Vehicle escape control method, device, equipment and storage medium

Abstract

The application provides a vehicle escape control method, device, equipment and storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: in response to a user's escape mode starting operation, controlling a suspension to stretch to a maximum stretching state; controlling a front axle motor to rotate forward to drive the wheels to rotate forward, and controlling a rear axle motor to rotate reversely to drive the wheels to rotate reversely; acquiring wheel pressures of each wheel in real time; if all the wheel pressures meet motor stopping conditions, controlling the front axle motor and the rear axle motor to stop; controlling the suspension to retract, and controlling the front axle motor and the rear axle motor to rotate reversely at a low speed in a reciprocating mode, then controlling the front axle motor and the rear axle motor to rotate forward at a low speed, until the suspension is retracted to a maximum retracted state; controlling the suspension to stretch to the maximum stretching state; and if the sum of all the wheel pressures is equal to vehicle gravity data, controlling the front axle motor and the rear axle motor to rotate. The application enables a driver to drive the vehicle to escape from a sand pit alone.

Description

Technical Field

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

[0002] When driving on complex terrain such as sandy areas, vehicles can become stuck due to the soft sand. In such situations, drivers must either wait for external assistance or attempt to manually extricate themselves, which requires significant manpower, resources, and time. Therefore, there is an urgent need for a control method that enables vehicles to automatically extricate themselves from sandy conditions, allowing drivers to independently navigate and extricate themselves from the predicament. Summary of the Invention

[0003] This application provides a vehicle extrication control method, device, equipment, and storage medium, enabling drivers to independently drive their vehicles to extricate themselves from sandy conditions.

[0004] In a first aspect, this application provides a vehicle traction control method, wherein the vehicle includes a vehicle body, a suspension mounted on the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels, the method comprising:

[0005] In response to the user's activation of the escape mode, the suspension is controlled to extend to its maximum extension state;

[0006] Control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse;

[0007] The wheel pressure of each wheel is acquired in real time. If the wheel pressure of all wheels meets the motor stop condition, the front axle motor and the rear axle motor are controlled to stop.

[0008] Control the suspension to retract, and in reciprocating motion mode, first control the front axle motor and the rear axle motor to rotate in opposite directions at low speed, and then control the front axle motor and the rear axle motor to rotate in the forward direction at low speed, until the suspension retracts to the maximum retracted state;

[0009] The front axle motor and the rear axle motor are stopped, and the suspension is extended to its maximum tension state.

[0010] If the sum of the pressures on all wheels equals the vehicle's weight, then the front axle motor and the rear axle motor are controlled to rotate, thereby driving the wheels to rotate and complete the escape.

[0011] In one possible implementation, the motor stopping condition is that all wheel pressures are equal to zero and / or less than a preset calibration threshold; correspondingly, if all wheel pressures meet the motor stopping condition, the front axle motor and the rear axle motor are controlled to stop; if all wheel pressures are equal to zero and / or less than the preset calibration threshold, the front axle motor and the rear axle motor are controlled to stop.

[0012] In one possible implementation, the step of first controlling the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at low speed, includes: first controlling the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a mode in which the rotation direction of the front axle motor and the rear axle motor is switched at a calibrated frequency, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at low speed.

[0013] In one possible implementation, controlling the front axle motor and the rear axle motor to switch rotation directions at a calibrated frequency at low speed includes: determining at least one first rotation switching cycle based on the calibrated frequency; controlling the front axle motor to rotate in reverse at low speed and controlling the rear axle motor to rotate in forward at low speed during the nth first rotation switching cycle, where n is a natural number greater than 0; and controlling the front axle motor to rotate in reverse at low speed and controlling the rear axle motor to rotate in forward at low speed during the (n+1)th first rotation switching cycle, where n+1 is less than or equal to the total number of rotation switching cycles.

