Vehicle control method, device, and storage medium

Abstract

The application discloses a vehicle control method and device and a storage medium. The method comprises the following steps: in response to receiving a plurality of wheel speed signals sent by a vehicle when the vehicle is driving on a road surface, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle; in response to the presence of the abnormal wheel speed signal in the plurality of wheel speed signals, determining whether to control a target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface based on the type of the abnormal wheel speed signal; in response to controlling the target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface, adjusting an initial control parameter of the vehicle based on a current driving parameter of the vehicle to obtain a target control parameter; and controlling the vehicle to drive based on the target control parameter. The application solves the technical problem that the vehicle control process is relatively complex in the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a vehicle control method, device and storage medium. BACKGROUND

[0002] When a vehicle brakes, the brake wheel is locked, which is a dangerous working condition, and the vehicle is prone to be in an unstable state. The reason for this condition is that the braking force is greater than the adhesion of the road surface. A hydraulic braking system usually uses an Anti-lock Braking System (ABS) to improve this condition. The working principle of the ABS system is to limit or reduce the brake line pressure of the locked wheel by continuously controlling the valve for a short time, thereby reducing the braking force of the wheel and making the wheel escape from the locked state. However, the system is relatively complex.

[0003] At present, there is no effective solution to the above problems. SUMMARY

[0004] The embodiments of the present application provide a vehicle control method, device and storage medium to at least solve the technical problem of complex vehicle control process in the related art.

[0005] According to an aspect of the embodiments of the present application, a vehicle control method is provided, including: in response to receiving a plurality of wheel speed signals sent when a vehicle is driving on a road surface, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on a driving state of the vehicle, wherein the driving state includes one of the following: an accelerating driving state, a decelerating driving state and a constant speed driving state; in response to the presence of the abnormal wheel speed signal in the plurality of wheel speed signals, determining whether to control a target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on a type of the abnormal wheel speed signal; in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface, adjusting an initial control parameter of the vehicle based on a current driving parameter of the vehicle to obtain a target control parameter; and controlling the vehicle to drive based on the target control parameter.

[0006] Optionally, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle includes: obtaining a preset wheel speed signal change state corresponding to the driving state in a normal driving process of the vehicle; determining a target wheel speed signal change state corresponding to the plurality of wheel speed signals; and determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state.

[0007] Optionally, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state comprises: in response to the preset wheel speed signal change state being the same as the target wheel speed signal change state, determining that there is an abnormal wheel speed signal in the plurality of wheel speed signals; and in response to the preset wheel speed signal change state being different from the target wheel speed signal change state, determining that there is no abnormal wheel speed signal in the plurality of wheel speed signals.

[0008] Optionally, determining whether to control the target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface based on the type of the abnormal wheel speed signal comprises: in response to the type of the abnormal wheel speed signal being a first preset type, prohibiting the target tire from being controlled not to be in contact with the road surface, wherein the first preset type is used to indicate that the wheel speed sensor of the target tire is damaged; and in response to the type of the abnormal wheel speed signal being a second preset type, controlling the target tire not to be in contact with the road surface, wherein the second preset type is used to indicate that the target tire is in a locked state.

[0009] Optionally, controlling the target tire not to be in contact with the road surface comprises: controlling the target tire not to be in contact with the road surface by using a chassis domain controller corresponding to the target tire.

[0010] Optionally, adjusting the initial control parameter of the vehicle based on the current driving parameter of the vehicle to obtain a target control parameter comprises: determining a current pose parameter and a current speed parameter of the vehicle based on the current driving parameter; adjusting the current speed parameter based on a preset speed parameter to obtain a target speed parameter; and adjusting the initial control parameter based on the current pose parameter and the target speed parameter to obtain the target control parameter.

[0011] Optionally, controlling the vehicle to drive based on the target control parameter comprises: controlling the vehicle to drive based on the target control parameter until the vehicle is in a stopped state.

