when the target parking rule is the second rule, controlling the vehicle to decelerate and stop to the target lane based on the target parking rule includes:

[0027] Obtain environmental information surrounding the vehicle;

[0028] If the environmental information meets the lane-changing conditions, control the vehicle to change lanes to the target lane;

[0029] After the vehicle reaches the target lane, control the vehicle to slowly decelerate and stop.

[0030] Optionally, the method further includes:

[0031] Confirm the driver's takeover status of the vehicle; the takeover status includes a driver not taking over status and a driver having taken over status;

[0032] If the takeover status is that the driver is not in a takeover state, a takeover prompt command is sent and the number of times the takeover prompt command is sent is accumulated;

[0033] If the number of transmissions is greater than or equal to the second threshold, the step of obtaining driving lane information is performed.

[0034] This invention also proposes a vehicle control device, the device comprising:

[0035] The first acquisition module is used to acquire the tire pressure value of each tire;

[0036] The second acquisition module is used to acquire driving lane information when at least one of the tire pressure values ​​changes abruptly.

[0037] The judgment module is used to determine the target parking rule based on the driving lane information;

[0038] The control module is used to control the vehicle to decelerate and stop in the target lane based on the target parking rules.

[0039] This invention also proposes a vehicle including the braking device as described above, for performing the braking method as described above.

[0040] This invention also proposes a readable storage medium that, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to perform the aforementioned braking method.

[0041] The beneficial effects of the present invention are as follows: Compared with the prior art, the technical solution of the present invention obtains the tire pressure value of each tire; in the event of a sudden change in at least one of the tire pressure values, it obtains driving lane information; it determines a target parking rule based on the driving lane information; and it controls the vehicle to decelerate and stop to the target lane based on the target parking rule. By adding a method to actively control the vehicle to drive to the target lane, the vehicle can be parked in the target lane, thereby avoiding interference with other normally driving vehicles, thus avoiding the risk of secondary accidents caused by such interference and improving driving safety. Attached Figure Description

[0042] Figure 1 A flowchart illustrating a vehicle control method provided by the present invention;

[0043] Figure 2 A flowchart illustrating another vehicle control method provided by the present invention;

[0044] Figure 3 A flowchart illustrating a specific implementation of vehicle control provided by the present invention;

[0045] Figure 4 A logic block diagram of a vehicle control device provided by the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0047] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0048] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0049] In the embodiments provided by the present invention, Figure 1 This is a flowchart illustrating a vehicle control method proposed in an embodiment of the present invention, applied to a vehicle controller. The method may include:

[0050] Step 101: Obtain the tire pressure value of each tire.

[0051] In embodiments of the present invention, tire pressure sensors are installed on each tire. These sensors acquire the tire pressure value of the corresponding tire and convert the pressure signal into an electrical signal, which is then sent to the vehicle controller. The vehicle controller acquires and identifies the electrical signal sent by the tire pressure sensor, thereby obtaining the tire pressure value. During actual measurement, the vehicle controller can acquire the tire pressure value at regular intervals, thus conserving its computational resources while ensuring measurement accuracy. Furthermore, the vehicle controller can mark the tire pressure sensors corresponding to each tire, allowing the tire pressure values ​​sent by the sensors to be paired with tires in different locations for easier subsequent processing.

[0052] Step 102: In the event of a sudden change in at least one of the tire pressure values, obtain the driving lane information.

[0053] In embodiments of the present invention, after acquiring periodic tire pressure electrical signals, the vehicle controller can determine the state of these signals. If, within a certain segment of the tire pressure electrical signals, one tire pressure value is significantly lower than the others, it can be considered that a sudden change has occurred in the tire pressure. For example, under normal circumstances, the tire pressure sensor measures a tire pressure of 230 kPa, but in a certain measurement, the tire pressure is lower than 150 kPa; in this case, a sudden change in tire pressure can be considered. It should be noted that, under normal circumstances, the tire pressure measured by the tire pressure sensor will not be lower than atmospheric pressure. If, in a certain measurement, the tire pressure is lower than atmospheric pressure, it can be considered that the tire pressure sensor has malfunctioned and needs to be replaced promptly.