[0014] In one possible implementation, controlling the front axle motor and the rear axle motor to switch rotation directions at a calibrated frequency at low speed includes: determining a plurality of second speed switching cycles according to the calibrated frequency; controlling the front axle motor to rotate in reverse at low speed and controlling the rear axle motor to rotate in reverse at low speed during the nth second rotation switching cycle, where n is a natural number greater than 0; controlling the front axle motor to rotate in forward at low speed and controlling the rear axle motor to rotate in forward at low speed during the (n+1)th second rotation switching cycle, where n+1 is less than or equal to the total number of second rotation switching cycles.

[0015] In one possible implementation, after acquiring the wheel pressure of each wheel in real time, the method further includes: if all wheel pressures meet the motor operating conditions, then returning to the step of controlling the suspension to extend to the maximum tension state.

[0016] In one possible implementation, after controlling the suspension to extend to its maximum tension state, the method further includes: if the sum of all wheel pressures is less than the vehicle's weight data, then returning to the steps of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0017] In one possible implementation, while controlling the suspension to retract, the method also includes controlling the wheels to perform a reciprocating motion of swaying left and right.

[0018] Secondly, this application provides a vehicle traction control device, the vehicle including a vehicle body, a suspension mounted on the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels. The device includes:

[0019] The suspension control module is used to control the suspension to extend to its maximum extension state in response to the user's activation of the escape mode.

[0020] The drive control module is used to control the front axle motor to rotate forward to drive the wheels to rotate forward, and to control the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0021] The pressure monitoring module is used to acquire the wheel pressure of each wheel in real time. If the pressure of all wheels meets the motor stop condition, the front axle motor and the rear axle motor are controlled to stop.

[0022] The suspension control module is also used to control the suspension to retract and to control the front axle motor and the rear axle motor to rotate at low speed until the suspension retracts to its maximum retracted state.

[0023] The drive control module is also used to control the front axle motor and the rear axle motor to stop, and to control the suspension to extend to the maximum extension state;

[0024] The drive control module is also used to control the front axle motor and the rear axle motor to rotate if the sum of the pressures of all the wheels equals the vehicle's weight data, so as to drive the wheels to rotate and complete the extrication.

[0025] Thirdly, this application provides a vehicle extrication control device, comprising: at least one processor and a memory;

[0026] The memory stores computer-executed instructions;

[0027] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle traction control method as described in the first aspect above.

[0028] Fourthly, this application provides a computer-readable storage medium storing an instruction executed by a computer, which, when executed by a processor, implements the vehicle extrication control method described in the first aspect above.

[0029] This application provides a vehicle traction control method, device, equipment, and storage medium. The method involves controlling the suspension to extend to its maximum extension state, then controlling the front axle motor to rotate forward, driving the wheels to rotate forward as well, while simultaneously controlling the rear axle motor to rotate in reverse, driving the wheels in reverse. This causes the wheels to pull sand back up to the center of the vehicle's suspension, providing support for the suspension. This continues until the real-time wheel pressure meets the motor stopping condition, at which point both the front and rear axle motors stop. Next, the suspension is retracted, and the front and rear axle motors rotate at low speed to pull sand back up to the wheels until the suspension retracts to its maximum retraction state. When the sum of all wheel pressures equals the vehicle's weight, the front and rear axle motors rotate to drive the wheels and complete the traction process. This reduces the influence of human factors during the entire traction process, saving time and effort. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 for Figure 1 A schematic diagram of the hardware connections required for the vehicle traction control method provided in the embodiments of this application;

[0032] Figure 2 A schematic flowchart illustrating the vehicle traction control method provided in this application embodiment;

[0033] Figure 3 This is a schematic diagram of the vehicle traction control device provided in the embodiments of this application;

[0034] Figure 4 This is a schematic diagram of the vehicle traction control device provided in the embodiments of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] Currently, to enable vehicles to autonomously extricate themselves from difficult situations, more and more vehicles are equipped with extrication modes. When vehicles are driving in complex road conditions, existing technologies, in addition to manual extrication methods that rely on a lot of manpower and time, also include automatic extrication methods using differential locks. However, for vehicles that are driving on soft sand and get stuck, due to the high fluidity of the sand, using manual extrication methods will result in a lot of manpower and time being spent, and the vehicle may still not be able to get out of trouble in the end. When using differential locks to extricate themselves from trouble, due to the high fluidity and softness of the sand, the wheels do not have enough grip, and the vehicle still cannot get out of trouble.