[0012] According to another aspect of the embodiment of the present application, a vehicle control device is also provided, comprising: a first determination module configured to determine whether there is an abnormal wheel speed signal in a plurality of wheel speed signals based on a driving state of a vehicle in response to receiving the plurality of wheel speed signals sent by the vehicle when driving on a road surface, wherein the driving state comprises one of the following: an accelerating driving state, a decelerating driving state, and a constant speed driving state; a second determination module configured to determine whether to control a target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface based on a type of the abnormal wheel speed signal in response to the plurality of wheel speed signals having the abnormal wheel speed signal; an adjustment module configured to adjust an initial control parameter of the vehicle based on a current driving parameter of the vehicle to obtain a target control parameter in response to controlling the target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface; and a control module configured to control the vehicle to drive based on the target control parameter.

[0013] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which includes a stored program, wherein the program, when executed, controls a processor of a device to perform the vehicle control method of any of the above embodiments.

[0014] According to another aspect of the embodiments of the present application, a vehicle is also provided, which includes one or more processors, and a storage device configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the vehicle control method of any of the above embodiments.

[0015] By the above steps, in response to receiving a plurality of wheel speed signals sent by the vehicle when driving on the road, it is determined whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle, wherein the driving state includes one of the following: an accelerating driving state, a decelerating driving state, and a constant speed driving state; in response to the presence of an abnormal wheel speed signal in the plurality of wheel speed signals, it is determined whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on the type of the abnormal wheel speed signal; in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface, the initial control parameter of the vehicle is adjusted based on the current driving parameter of the vehicle to obtain a target control parameter; and the vehicle is controlled to drive based on the target control parameter, which reduces the complexity of the tire anti-locking. It is worth noting that when there is an abnormal wheel speed signal in the plurality of wheel speed signals, the target tire can be lifted based on the type of the abnormal wheel speed signal so that the target tire does not contact the road surface, and the stability control of the vehicle is actively taken over, so that the vehicle can safely drive in the case of abnormal tire, and wear of the tire is avoided, thereby solving the technical problem of complex vehicle control process in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0017] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present application;

[0018] Figure 2 is a flowchart of another vehicle control method according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a vehicle control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0021] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device including a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or device.

[0022] Embodiment 1

[0023] According to an embodiment of the present application, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0024] Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present application, as shown in Figure 1 The method comprises the following steps:

[0025] Step S102, in response to receiving a plurality of wheel speed signals sent when the vehicle is driving on the road, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle.

[0026] The driving state comprises one of the following: acceleration driving state, deceleration driving state, and constant speed driving state.

[0027] The plurality of wheel speed signals can be a plurality of wheel speed signals of different wheels received continuously, and the plurality of wheel speed signals can be wheel speed signals output by wheel speed sensors corresponding to a plurality of wheels.

[0028] The plurality of wheel speed signals can also be data of a plurality of continuous signal pulse intervals.

[0029] The way of determining the abnormal wheel speed signal in the plurality of wheel speed signals is different for different driving states.

[0030] When the turn signal does not indicate that the vehicle is about to turn, the tire pressure is normal, but the wheel speed change amount of a certain wheel is the same as that of several other wheels but has a large difference, or the trend of the wheel speed change amount is opposite, it is judged that single-point wheel speed failure occurs, that is, there is an abnormal wheel speed signal in the plurality of wheel speed signals, and at this time the system needs to take over.

[0031] The plurality of wheel speed signals can be a plurality of wheel speed signals sent by the vehicle within a preset time period when the vehicle is driving on the road.

[0032] The vehicle type is not limited, and can be an electric vehicle, a fuel consumption vehicle, an electric-oil hybrid vehicle,

[0033] The road surface can be the road surface currently occupied by the vehicle.

[0034] Step S104, in response to the existence of the abnormal wheel speed signal in the plurality of wheel speed signals, determining whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on the type of the abnormal wheel speed signal.

[0035] The type of the abnormal wheel speed signal can be divided into a plurality of types, for example, the wheel speed signal output due to sensor damage is abnormal, and the wheel speed signal output due to tire lock is abnormal.