[0054] Meanwhile, in embodiments of the present invention, the acquired lane information may include the lane information of the road where the vehicle is currently located. If the vehicle is on a highway, the lane information of the vehicle can be obtained based on the vehicle's position and the highway's lane information. The vehicle controller can acquire a panoramic view of the vehicle based on the vehicle's panoramic camera, and then obtain the vehicle's current position based on the panoramic view. Thus, the lane information of the vehicle can be obtained based on the vehicle's current position and the lane information of the highway where the vehicle is located.

[0055] Step 103: Determine the target parking rule based on the driving lane information.

[0056] In embodiments of the present invention, a target parking rule is determined based on vehicle lane information. The driving lane information can be categorized according to the target parking lane information included in the target parking rule: one category is the target lane, and the other is other lanes. Each category of lane information corresponds to a parking rule. When the vehicle controller obtains the lane information currently in which the vehicle is located, it can match the corresponding parking rule based on the current lane information.

[0057] Step 104: Control the vehicle to decelerate and stop in the target lane based on the target parking rules.

[0058] In an embodiment of the present invention, after confirming the target parking rule, the vehicle controller can control the vehicle to execute the parking steps in the rule and complete the parking.

[0059] This invention provides a vehicle control method, comprising: acquiring the tire pressure values ​​of each tire; acquiring driving lane information when at least one of the tire pressure values ​​undergoes a sudden change; determining a target parking rule based on the driving lane information; and controlling the vehicle to decelerate and stop in the target lane based on the target parking rule. According to this method, after a sudden change in tire pressure, the vehicle's electronic stability control unit can take over the vehicle to actively control and stabilize the vehicle body, and can adopt corresponding parking rules based on the driving lane information to control the vehicle to stop in a relatively safe target lane. This avoids the risk of interfering with other vehicles in the lane and causing secondary accidents, thus improving driving safety.

[0060] In an embodiment of the present invention, Figure 2 This is a flowchart illustrating another vehicle control method provided in an embodiment of the present invention. The method may include the following steps:

[0061] Step 201: After the vehicle is powered on and started, obtain the tire pressure values ​​of each tire.

[0062] In an embodiment of the present invention, the driver can start the vehicle. After the vehicle is started, the vehicle controller is powered on, and at this time, the vehicle controller can obtain the tire pressure value of each tire through the tire pressure sensor. The tire pressure sensor can be marked by the vehicle controller so that it can be associated one-to-one with the tire pressure value.

[0063] Step 202: In the event of a sudden change in at least one of the tire pressure values, confirm the lane departure status of the vehicle.

[0064] In an embodiment of the present invention, when one or more of the tire pressure values ​​acquired by the vehicle controller undergo a sudden change, the vehicle controller can acquire a panoramic image of the vehicle taken by the panoramic camera on the vehicle. Since the vehicle does not immediately deviate from its lane after a sudden change in tire pressure, i.e., the process of the vehicle deviating from its lane is a state, based on this common sense, the vehicle controller can determine the lane departure state of the vehicle after acquiring the panoramic image. The lane departure state includes a non-deviated state and a deviated state. The non-deviated state may include a situation where the vehicle's driving trajectory has not changed significantly, while the deviated state may include a situation where the vehicle's driving trajectory has changed significantly.

[0065] In embodiments of the present invention, by confirming the vehicle's lane departure status, it is possible to more precisely determine whether the vehicle is out of control, which is beneficial for determining the timing of the vehicle controller to actively control the vehicle, avoiding unnecessary active control, helping the driver to remain calm, make reasonable driving behaviors, and ensure driving safety.

[0066] Step 203: If the lane departure state is "deviated", obtain the vehicle's speed.

[0067] In embodiments of the present invention, the vehicle controller can confirm the vehicle's lane departure status and determine whether the lane departure status is not a lane departure state or a lane departure state. When the vehicle controller confirms that the vehicle is currently in a lane departure state, it can acquire the vehicle's speed. In embodiments of the present invention, a speed measuring device is installed in the vehicle to measure the vehicle's speed. This speed measuring device may include a speedometer, a Global Positioning System (GPS), wheel speed sensors, etc. After the vehicle is started and powered on, the speed measuring device can be activated simultaneously to measure the speed. After acquiring the vehicle's current speed value, the speed measuring device can send the speed value to the vehicle controller for conditional judgment.

[0068] Specifically, step 203 may also include the following sub-steps:

[0069] Sub-step 2031: If the lane departure status is not deviated, confirm that the tire pressure sensor is in a faulty state.