[0037] To solve the above-mentioned technical problems, the embodiments of this application provide the following technical concept for solving the problem: First, by using the vehicle's suspension and wheel rotation, the vehicle as a whole is raised, and then the low-speed rotation of the wheels is used to backfill the sand until the detected wheel pressure is equal to the vehicle's own weight, thereby increasing the wheel's grip and driving the vehicle out of trouble. The whole process requires less human intervention and saves time and effort.

[0038] Figure 1 A schematic diagram of the hardware connections required for the vehicle traction control method provided in the embodiments of this application is shown below. Figure 1 As shown, it includes: vehicle terminal 101, suspension 102, front axle motor 103, rear axle motor 104 and multiple air spring pressure sensors 105.

[0039] The vehicle-mounted terminal 101 is used to issue control commands, collect wheel pressure data from the air spring pressure sensor 105, and activate the vehicle's off-road mode. The vehicle-mounted terminal 101 can be a vehicle computer, a vehicle controller, or a device with an electronic control unit (ECU) chip or processor. The suspension 102 is a device for raising or lowering the wheels; the suspension 102 can be an electronically controlled active suspension. The front axle motor 104 drives the front wheels of the vehicle, and the rear axle motor 104, upon receiving control commands from the vehicle-mounted terminal 101, drives the rear wheels of the vehicle according to the control commands. Both the front axle motor 103 and the rear axle motor 104 can be asynchronous induction motors or permanent magnet synchronous motors. The air spring pressure sensor 105 is used to monitor the wheel pressure in real time and transmit it to the vehicle-mounted terminal 101; the air spring pressure sensor can be a magnetic pressure sensor.

[0040] Figure 2 This is a flowchart illustrating the vehicle traction control method provided in this application embodiment. The execution entity in this embodiment can be... Figure 1 The vehicle terminal 101 in the illustrated embodiment can also be other computer-related devices, and this embodiment is not particularly limited.

[0041] In this embodiment, the present application provides a vehicle traction control method, wherein the vehicle includes a vehicle body, a suspension installed at the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor installed at the bottom of the vehicle body for driving the wheels, and a rear axle motor installed at the bottom of the vehicle body for driving the wheels.

[0042] like Figure 2 As shown, the vehicle traction control method includes:

[0043] S201: In response to the user's activation of the escape mode, control the suspension to extend to the maximum extension state.

[0044] In this embodiment, the activation of the traction mode can be a process where the user initiates the automatic traction program via a one-button start button. The automatic traction program can be a pre-stored software program, for example, it could be an automatic traction program for sand terrain. The suspension extending to its maximum tension state can be the maximum distance the suspension underside moves downwards.

[0045] S202: Controls the front axle motor to rotate forward to drive the wheels to rotate forward, and controls the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0046] In this embodiment, the front axle motor and the rear axle motor can constitute the vehicle's drive motor system. The front axle motor rotating in the forward direction while the rear axle motor rotates in the reverse direction constitutes a special drive mode for the vehicle's drive motor system. The purpose of this special drive mode is not to propel the vehicle forward or backward, but rather to cause sand to accumulate towards the center of the vehicle's underside under the wheels, while simultaneously causing the wheels to sink further into the sand pit.

[0047] S203: Real-time acquisition of wheel pressure for each wheel. If the pressure of all wheels meets the motor stop condition, control the front axle motor and the rear axle motor to stop.

[0048] In this embodiment, the wheel pressure of each wheel can be monitored in real time by a suspension pressure sensor installed on the suspension.