[0036] The target tire can be the tire that appears abnormal.

[0037] In an optional embodiment, if the type of the abnormal wheel speed signal is tire lock output, the target wheel outputting the abnormal wheel speed signal can be taken over by the chassis domain controller, so as to lift the target wheel by the chassis domain controller, so that the target wheel does not contact the ground.

[0038] The chassis domain controller can be referred to as a chassis domain or a domain controller, which is mainly used to control the systems of steering, braking and suspension, and can be understood as a higher level control system.

[0039] Step S106, in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface, adjusting the initial control parameter of the vehicle based on the current driving parameter of the vehicle to obtain a target control parameter.

[0040] The current driving parameter includes but is not limited to the current speed, current pose and current position of the vehicle, which are not limited here.

[0041] The target control parameter can be used to control the speed, pose, position, etc. of the vehicle, which is not limited herein. The target control parameter is mainly used to control the vehicle to compensate for the imbalance of the vehicle caused by the target tire lifting. The target control parameter can also be used to control the vehicle to decelerate so that the vehicle can be safely parked.

[0042] In an optional embodiment, the initial control parameter of the vehicle can be adjusted according to the current driving parameter of the vehicle to obtain the target control parameter when the target tire is not in contact with the road surface.

[0043] In step S108, the vehicle is controlled to drive based on the target control parameter.

[0044] In an optional embodiment, the speed of the vehicle can be controlled to decrease based on the target control parameter, so that the vehicle can drive at a deceleration, and the pose of the vehicle can be adjusted to avoid the vehicle from deviating from the pose due to the target tire lifting, so that the vehicle can drive smoothly.

[0045] The electronic mechanical brake system (EMB) has the characteristics of no pipeline hydraulic pressure, can push the piston to clamp the brake disc through the mechanical structure, and can be independently controlled by four-wheel braking. When the vehicle matched with the EMB system appears an unstable working condition of single wheel lock, if the wheel load can be transferred to other wheels by lifting the wheel, the other wheels can exert greater braking force, and the vehicle can achieve a deceleration of at least 0.65g, and can be decelerated to a safe state in a short time. Based on this, in the present application, when the tire is locked, the tire can be lifted, and braking force can be applied to other tires, so that the vehicle is in a stable state to ensure the safety of the vehicle.

[0046] The present application can fully utilize the functions of the system to deal with abnormal conditions of the wheel without increasing the complexity of the actuator of the drive-by-wire mechanical brake system. The present application can reduce the probability of frequent operation of the motor when the vehicle is locked, which is beneficial to improve the service life of the system. When the system identifies that a wheel is locked, the active suspension controls the corresponding wheel to be lifted, and actively takes over the stability control of the vehicle. If a large deceleration brake is required, the deceleration request of the other three wheels is increased.

[0047] By the above steps, in response to receiving a plurality of wheel speed signals sent when the vehicle is driving on the road, it is determined whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle, wherein the driving state includes one of the following: acceleration driving state, deceleration driving state, constant speed driving state; in response to the presence of an abnormal wheel speed signal in the plurality of wheel speed signals, it is determined whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on the type of the abnormal wheel speed signal; in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface, adjusting the initial control parameter of the vehicle based on the current driving parameter of the vehicle to obtain a target control parameter; and controlling the vehicle to drive based on the target control parameter, which reduces the complexity of tire anti-locking; it is easy to note that when there is an abnormal wheel speed signal in the plurality of wheel speed signals, the target tire can be lifted based on the type of the abnormal wheel speed signal so that the target tire does not contact the road surface, and the stability control of the vehicle is actively taken over, so that the vehicle can safely drive in the case of abnormal tire, and wear on the tire is avoided, thereby solving the technical problem that the vehicle control process is relatively complex in the related art.

[0048] In the above embodiments of the present application, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle includes: obtaining a preset wheel speed signal change state corresponding to the driving state of the vehicle in a normal driving process; determining a target wheel speed signal change state corresponding to the plurality of wheel speed signals; and determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state.