[0070] Sub-step 2032 outputs a tire pressure sensor fault message.

[0071] In an embodiment of the invention, when the vehicle is not deviating from its current lane, it can be confirmed that the actual tire pressure value has not changed abruptly. However, if the tire pressure sensor sends an abnormal tire pressure value to the vehicle controller, it can be determined that the tire pressure sensor is faulty based on both the abnormal tire pressure value and the fact that the vehicle is not deviating from its current lane. When the tire pressure sensor is faulty, it interferes with the vehicle's active control. Therefore, upon confirming a tire pressure sensor malfunction, a tire pressure sensor malfunction warning message can be output to remind the driver to replace the damaged tire pressure sensor promptly.

[0072] In embodiments of the present invention, by confirming the vehicle's lane departure status, appropriate actions can be taken based on whether the lane departure status is confirmed or not. When the lane departure status is confirmed, a tire pressure sensor fault warning command is sent to prompt the driver to address the tire pressure sensor fault promptly. This facilitates timely fault handling and the timing of active control, reducing the possibility of accidents and ensuring driving safety. When the lane departure status is confirmed, the vehicle's current speed can be obtained, allowing for further assessment based on the speed.

[0073] Step 204: If the driving speed is greater than or equal to the first threshold, obtain the driving lane information.

[0074] In an embodiment of the invention, a speed value is calibrated by the vehicle controller and used as a first threshold. After acquiring the vehicle's speed, the vehicle controller can compare the vehicle's speed with the first threshold. When the vehicle's speed is greater than or equal to the first threshold, the vehicle controller can acquire a panoramic image of the vehicle captured by the panoramic camera, thereby obtaining the vehicle's current lane information based on the panoramic image and current road information.

[0075] In an embodiment of the present invention, the vehicle's lane departure status is confirmed when at least one of the tire pressure values ​​changes abruptly; the vehicle's current driving speed is obtained when the lane departure status is confirmed; and the driving lane information is obtained when the driving speed is greater than or equal to a first threshold. This allows for more refined application scenarios of active control, avoids unnecessary active control actions, and ensures driving safety.

[0076] Specifically, step 204 may also include the following sub-steps:

[0077] Sub-step 2041: If the driving speed is less than the first threshold, send a vehicle alarm signal.

[0078] In an embodiment of the present invention, after acquiring the vehicle's speed, the vehicle controller can compare the vehicle's speed with a first threshold. If the vehicle's speed is less than the first threshold, the driver can fully control the vehicle without requiring active control from the vehicle controller. In this case, the vehicle controller can output a tire malfunction warning message, prompting the driver to stop the vehicle as soon as possible and address the malfunction.

[0079] In an embodiment of the present invention, by sending a vehicle alarm signal when the driving speed is less than a first threshold, the application scenarios of active control can be further refined, unnecessary active control actions can be avoided, and the driver can be promptly prompted to take reasonable control actions, which is beneficial to driving safety.

[0080] Sub-step 2042: If the driving speed is greater than or equal to the first threshold, control the vehicle to maintain the current driving path and activate the emergency alarm flashing lights.

[0081] In an embodiment of the invention, after acquiring the vehicle's speed, the vehicle controller can compare the speed with a first threshold. When the vehicle's speed is greater than or equal to the first threshold, the vehicle often loses balance, and due to the high speed, the driver cannot make the correct driving decisions based on the situation. In this case, the vehicle controller can take over the vehicle and maintain its current driving path. Simultaneously, it can activate emergency warning lights to alert other vehicles and prevent collisions or other accidents.

[0082] In an embodiment of the present invention, by controlling the vehicle to maintain its current driving path and activating the emergency warning flashing lights when the driving speed is greater than or equal to a first threshold, the vehicle's stability can be maintained when the driver cannot reasonably control the vehicle, and other vehicles on the road can be alerted, effectively reducing the possibility of traffic accidents and further ensuring driving safety.

[0083] Step 205: Classify the driving lane information.

[0084] In embodiments of the present invention, after obtaining the lane information of the vehicle, the lane information can be classified. From the perspective of lane information application, the lane information can be divided into target lane and other lanes. The target lane can be the lane where the vehicle eventually stops after being actively controlled by the vehicle controller, and other lanes can be the lanes where the vehicle needs to change lanes after being actively controlled by the vehicle controller.