[0049] Specifically, in an optional embodiment of this application, the motor stopping condition is that the pressure of all wheels is equal to zero and / or less than a preset calibration threshold. Accordingly, step S203 includes: if the pressure of all wheels is equal to zero and / or less than the preset calibration threshold, then control the front axle motor and the rear axle motor to stop.

[0050] In this embodiment, for ease of understanding, the number of wheels of the vehicle is set to 4. When the wheel pressure of all four wheels is zero, it indicates that each wheel is in a floating state. The sand accumulated in the central area under the vehicle has completely supported the entire vehicle, and the next step of backfilling sand under the wheels can be carried out.

[0051] The preset calibration threshold can be a pre-calibrated pressure value, and the preset calibration threshold can be different for different geological conditions. When the wheel pressure of all wheels acquired in real time is less than the preset calibration threshold, it indicates that the sand accumulated in the central area under the vehicle can support the entire vehicle to carry out the next step of backfilling sand under the wheels.

[0052] When the wheel pressure of all wheels is: equal to 0, less than the preset calibration threshold, or the wheel pressure of several wheels is zero and the wheel pressure of the remaining wheels is less than the preset calibration threshold, the front axle motor and the rear axle motor can be controlled to stop, that is, the operation of backfilling sand or other backfill materials into the center area under the vehicle can be stopped.

[0053] S204: Control the suspension to retract, and in reciprocating motion mode, first control the front axle motor and the rear axle motor to rotate in opposite directions at low speed, and then control the front axle motor and the rear axle motor to rotate in the forward direction at low speed, until the suspension retracts to its maximum retracted state.

[0054] In this embodiment, suspension retraction refers to the process of retracting the vehicle suspension to lower the lower surface of the vehicle chassis. The maximum retraction state can be when the suspension retracts to the point where it can no longer retract, or when the lower surface of the vehicle chassis can no longer lower. The reciprocating motion pattern can be to perform the first motion first, then the second motion, then the first motion again, and so on.

[0055] In an optional embodiment of this application, step S204, which involves first controlling the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at low speed, includes: first controlling the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a mode that controls the front axle motor and the rear axle motor to switch rotation directions at a calibrated frequency, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at low speed.

[0056] In this embodiment, the calibration frequency refers to a pre-set fixed frequency, such as once per minute or once every 10 minutes. The period corresponding to the calibration frequency can determine the time node for switching the rotation direction. Low-speed rotation refers to rotation below the normal driving speed, so as to just drive the sand and soil backfill under the wheels.

[0057] S205: Controls the front axle motor and rear axle motor to stop, and controls the suspension to extend to its maximum tension state.

[0058] In this embodiment, when the wheels retract to their limit positions with the suspension, the low-speed drive front and rear axle motors should stop operating. Simultaneously, the suspension is controlled to extend to its maximum extension state, meaning the vehicle's wheels are once again lowered to their lowest position.

[0059] S206: If the sum of the pressures of all wheels equals the vehicle's weight data, then control the front axle motor and the rear axle motor to rotate, thereby driving the wheels to rotate and complete the extrication.

[0060] In this embodiment, if the sum of the wheel pressures of all wheels acquired in real time equals the vehicle's weight data, it indicates that the wheels have a stable point of contact and can fully support the entire vehicle. At this time, when driving the vehicle forward or backward, the wheels can provide sufficient traction for getting out of trouble. Controlling the front axle motor and the rear axle motor to rotate will also cause the corresponding wheels to rotate, making the vehicle move forward or backward, thus completing the extrication.