[0049] The above-mentioned preset wheel speed signal change state can be a wheel speed signal change state obtained by experiment in advance. For example, when the vehicle is in an acceleration state, the wheel speed signal will gradually increase, and its wheel speed signal change state can be the trend of the wheel speed signal gradually increasing; when the vehicle is in a deceleration state, the wheel speed signal will gradually decrease, and its wheel speed signal change state can be the trend of the wheel speed signal gradually decreasing; when the vehicle is in a constant speed state, the wheel speed signal will not change basically, and its wheel speed signal change state can be that the wheel speed signal is stable.

[0050] In the above embodiments of the present application, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state includes: in response to the preset wheel speed signal change state being the same as the target wheel speed signal change state, determining that there is an abnormal wheel speed signal in the plurality of wheel speed signals; and in response to the preset wheel speed signal change state being different from the target wheel speed signal change state, determining that there is no abnormal wheel speed signal in the plurality of wheel speed signals.

[0051] In an optional embodiment, the target wheel speed signal change state corresponding to the plurality of wheel speeds can be determined according to the change trend of the plurality of wheel speed signals; if the preset wheel speed signal change state and the target wheel speed signal change state are different, it indicates that the change trend of the plurality of wheel speed signals does not conform to the driving state of the vehicle, and it can be determined that there is an abnormal wheel speed signal in the plurality of wheel speed signals; if the preset wheel speed signal change state and the target wheel speed signal change state are the same, it indicates that the change trend of the plurality of wheel speed signals conforms to the driving state of the vehicle, and it can be determined that there is no abnormal wheel speed signal in the plurality of wheel speed signals.

[0052] In the above embodiments of the present application, whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface is determined based on the type of the abnormal wheel speed signal, including: in response to the type of the abnormal wheel speed signal being a first preset type, the target tire is prohibited from not contacting the road surface, wherein the first preset type is used to indicate that the wheel speed sensor of the target tire is damaged; in response to the type of the abnormal wheel speed signal being a second preset type, the target tire is controlled not to contact the road surface, wherein the second preset type is used to indicate that the target tire is in a locked state.

[0053] In an optional embodiment, if the type of the abnormal wheel speed signal is the first preset type, it indicates that the wheel speed sensor for monitoring the wheel speed of the target tire is damaged, at this time, a fault prompt information can be sent so that the user can know that the wheel speed sensor of the target tire is damaged; if the type of the abnormal wheel speed signal is the second preset type, it indicates that the target tire is in a locked state, at this time, the target tire can be lifted so that the target tire does not contact the road surface.

[0054] In the above embodiments of the present application, the target tire is controlled not to contact the road surface, including: the target tire is controlled not to contact the road surface by using the chassis domain controller corresponding to the target tire.

[0055] In an optional embodiment, the wheel with abnormal wheel speed can be lifted by air suspension / active suspension, which can lift the wheel off the ground, and the lifting time and lifting height can be replaced by parameters t and height h. This lifting may affect normal driving, so the intervention of the chassis domain controller is needed.

[0056] In the above embodiments of the present application, the initial control parameter of the vehicle is adjusted based on the current driving parameter of the vehicle to obtain a target control parameter, including: determining the current pose parameter and the current speed parameter of the vehicle based on the current driving parameter; adjusting the current speed parameter based on a preset speed parameter to obtain a target speed parameter; adjusting the initial control parameter based on the current pose parameter and the target speed parameter to obtain the target control parameter.

[0057] The above-mentioned preset speed parameter can be a deceleration in a safe state.

[0058] If the current speed parameter does not reach the preset speed parameter, the current speed parameter of the vehicle can be adjusted to obtain a target speed parameter, so that the vehicle can reach the preset speed parameter through the target speed parameter, thereby reaching the expected deceleration index.

[0059] In an alternative embodiment, for the other three tires except the target tire, the mechanism can send a deceleration request, and due to the fact that one wheel is in the air at this time, the wheel has no braking force and has a tendency to run off when braking. When the vehicle corner signal is identified, the chassis domain controller can send a reverse wheel corner request to the steering system to keep the vehicle in a near steady state, so that the vehicle can still travel along the prescribed route.