[0085] Step 206: If the driving lane information is the target lane, determine the target parking rule as the first rule.

[0086] In embodiments of the present invention, the target parking rule may include a first rule and a second rule. The first rule guides the vehicle to stop directly in the current lane. When the vehicle controller determines that the vehicle is currently in the target lane, it can retrieve the first rule from the target parking rule and execute the control action specified in the first rule.

[0087] Step 207: Based on the first rule, control the vehicle to decelerate and stop in the target lane.

[0088] In embodiments of the present invention, the control action specified in the first rule may include controlling the vehicle to maintain its current lane and decelerate until it stops. After the vehicle controller retrieves the first rule, it can execute the control action specified in the first rule, thereby stopping the vehicle. The vehicle will eventually stop in the target lane, which is also the current lane.

[0089] Step 208: If the driving lane information is other lanes, determine the target parking rule as the second rule.

[0090] In embodiments of the present invention, the target parking rule may include a first rule and a second rule. The second rule guides the vehicle to change lanes to the target vehicle and stop. When the vehicle controller determines that the vehicle is currently in another lane, it can retrieve the second rule from the target parking rule and execute the control action specified in the second rule.

[0091] Step 209: Based on the second rule, control the vehicle to decelerate and stop in the target lane.

[0092] In an embodiment of the present invention, the control action specified in the second rule may include controlling the vehicle to change lanes to the target lane, and then maintaining the vehicle in the target lane while decelerating until it stops. After the vehicle controller retrieves the second rule, it can execute the control action specified in the second rule, that is, it can control the vehicle to change lanes to the target lane, and then control the vehicle to maintain the vehicle in the target lane while decelerating until it stops, and the vehicle will eventually stop in the target lane.

[0093] In an embodiment of the present invention, when the driving lane information is the target lane, the target parking rule is determined to be a first rule, and the vehicle is controlled to decelerate and stop to the target lane based on the first rule; when the driving lane information is another lane, the target parking rule is determined to be a second rule, and the vehicle is controlled based on the second rule. This allows for reasonable control based on the actual scenario in which the vehicle is located, avoiding possible secondary traffic accidents and ensuring driving safety.

[0094] Specifically, step 209 may also include the following sub-steps:

[0095] Sub-step 2091: Obtain environmental information surrounding the vehicle;

[0096] Sub-step 2092: If the environmental information meets the lane-changing conditions, control the vehicle to change lanes to the target lane.

[0097] Sub-step 2093: When the vehicle is in the target lane, control the vehicle to slowly decelerate and stop.

[0098] In embodiments of the present invention, after retrieving the second rule, the vehicle controller can execute the control actions specified in the second rule, controlling the vehicle to change lanes, decelerate, and stop. However, in practical applications, lane changing requires consideration of the environmental information surrounding the vehicle, which may include traffic flow information and obstacle information. The vehicle controller can control a panoramic camera to capture the environment around the vehicle, thereby obtaining a panoramic view of the vehicle, and then obtaining environmental information around the vehicle through the panoramic view. The vehicle controller can determine whether the current conditions for lane changing are met based on this environmental information. Specifically, when there are no other vehicles traveling around the vehicle and no other obstacles, the vehicle meets the conditions for lane changing. The vehicle controller can activate the right turn signal while controlling the vehicle to change lanes to remind other vehicles approaching during the lane change process. After completing the lane change, the vehicle controller can control the vehicle to decelerate slowly and stop the vehicle in the target lane.

[0099] It should be noted that, in the embodiments of the present invention, the target lane includes the rightmost lane and the emergency lane. Specifically, when an emergency lane exists in the road environment where the vehicle is currently located, the target lane can be the emergency lane; when an emergency lane does not exist in the road environment where the vehicle is currently located, the target lane can be the rightmost lane.

[0100] In embodiments of the present invention, by acquiring environmental information surrounding the vehicle, and when the environmental information meets the lane-changing conditions, the vehicle is controlled to change lanes to the target lane. Once the vehicle is in the target lane, it is controlled to gradually decelerate and stop. This effectively avoids secondary accidents that may occur during the active lane-changing process, thus improving driving safety. Furthermore, since some roads include emergency lanes, the target lane information is refined based on actual conditions. In real-world scenarios, the rightmost lane and emergency lane often have lower traffic volume. Therefore, using the rightmost lane and emergency lane as target lanes allows the vehicle controller to make reasonable active control actions based on actual conditions, reducing interference to other vehicles after the vehicle stops, further ensuring driving safety.