[0061] In summary, the vehicle extrication method provided in this application involves controlling the suspension to extend to its maximum tension state, then controlling the front axle motor to rotate forward to drive the wheels to rotate forward, while simultaneously controlling the rear axle motor to rotate in reverse to drive the wheels in reverse. This causes the wheels to pull sand back up to the center of the vehicle's suspension, providing support for the suspension. This continues until the real-time wheel pressure meets the motor stopping condition, at which point both the front and rear axle motors stop. The suspension is then retracted, and the front and rear axle motors rotate at low speed to pull sand back up to the wheels until the suspension retracts to its maximum retraction state. When the sum of all wheel pressures equals the vehicle's weight, the front and rear axle motors rotate to drive the wheels and complete the extrication process. This method reduces the impact of human factors during the entire extrication process, saving time and effort.

[0062] Based on the above embodiments, in an optional embodiment of this application, step S204, controlling the front axle motor and the rear axle motor to rotate at a calibrated frequency at a low speed for switching rotation directions, includes:

[0063] S204a: Determine at least one first rotation switching cycle based on the calibration frequency.

[0064] In this embodiment, the first rotation switching cycle can be the reciprocal of the calibrated frequency. For example, if the calibrated frequency is once every 10 minutes, then one first rotation switching cycle is 10 minutes.

[0065] S204b: Control the front axle motor to rotate in reverse at low speed and control the rear axle motor to rotate in forward at low speed during the nth first rotation switching cycle, where n is a natural number greater than 0.

[0066] S204c: Control the front axle motor to rotate in reverse at low speed and control the rear axle motor to rotate in forward at low speed during the (n+1)th first rotation switching cycle, where n+1 is less than or equal to the total number of rotation switching cycles.

[0067] In this embodiment, the process of filling sand under the wheels can be a cyclical process, sometimes requiring multiple backfillings to achieve the desired extrication. For example, in the first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at a low speed, while the rear axle motor is controlled to rotate in the forward direction at a low speed. In the second rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at a low speed, while the rear axle motor is controlled to rotate in the forward direction at a low speed, and so on. Through repeated low-speed rotation, the sand on both sides of the wheels is driven back to fill under the wheels.

[0068] In summary, the vehicle traction control method provided in this application embodiment also controls the front axle motor and the rear axle motor to rotate at low speed in different directions at the same time, so as to drive the wheels faster and drive the sand on both sides of the wheels to backfill under the wheels, thereby improving the sand backfilling efficiency and reducing the time for the vehicle to get out of trouble.

[0069] In an optional embodiment of this application, step S204, controlling the front axle motor and the rear axle motor to rotate at a low speed with a calibrated frequency to switch rotation directions, includes:

[0070] Step a: Determine multiple second speed switching cycles based on the calibration frequency;

[0071] Step b: During the nth second rotation switching cycle, control the front axle motor to rotate in the opposite direction at a low speed, and control the rear axle motor to rotate in the opposite direction at a low speed, where n is a natural number greater than 0;

[0072] Step c: During the (n+1)th second rotation switching cycle, control the front axle motor to rotate forward at a low speed and control the rear axle motor to rotate forward at a low speed, where n+1 is less than or equal to the total number of second rotation switching cycles. In this embodiment, the duration of the second rotation cycle can be the same as or different from the duration of the first rotation cycle, both being preset duration values. The difference between steps a to c and steps S204a to S204c in the above embodiment is that the front axle motor and the rear axle motor rotate in the same direction during each second rotation cycle. For example, during the first second rotation cycle, both the front axle motor and the rear axle motor rotate forward at a low speed, corresponding to the vehicle's forward mode; during the second second rotation cycle, both the front axle motor and the rear axle motor rotate in the opposite direction at a low speed, corresponding to the vehicle's reverse mode.

[0073] Based on the above embodiments, in an optional embodiment of this application, after obtaining the wheel pressure of each wheel in real time in step S203, the method further includes:

[0074] Step A: If all wheel pressures meet the motor operating conditions, return to the step of controlling the suspension to extend to the maximum tension state.