[0060] In the above embodiments of the application, the vehicle is controlled to travel based on the target control parameter, including controlling the vehicle to travel based on the target control parameter until the vehicle is in a stopped state.

[0061] In an alternative embodiment, the vehicle can be controlled to travel based on the target control parameter until the vehicle is in a stopped state, and the vehicle is controlled to stop in a safe area.

[0062] The wheel slip ratio control of each wheel of the vehicle during braking is the basis for realizing the vehicle stability control. When the wheel slip ratio of a certain wheel is 0, the wheel is in a locked state, and the later the lock occurs, the better. Meanwhile, the front wheel lock is better than the rear wheel lock, which helps the stability of the vehicle.

[0063] When a single wheel is locked, the vehicle may appear to run off, spin, and other dangerous working conditions, which affects the driving safety. The hydraulic braking system has an anti-lock strategy, which can change the slip state of the locked wheel by repeatedly clamping and releasing the brake caliper. The EMB is driven by an electric signal to rotate the motor, and the piston is pushed by the transmission mechanism to clamp the brake disc. Frequent motor work may cause motor overheating, frequent use of the motor, and other risks such as reduced service life or even damage. Therefore, in order to avoid abnormal work of the motor, a control strategy is designed for control when a single wheel of the vehicle is locked.

[0064] The clamping force of the actuator of the brake-by-wire mechanical braking system generally needs to reserve 30%-50% of the capacity for still issuing the expected deceleration after the friction coefficient decays. However, this part of the capacity cannot be used when a certain wheel is locked. The reason is that the clamping force of the wheel when locked is related to the wheel load of the corresponding wheel. Even if the target clamping force is increased, due to the wheel load limitation, the clamping force of the locked part cannot be exerted.

[0065] In view of the above problems, in order to reduce the complexity of the system, the locked wheel is slightly lifted by the control strategy, and the wheel load of the corresponding wheel is transferred to the other three wheels, at this time, the locked clamping force required by the wheel is increased, and the requirement of increasing the target wheel clamping force will not appear the locked condition.

[0066] The capability distribution of the general braking system is 60% for the front axle and 40% for the rear axle, if each wheel has 30% performance redundancy, when one wheel of the front axle is locked, the vehicle can exert 30%*(1+30%)+40%*(1+30%)=91% deceleration requirement, which is greater than the 65% regulation target.

[0067] At this time, the chassis domain takes over the whole vehicle, the characteristics of the suspension and the electric control part of the steering are used to correct and compensate the vehicle state, so that the vehicle can be kept in a stable state, and the vehicle can be stopped on the side in the shortest time and in the most safe way, to ensure the safety of the user.

[0068] It should be noted that the above-mentioned values are only examples, and other values can be used instead, which are not limited in the present application.

[0069] Figure 2 is a flowchart of another vehicle control method according to an embodiment of the present application, as shown in Figure 2 The method comprises the following steps:

[0070] In step S201, in response to receiving a plurality of wheel speed signals sent when the vehicle is driving on the road, it is determined whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the driving state of the vehicle, and if there is an abnormal wheel speed signal in the plurality of wheel speed signals, step S202 is executed.

[0071] In step S202, in response to the type of the abnormal wheel speed signal being the second preset type, the target tire is controlled not to contact the road surface.

[0072] In step S203, in response to the type of the abnormal wheel speed signal being the second preset type, the target tire is controlled not to contact the road surface by using the chassis domain controller corresponding to the target tire.

[0073] In step S204, the current pose parameter and the current speed parameter of the vehicle are determined based on the current driving parameter.

[0074] In step S205, the current speed parameter is adjusted based on the preset speed parameter to obtain a target speed parameter.

[0075] In step S206, the initial control parameter is adjusted based on the current pose parameter and the target speed parameter to obtain a target control parameter.