[0101] Step 210: After the vehicle is powered on and started, confirm the driver's control over the vehicle.

[0102] In an embodiment of the present invention, after the vehicle is powered on and started, the vehicle controller can also confirm the driver's takeover status of the vehicle. Specifically, the vehicle controller can detect control commands corresponding to the driver's control actions. For example, when the driver presses the accelerator pedal or rotates the steering wheel, the vehicle controller can receive the corresponding control commands. When the vehicle controller receives a control command, it can confirm that the vehicle is currently in a driver-in-control state; if the vehicle controller does not receive any control commands from the driver within a certain period of time, it can confirm that the vehicle is currently in a driver-out-of-control state.

[0103] Step 211: If the takeover status is "driver not in takeover status", send a takeover prompt command and accumulate the number of times the takeover prompt command is sent.

[0104] In an embodiment of the present invention, after confirming that the vehicle is currently in a driver-inactive state, the vehicle controller can send a takeover prompt command to remind the driver to take control of the vehicle in a timely manner. Simultaneously, the vehicle controller can record the cumulative number of takeover prompt command transmissions through an internal counting module. During the process of accumulating the number of takeover prompt command transmissions, if the vehicle controller receives a control command corresponding to a control action from the driver, it can reset the cumulative number of prompt command transmissions to 0.

[0105] Step 212: If the number of transmissions is greater than or equal to the second threshold, obtain the driving lane information.

[0106] In embodiments of the present invention, the vehicle controller may further define a specific positive integer as a second threshold. When the cumulative number of prompt commands sent is greater than or equal to the second threshold, the vehicle controller may actively control the vehicle and obtain the vehicle's current lane information. Lane information may include the target lane and other lanes.

[0107] In an embodiment of the present invention, by confirming the driver's takeover status of the vehicle, and when the takeover status is that the driver is not in a takeover state, a takeover prompt instruction is sent and the number of times the takeover prompt instruction is sent is accumulated. When the number of times the instruction is sent is greater than or equal to a second threshold, driving lane information is obtained. This allows for active control of the vehicle under special conditions where the driver cannot control it, further ensuring the safety of the driver and the vehicle.

[0108] In an embodiment of the present invention, Figure 3A flowchart illustrating a specific implementation of vehicle control is shown. In this embodiment, the vehicle is first started, thereby powering on the vehicle controller. The vehicle controller then acquires the tire pressure values ​​of each tire and can confirm lane departure if at least one tire pressure value changes abruptly. If the lane departure status is confirmed to be normal, a tire pressure sensor malfunction is detected, and a tire pressure sensor malfunction warning command is sent. Alternatively, if the lane departure status is confirmed to be correct, the vehicle's current speed V is acquired. If V < N1, a vehicle alarm signal is sent to remind the driver to handle the malfunction. If V ≥ N1, the vehicle can be actively controlled to maintain its current driving direction, the hazard warning lights can be activated, and lane information can be acquired. After powering on, the vehicle controller can also confirm the driver's control status. If the driver has taken control, the driver's control status is continuously monitored. If the driver has not taken control, a takeover warning command is sent, and the cumulative number of takeover warning commands sent (N) is recorded. If N < N2, the driver's monitoring status continues to be monitored. If N ≥ N2, the vehicle can be actively controlled to maintain its current driving direction, the hazard warning lights can be activated, and lane information can be acquired. Afterwards, if the vehicle is in the target lane, it can be controlled to slow down and stop. If the vehicle is in another lane, the environmental information around the vehicle can be obtained, and the vehicle can be controlled to change lanes to the target lane if the environmental conditions meet the requirements for lane changing. Afterwards, the vehicle can be controlled to slow down and stop.