[0075] In this embodiment, the motor operating conditions can be that all wheel pressures are not zero, some wheel pressures are zero while others are greater than a preset calibration threshold, or all wheel pressures are greater than the preset calibration threshold. In this case, it indicates that the sand accumulated in the center area under the vehicle is insufficient to support the entire vehicle, and sand needs to be backfilled into the center area under the vehicle. Therefore, steps S201 to S203 need to be repeated until all wheel pressures meet the motor stop conditions.

[0076] In summary, the vehicle traction control method provided in this application also controls the front axle motor and the rear axle motor to cyclically drive the wheels to rotate when the backfilled sand in the central area under the vehicle is insufficient to support the entire vehicle, so that the sand is backfilled to the central area under the vehicle, providing support for the vehicle, ensuring subsequent vehicle traction and increasing the success rate of traction.

[0077] In an optional embodiment of this application, after acquiring the wheel pressure of each wheel in real time in step S203, the method further includes:

[0078] Step B: If the sum of all wheel pressures is less than the vehicle's weight data, return to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0079] In this embodiment, the sum of the wheel pressures being less than the vehicle's weight indicates that one wheel's point of contact is unstable, and the supporting force of all the wheels is insufficient to support the entire vehicle. Directly driving the vehicle out of the predicament will lead to it getting stuck again. At this point, it is necessary to return to step S202, and repeat this cycle to allow more and more sand to be backfilled under the wheels.

[0080] In an optional embodiment of this application, when a faster sand backfilling speed is required, the sand backfilling operation can also be carried out with the cooperation of the driver. For example, while step S204 is being performed, the driver assists in moving the sand under the wheels to increase the sand backfilling rate.

[0081] Based on the above embodiments, as an optional embodiment of this application, the vehicle traction control method further includes, in step S204, controlling the suspension to retract while simultaneously:

[0082] Step C: Control the wheels to make a reciprocating motion that swings left and right.

[0083] In this embodiment, controlling the vehicle to make a left-right swaying reciprocating motion can be achieved by controlling the vehicle's steering lever to drive the front wheels of the vehicle to rotate, thereby causing the vehicle to make a left-right swaying reciprocating motion.

[0084] In summary, the vehicle traction control method provided in this application also controls the wheels to swing left and right while controlling the suspension to retract, so that the wheel edges can drive the sand on both sides of the wheel to flow under the wheel, thereby accelerating the backfilling of sand.

[0085] Figure 3 This is a schematic diagram of the vehicle traction control device provided in the embodiments of this application. The vehicle includes a vehicle body, a suspension installed at the bottom of the vehicle body, multiple wheels connected to the suspension, a front axle motor installed at the bottom of the vehicle body for driving the wheels, and a rear axle motor installed at the bottom of the vehicle body for driving the wheels. The device includes a suspension control module 31, a drive control module 32, and a pressure monitoring module 33.

[0086] Among them, the suspension control module 31 is used to control the suspension to extend to the maximum extension state in response to the user's operation to activate the escape mode;

[0087] The drive control module 32 is used to control the front axle motor to rotate forward to drive the wheels to rotate forward, and to control the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0088] The pressure monitoring module 33 is used to acquire the wheel pressure of each wheel in real time. If the pressure of all wheels meets the motor stop condition, the front axle motor and the rear axle motor are controlled to stop.

[0089] The suspension control module 31 is also used to control the suspension to retract, and in the reciprocating motion mode, first control the front axle motor and the rear axle motor to rotate in opposite directions at low speed, and then control the front axle motor and the rear axle motor to rotate in the forward direction at low speed, until the suspension is retracted to the maximum retracted state.

[0090] The drive control module 32 is also used to control the front axle motor and the rear axle motor to stop, and to control the suspension to extend to the maximum extension state;

[0091] The drive control module 32 is also used to control the front axle motor and the rear axle motor to rotate so as to drive the wheels to rotate and complete the extrication if the sum of the pressures of all the wheels is equal to the vehicle's weight data.