[0076] In step S207, the vehicle is controlled to run based on the target control parameter until the vehicle is in a stop state.

[0077] Embodiment 2

[0078] According to another aspect of the embodiments of the present application, a vehicle control device is also provided, which can execute the vehicle control method of the above-mentioned embodiments, and the specific implementation method and preferred application scenarios are the same as those of the above-mentioned embodiments, which will not be repeated here.

[0079] Figure 3 is a schematic diagram of a vehicle control device according to an embodiment of the present application, as shown in the figure, the device comprises the following: a first determination module 302, a second determination module 304, an adjustment module 306, a control module 308. Figure 3

[0080] The first determination module is configured to determine, in response to receiving a plurality of wheel speed signals sent when the vehicle is running on the road surface, whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on the running state of the vehicle, wherein the running state comprises one of the following: an accelerating running state, a decelerating running state, and a constant speed running state; the second determination module is configured to determine, in response to the presence of an abnormal wheel speed signal in the plurality of wheel speed signals, whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on the type of the abnormal wheel speed signal; the adjustment module is configured to, in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface, adjust the initial control parameter of the vehicle based on the current running parameter of the vehicle to obtain a target control parameter; and the control module is configured to control the vehicle to run based on the target control parameter.

[0081] Optionally, the first determination module is further configured to obtain a preset wheel speed signal change state corresponding to the running state of the vehicle in a normal running process; determine a target wheel speed signal change state corresponding to the plurality of wheel speed signals; and determine, based on the preset wheel speed signal change state and the target wheel speed signal change state, whether there is an abnormal wheel speed signal in the plurality of wheel speed signals.

[0082] Optionally, the first determination module is further configured to determine, in response to the preset wheel speed signal change state being the same as the target wheel speed signal change state, that there is an abnormal wheel speed signal in the plurality of wheel speed signals; and determine, in response to the preset wheel speed signal change state being different from the target wheel speed signal change state, that there is no abnormal wheel speed signal in the plurality of wheel speed signals.

[0083] Optionally, the second determination module is further configured to, in response to the type of the abnormal wheel speed signal being a first preset type, prohibit controlling the target tire not to contact the road surface, wherein the first preset type is used to indicate that the wheel speed sensor of the target tire is damaged; and in response to the type of the abnormal wheel speed signal being a second preset type, control the target tire not to contact the road surface, wherein the second preset type is used to indicate that the target tire is in a locked state.​

[0084] Optionally, the second determining module is further configured to control the target tire not to contact the road surface by using the chassis domain controller corresponding to the target tire.

[0085] Optionally, the adjusting module is further configured to determine a current pose parameter and a current speed parameter of the vehicle based on the current driving parameter; adjust the current speed parameter based on a preset speed parameter to obtain a target speed parameter; and adjust the initial control parameter based on the current pose parameter and the target speed parameter to obtain a target control parameter.

[0086] Optionally, the control module is further configured to control the vehicle to travel based on the target control parameter until the vehicle is in a stopped state.

[0087] Embodiment 3

[0088] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which includes a stored program, wherein the program, when executed, controls a processor of a device to perform the vehicle control method of the above-described embodiments.

[0089] Embodiment 4

[0090] According to another aspect of the embodiments of the present application, an electronic device is also provided, which includes one or more processors, and a storage device configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the vehicle control method of the above-described embodiments.