[0109] This invention provides another active control method, comprising: after the vehicle is powered on and started, acquiring the tire pressure values ​​of each tire; if at least one of the tire pressure values ​​changes abruptly, confirming the vehicle's lane departure status; if the lane departure status is confirmed, acquiring the vehicle's speed; if the speed is greater than or equal to a first threshold, acquiring lane information; classifying the lane information; if the lane information is a target lane, determining the target parking rule as a first rule; controlling the vehicle to decelerate and stop to the target lane based on the first rule; if the lane information is another lane, determining the target parking rule as a second rule; controlling the vehicle to decelerate and stop to the target lane based on the second rule; after the vehicle is powered on and started, confirming the driver's takeover status; if the takeover status is driver non-takeover status, sending a takeover prompt command and accumulating the number of times the takeover prompt command is sent; if the number of times the command is sent is greater than or equal to a second threshold, acquiring lane information. By following the steps above, the timing for active vehicle control can be determined from two different perspectives. This allows for more reasonable execution of active control under more appropriate conditions and enables the driver to make reasonable active control actions based on the actual road conditions. This can effectively reduce the possibility of secondary accidents and fully ensure the safety of the driver and the vehicle.

[0110] In an embodiment of the present invention, Figure 4 A logic block diagram of a vehicle control device is shown, which may include:

[0111] The first acquisition module 401 is used to acquire the tire pressure value of each tire.

[0112] The second acquisition module 402 is used to acquire driving lane information in the event of a sudden change in at least one of the tire pressure values.

[0113] The judgment module 403 is used to determine the target parking rule based on the driving lane information.

[0114] The control module 404 is used to control the vehicle to decelerate and stop to the target lane based on the target parking rules.

[0115] Optionally, the second acquisition module 402 includes:

[0116] The first confirmation submodule is used to confirm the vehicle's lane departure status in the event of at least one sudden change in the tire pressure value.

[0117] The first acquisition submodule is used to acquire the current driving speed of the vehicle when the lane departure state is a lane departure state.

[0118] The first judgment submodule is used to obtain driving lane information when the driving speed is greater than or equal to a first threshold.

[0119] The second judgment submodule is used to confirm that the tire pressure sensor is in a faulty state when the lane departure status is not deviated.

[0120] The first alarm submodule is used to send a vehicle alarm signal when the driving speed is less than a first threshold.

[0121] The stabilization submodule is used to control the vehicle to maintain its current driving direction and activate the emergency warning flashing lights when the driving speed is greater than or equal to a first threshold.

[0122] Optionally, the determination module 403 includes:

[0123] The first rule submodule is used to determine the target parking rule as the first rule when the driving lane information is the target lane.

[0124] The second rule submodule is used to determine the target parking rule as the second rule when the driving lane information is other lanes.

[0125] Optionally, the control module 404 includes:

[0126] The second acquisition submodule is used to acquire environmental information around the vehicle.

[0127] The lane change submodule is used to control the vehicle to change lanes to the target lane when the environmental information meets the lane change conditions.

[0128] The control submodule is used to control the vehicle to slowly decelerate and stop after it has traveled to the target lane.

[0129] Optionally, the vehicle control device provided in the embodiments of the present invention may further include:

[0130] The confirmation module is used to confirm the driver's takeover status of the vehicle.

[0131] The prompt counting module is used to send a takeover prompt command and accumulate the number of times the takeover prompt command is sent when the takeover status is a driver non-takeover status.

[0132] The third acquisition module is used to perform the step of acquiring driving lane information when the number of transmissions is greater than or equal to the second threshold.

[0133] This invention provides a vehicle control device, comprising: a first acquisition module for acquiring tire pressure values ​​of each tire; a second acquisition module for acquiring lane information when at least one of the tire pressure values ​​undergoes a sudden change; a judgment module for determining a target parking rule based on the lane information; and a control module for controlling the vehicle to decelerate and stop to the target lane based on the target parking rule. The first acquisition module acquires the tire pressure values ​​of each tire, the second acquisition module acquires lane information when at least one of the tire pressure values ​​undergoes a sudden change, the judgment module determines the target parking rule based on the lane information, and the control module controls the vehicle to decelerate and stop to the target lane based on the target parking rule. The device described in this invention can take over the vehicle to actively control and stabilize the vehicle body after a sudden change in tire pressure, and can take corresponding parking rules based on the lane information to control the vehicle to stop in a relatively safe target lane, avoiding the risk of interfering with other vehicles in the lane and causing secondary accidents, thus improving driving safety.

[0134] The present invention provides a vehicle including a vehicle control device as described in the foregoing embodiments, for executing the vehicle control method as described in the foregoing embodiments.