[0092] In an optional embodiment of this application, the motor stopping condition is that the pressure of all wheels is equal to zero and / or less than a preset calibration threshold. Accordingly, the drive control module 32 is specifically used to: control the front axle motor and the rear axle motor to stop if the pressure of all wheels is equal to zero and / or less than the preset calibration threshold.

[0093] In an optional embodiment of this application, the drive control module 32 is specifically used to: first control the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a mode that controls the front axle motor and the rear axle motor to switch rotation directions at a calibrated frequency at low speed, and then control the front axle motor and the rear axle motor to rotate in the forward direction at low speed.

[0094] In an optional embodiment of this application, the drive control module 32 is specifically configured to: determine at least one first rotation switching cycle according to the calibration frequency; control the front axle motor to rotate in reverse at low speed and control the rear axle motor to rotate in forward at low speed during the nth first rotation switching cycle, where n is a natural number greater than 0; control the front axle motor to rotate in reverse at low speed and control the rear axle motor to rotate in forward at low speed during the (n+1)th first rotation switching cycle, where n+1 is less than or equal to the total number of rotation switching cycles.

[0095] In an optional embodiment of this application, the drive control module 32 is specifically used to: determine a plurality of second speed switching cycles according to the calibration frequency; control the front axle motor to rotate in reverse at low speed and control the rear axle motor to rotate in reverse at low speed during the nth second rotation switching cycle, where n is a natural number greater than 0; control the front axle motor to rotate in forward at low speed and control the rear axle motor to rotate in forward at low speed during the (n+1)th second rotation switching cycle, where n+1 is less than or equal to the total number of second rotation switching cycles.

[0096] In an optional embodiment of this application, after acquiring the wheel pressure of each wheel in real time, the suspension control module 31 is further configured to: if all wheel pressures meet the motor operating conditions, return to the step of controlling the suspension to extend to the maximum tension state.

[0097] In an optional embodiment of this application, after controlling the suspension to extend to the maximum tension state, the drive control module 32 is further configured to: if the sum of all wheel pressures is less than the vehicle gravity data, return to the steps of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

[0098] In an optional embodiment of this application, while controlling the suspension to retract, the drive control module 32 is also used to: control the wheels to perform a reciprocating motion of left and right swaying.

[0099] The vehicle traction control device provided in this embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0100] Figure 4 This is a schematic diagram of the hardware structure of the vehicle traction control device provided in the embodiments of this application, such as... Figure 4 As shown, the device includes at least one processor 401 and a memory 402.

[0101] Among them, memory 402 is used to store computer execution instructions.

[0102] Processor 401 is configured to execute computer execution instructions stored in memory 402 to implement the various steps involved in the above method embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0103] Optionally, the memory 402 can be either standalone or integrated with the processor 401.

[0104] When the memory 402 is set up independently, the device also includes a bus 403 for connecting the memory 402 and the processor 401.

[0105] This application also provides a computer-readable storage medium storing computer-executable instructions. When the processor executes the computer-executable instructions, the above-mentioned vehicle extrication control method is implemented.

[0106] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle traction control method.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or modules, and may be electrical, mechanical, or other forms.

[0108] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0109] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0110] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute partial steps of the methods of the various embodiments of this application.

[0111] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0112] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0113] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0114] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0115] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0116] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0117] This description is intended to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle traction control method, characterized in that, The vehicle includes a vehicle body, a suspension mounted on the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels. The method includes: In response to the user's activation of the escape mode, the suspension is controlled to extend to its maximum extension state; Control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse; The wheel pressure of each wheel is acquired in real time. If the wheel pressure of all wheels meets the motor stop condition, the front axle motor and the rear axle motor are controlled to stop. Control the suspension to retract, and in reciprocating motion mode, first control the front axle motor and the rear axle motor to rotate in opposite directions at low speed, and then control the front axle motor and the rear axle motor to rotate in the forward direction at low speed, until the suspension retracts to the maximum retracted state; The front axle motor and the rear axle motor are stopped, and the suspension is extended to its maximum tension state. If the sum of the pressures on all wheels equals the vehicle's weight, then the front axle motor and the rear axle motor are controlled to rotate, thereby driving the wheels to rotate and complete the escape.