[0091] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0092] In the above-described embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the device embodiment described above is only schematic. For example, the division of the units can be a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0094] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0095] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0096] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0097] The above is only the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A vehicle control method characterized by, The method comprises: determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on a driving state of the vehicle in response to receiving the plurality of wheel speed signals sent by the vehicle when driving on a road surface, wherein the driving state comprises one of the following: an accelerating driving state, a decelerating driving state, and a constant-speed driving state; determining whether to control a target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on a type of the abnormal wheel speed signal in response to the presence of the abnormal wheel speed signal in the plurality of wheel speed signals; adjusting an initial control parameter of the vehicle based on a current driving parameter of the vehicle to obtain a target control parameter in response to controlling the target tire corresponding to the abnormal wheel speed signal not to contact the road surface; controlling the vehicle to drive based on the target control parameter; wherein determining whether to control the target tire corresponding to the abnormal wheel speed signal not to contact the road surface based on the type of the abnormal wheel speed signal comprises: in response to the type of the abnormal wheel speed signal being a first preset type, prohibiting controlling the target tire not to contact the road surface, wherein the first preset type is used to indicate that a wheel speed sensor of the target tire is damaged; in response to the type of the abnormal wheel speed signal being a second preset type, controlling the target tire not to contact the road surface, wherein the second preset type is used to indicate that the target tire is in a locked state; wherein controlling the target tire not to contact the road surface comprises: controlling the target tire not to contact the road surface by using a chassis domain controller corresponding to the target tire.

2. The vehicle control method according to claim 1, characterized by, determining whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on a driving state of the vehicle comprises: obtaining a preset wheel speed signal change state corresponding to the driving state of the vehicle in a normal driving process; determining a target wheel speed signal change state corresponding to the plurality of wheel speed signals; determining whether there is the abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state.

3. The vehicle control method according to claim 2, characterized by, determining whether there is the abnormal wheel speed signal in the plurality of wheel speed signals based on the preset wheel speed signal change state and the target wheel speed signal change state comprises: in response to the preset wheel speed signal change state being the same as the target wheel speed signal change state, determining that there is no abnormal wheel speed signal in the plurality of wheel speed signals; in response to the preset wheel speed signal change state being different from the target wheel speed signal change state, determining that there is the abnormal wheel speed signal in the plurality of wheel speed signals.

4. The vehicle control method according to claim 1, characterized by adjusting the initial control parameter of the vehicle based on the current driving parameter of the vehicle to obtain the target control parameter comprises: determining a current pose parameter and a current speed parameter of the vehicle based on the current driving parameter; adjusting the current speed parameter based on a preset speed parameter to obtain a target speed parameter; adjusting the initial control parameter based on the current pose parameter and the target speed parameter to obtain the target control parameter.

5. The vehicle control method according to claim 1, characterized by controlling the vehicle to drive based on the target control parameter comprises: Control the vehicle to travel based on the target control parameter until the vehicle is in a stop state.

6. A vehicle control device characterized by comprising: The method comprises: A first determining module configured to determine, in response to receiving a plurality of wheel speed signals sent by a vehicle when the vehicle is traveling on a road surface, whether there is an abnormal wheel speed signal in the plurality of wheel speed signals based on a traveling state of the vehicle, wherein the traveling state comprises one of an accelerating traveling state, a decelerating traveling state, and a constant-speed traveling state; A second determining module configured to determine, in response to there being the abnormal wheel speed signal in the plurality of wheel speed signals, whether to control a target tire corresponding to the abnormal wheel speed signal not to be in contact with the road surface based on a type of the abnormal wheel speed signal; An adjusting module configured to adjust, in response to controlling the target tire not to be in contact with the road surface, an initial control parameter of the vehicle based on a current traveling parameter of the vehicle to obtain a target control parameter; A control module configured to control the vehicle to travel based on the target control parameter; The second determining module is configured to, in response to the type of the abnormal wheel speed signal being a first preset type, prohibit controlling the target tire not to be in contact with the road surface, wherein the first preset type is used to indicate that a wheel speed sensor of the target tire is damaged; and in response to the type of the abnormal wheel speed signal being a second preset type, control the target tire not to be in contact with the road surface, wherein the second preset type is used to indicate that the target tire is in a locked state. The second determining module is configured to control the target tire not to be in contact with the road surface by using a chassis domain controller corresponding to the target tire.

7. A computer readable storage medium characterized by The computer readable storage medium comprises a stored program, wherein the program, when executed, controls a processor of a device to execute the vehicle control method of any one of claims 1 to 5.

8. A vehicle characterized by comprising: The device comprises: One or more processors; A storage device configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the vehicle control method of any one of claims 1 to 5.

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