[0135] The present invention provides a readable storage medium that, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to perform the aforementioned vehicle control method.

[0136] This invention provides an electronic device 500, see below. Figure 5 The electronic device 500 includes a processor 501, a memory 502, and a computer program 5021 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the program, it implements the vehicle control method of the foregoing embodiments.

[0137] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. The structure required to construct such a system is readily apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0138] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0139] Similarly, it should be understood that, in order to simplify the invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0140] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0141] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention can also be implemented as a device or apparatus program for performing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0142] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0143] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0144] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0145] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0146] It should be noted that the various data-related processes in the embodiments of the present invention are carried out in compliance with the relevant data protection laws and policies of the country where the location is located, and with the authorization granted by the owner of the corresponding device.

[0147] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the tire pressure value for each tire; In the event of a sudden change in at least one of the tire pressure values, the driving lane information is obtained; The target parking rule is determined based on the driving lane information; The vehicle is controlled to decelerate and stop in the target lane based on the target parking rules; wherein, the target lane includes the rightmost lane and the emergency lane. When the emergency lane exists in the current road environment, the target lane is the emergency lane; when the emergency lane does not exist in the current road environment, the target lane is the rightmost lane. Confirm the driver's takeover status of the vehicle; the takeover status includes a driver not taking over status and a driver having taken over status; If the takeover status is that the driver is not in a takeover state, a takeover prompt command is sent and the number of times the takeover prompt command is sent is accumulated; If the number of transmissions is greater than or equal to the second threshold, the driving lane information is obtained.

2. The method according to claim 1, characterized in that, In the event of a sudden change in at least one of the tire pressure values, obtaining the driving lane information includes: In the event of a sudden change in at least one of the tire pressure values, the vehicle's lane departure status is confirmed; the lane departure status includes a deviated state and a non-deviated state; When the lane departure state is "already deviated", obtain the vehicle's current speed; If the driving speed is greater than or equal to a first threshold, the driving lane information is obtained.

3. The method according to claim 2, characterized in that, The method further includes: If the lane departure status is not deviated from, the tire pressure sensor is confirmed to be faulty. Output tire pressure sensor fault message.

4. The method according to claim 2, characterized in that, The method further includes: If the lane departure status is "already deviated", the tire is confirmed to be faulty. Output tire malfunction warning information.

5. The method according to claim 2, characterized in that, The method further includes: When the driving speed is greater than or equal to a first threshold, the vehicle is controlled to maintain its current driving path and the emergency warning flashing lights are activated.

6. The method according to claim 1, characterized in that, The determination of the target parking rule based on the driving lane information includes: If the driving lane information is the target lane, the target parking rule is determined to be the first rule; the first rule is used to guide the vehicle to stop directly in the current lane; If the driving lane information is another lane, the target parking rule is determined to be the second rule; the second rule is used to guide the vehicle to change lanes to the target lane and stop.

7. The method according to claim 6, characterized in that, When the target parking rule is the second rule, controlling the vehicle to decelerate and stop to the target lane based on the target parking rule includes: Obtain environmental information surrounding the vehicle; If the environmental information meets the lane-changing conditions, control the vehicle to change lanes to the target lane; When the vehicle is in the target lane, control the vehicle to slowly decelerate and stop.

8. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the tire pressure value of each tire; The second acquisition module is used to acquire driving lane information when at least one of the tire pressure values ​​changes abruptly. The judgment module is used to determine the target parking rule based on the driving lane information; The control module is used to control the vehicle to decelerate and stop to the target lane based on the target parking rules; wherein, the target lane includes the rightmost lane and the emergency lane, and when the emergency lane exists in the current road environment of the vehicle, the target lane is the emergency lane, and when the emergency lane does not exist in the current road environment of the vehicle, the target lane is the rightmost lane; The confirmation module is used to confirm the driver's takeover status of the vehicle; The prompt counting module is used to send a takeover prompt instruction and accumulate the number of times the takeover prompt instruction is sent when the takeover status is a driver non-takeover status; The third acquisition module is used to perform the step of acquiring driving lane information when the number of transmissions is greater than or equal to the second threshold.

9. A vehicle, characterized in that, Includes the apparatus as described in claim 8, for performing the vehicle control method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device performs the vehicle control method as described in any one of claims 1-7.

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