2. The method according to claim 1, characterized in that, The motor stops when all wheel pressures are equal to zero and / or less than a preset calibration threshold. Accordingly, the step of controlling the front axle motor and the rear axle motor to stop if all wheel pressures meet the motor stopping conditions includes: If all wheel pressures are equal to zero and / or less than a preset calibration threshold, then the front axle motor and the rear axle motor are controlled to stop.

3. The method according to claim 1, characterized in that, The step of first controlling the front axle motor and the rear axle motor to rotate in opposite directions at low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at low speed, includes: In a low-speed rotation mode where the front and rear axle motors are controlled to switch rotation directions at a calibrated frequency, the front and rear axle motors are first controlled to rotate in opposite directions at low speed, and then the front and rear axle motors are controlled to rotate in the forward direction at low speed.

4. The method according to claim 3, characterized in that, The low-speed rotation of the front axle motor and the rear axle motor, which switches the rotation direction at a calibrated frequency, includes: Based on the calibration frequency, at least one first rotation switching cycle is determined; During the nth first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at low speed, and the rear axle motor is controlled to rotate in the forward direction at low speed, where n is a natural number greater than 0; During the (n+1)th first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at low speed, and the rear axle motor is controlled to rotate in the forward direction at low speed, wherein n+1 is less than or equal to the total number of rotation switching cycles.

5. The method according to claim 3, characterized in that, The low-speed rotation of the front axle motor and the rear axle motor, which switches the rotation direction at a calibrated frequency, includes: Based on the calibration frequency, multiple second speed switching cycles are determined; During the nth second rotation switching cycle, the front axle motor is controlled to rotate in the opposite direction at a low speed, and the rear axle motor is controlled to rotate in the opposite direction at a low speed, where n is a natural number greater than 0; During the (n+1)th second rotation switching cycle, the front axle motor is controlled to rotate forward at a low speed, and the rear axle motor is also controlled to rotate forward at a low speed, wherein n+1 is less than or equal to the total number of second rotation switching cycles.

6. The method according to claim 1, characterized in that, After acquiring the wheel pressure of each wheel in real time, the method further includes: If all wheel pressures meet the motor operating conditions, then return to the step of controlling the suspension to extend to the maximum tension state.

7. The method according to claim 1, characterized in that, After controlling the suspension to extend to its maximum tension state, the method further includes: If the sum of the pressures of all wheels is less than the vehicle's weight data, then return to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse.

8. The method according to any one of claims 1 to 5, characterized in that, The control of retracting the suspension also includes: Control the wheels to make a reciprocating motion that swings left and right.

9. A vehicle traction control device, characterized in that, The vehicle includes a vehicle body, a suspension mounted on the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels. The device includes: The suspension control module is used to control the suspension to extend to its maximum extension state in response to the user's activation of the escape mode. The drive control module is used to control the front axle motor to rotate forward to drive the wheels to rotate forward, and to control the rear axle motor to rotate in reverse to drive the wheels to rotate in reverse. The pressure monitoring module is used to acquire the wheel pressure of each wheel in real time. If the pressure of all wheels meets the motor stop condition, the front axle motor and the rear axle motor are controlled to stop. The suspension control module is also used to control the suspension to retract and to control the front axle motor and the rear axle motor to rotate at low speed until the suspension retracts to its maximum retracted state. The drive control module is also used to control the front axle motor and the rear axle motor to stop, and to control the suspension to extend to the maximum extension state; The drive control module is also used to control the front axle motor and the rear axle motor to rotate if the sum of the pressures of all the wheels equals the vehicle's weight data, so as to drive the wheels to rotate and complete the extrication.

10. A vehicle traction control device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle traction control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the vehicle extrication control method as described in any one of claims 1 to 8.

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