Vehicle escape control method, system and device, storage medium and vehicle

Abstract

The invention discloses a vehicle escape control method, system and device, a storage medium and a vehicle. The control method comprises the steps that the vehicle speed of the vehicle and the rotating speed of each wheel are obtained, and the trapped mode of the vehicle is determined according to the vehicle speed of the vehicle and the rotating speed of each wheel; the trapped mode comprises any one of non-rotating of multiple wheels, idling of multiple wheels, single-wheel idling, coaxial multi-wheel idling, multi-wheel idling on one side or multi-wheel idling on two sides of different shafts; and according to the trapped mode, the vehicle is made to be out of order by adjusting the loads of the wheels and / or transferring the loads of the wheels. The embodiment of the invention can improve the escape ability of the vehicle, and can be widely applied to the technical field of vehicle control.

Description

Technical Field

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

[0002] When a vehicle is driving on an unpaved road or encounters an uneven road surface such as road maintenance, the vehicle's ability to escape is often tested, because different road conditions may lead to different trapped scenarios. Among the relevant methods, the vehicle escape method is relatively single and cannot cope with different trapped scenarios, resulting in a relatively limited ability for the vehicle to escape. Summary of the invention

[0003] In view of this, an object of an embodiment of the present invention is to provide a vehicle escape control method, system, device, storage medium and vehicle, which can improve the vehicle's escape capability.

[0004] On the one hand, an embodiment of the present invention provides a vehicle escape control method, comprising:

[0005] Obtaining the vehicle speed and the rotation speed of each wheel, and determining the trapped mode of the vehicle according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on different axles on both sides;

[0006] According to the trapped mode, the vehicle is freed from the trapped state by adjusting the load of the wheels and / or transferring the load of the wheels.

[0007] Optionally, determining the trapped mode of the vehicle according to the vehicle speed and the rotation speed of each wheel includes:

[0008] If the rotation speed of the wheel is 0, it is determined that the wheel is not rotating;

[0009] If the rotation speed of the wheel is greater than the speed of the vehicle, it is determined that the wheel is in an idling state;

[0010] The trapped mode of the vehicle is determined according to the non-rotating state or idling state of the wheel.

[0011] Optionally, determining the trapped mode of the vehicle according to the non-rotating state or idling state of the wheel includes:

[0012] If all wheels are in a non-rotating state, it is determined that the trapped mode is that multiple wheels are non-rotating;

[0013] If all wheels are in an idling state, determining that the trapped mode is that multiple wheels are idling;

[0014] If one wheel is in an idling state, determining that the trapped mode is single wheel idling;

[0015] If multiple wheels are in an idling state and the wheels in the idling state are coaxial, determining that the trapped mode is coaxial multi-wheel idling;

[0016] If multiple wheels are in an idling state and the wheels in the idling state are displaced to the same side, it is determined that the trapped mode is idling of multiple wheels on one side;

[0017] If multiple wheels are in an idling state and the wheels in the idling state are on different axles on both sides, it is determined that the trapped mode is idling of multiple wheels with different axles on both sides.

[0018] Optionally, the method further comprises:

[0019] If the trapped mode is that multiple wheels do not rotate or multiple wheels are idling, escape control is performed in the trapped mode of single wheel idling.

[0020] Optionally, if the trapped mode is single wheel idling, adjusting the wheel load and / or transferring the wheel load according to the trapped mode to free the vehicle from the trapped state includes:

[0021] By adjusting the four-wheel idle springs, the single wheel in the idling state is adjusted to the lowest position, so as to increase the load of the single wheel in the idling state;

[0022] The slip rate of the single wheel in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0023] Optionally, the method further comprises:

[0024] If the vehicle is not out of trouble, controlling the active suspension to extend and retract at a preset speed to impact the ground, so as to increase the load on the single wheel in the idling state;

[0025] The slip rate of the single wheel in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0026] Optionally, the method further comprises:

[0027] If the vehicle is not out of trouble, lift the single wheel in the idling state to transfer the load of the single wheel in the idling state to other wheels;

[0028] The slip rate of the single wheel in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0029] Optionally, if the trapped mode is coaxial multi-wheel idling, according to the trapped mode, adjusting the load of the wheels and / or transferring the load of the wheels to free the vehicle from the trapped state includes:

[0030] By adjusting the four-wheel idle springs, the coaxial multiple wheels in the idling state are adjusted to the lowest position, so as to increase the load of the coaxial multiple wheels in the idling state;

[0031] The slip rate of the coaxial multiple wheels in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0032] Optionally, the method further comprises:

[0033] If the vehicle is not out of trouble, the active suspension is controlled to extend and retract to impact the ground at a preset speed to increase the load of the coaxial multiple wheels in the idling state;

[0034] The slip rate of the coaxial multiple wheels in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0035] Optionally, the method further comprises:

[0036] If the vehicle is not out of trouble, lift the coaxial multiple wheels in the idling state to transfer the load of the coaxial multiple wheels in the idling state to the wheels of other axles;

[0037] The slip rate of the coaxial multiple wheels in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

[0038] Optionally, the method further comprises:

[0039] If the trapped mode is idling of multiple wheels on one side, escape control is performed in the trapped mode of coaxial multiple wheels.

[0040] Optionally, if the trapped mode is idling of multiple wheels with different axles on both sides, according to the trapped mode, adjusting the load of the wheels and / or transferring the load of the wheels to get the vehicle out of trouble includes:

[0041] Control the active suspension to extend and retract at high speed to impact the ground, so as to increase the load on the multiple wheels on both sides of the axle in the idling state;

[0042] The anti-skid system is used to control the slip rate of the multiple wheels on both sides of the axle in the idling state to maximize the use of the road adhesion coefficient.

[0043] Optionally, the method further comprises:

[0044] Whether the vehicle is out of trouble is determined based on the throttle opening and the first maintaining time corresponding to the throttle opening and the vehicle speed and the second maintaining time corresponding to the vehicle speed.

[0045] Optionally, the method further comprises:

[0046] Acquiring a sensor signal of the vehicle, and determining whether there is a need to drive the vehicle according to the sensor signal;

[0047] If there is a need to drive the vehicle, determine whether the vehicle is in a trapped state based on the vehicle speed and the rotation speed of each wheel;

[0048] If the vehicle is in a trapped state, the trapped state is displayed through an interactive interface, operation instructions are obtained, and an escape mode is entered.

[0049] On the other hand, an embodiment of the present invention provides a vehicle escape control system, comprising:

[0050] The first module is used to obtain the vehicle speed and the rotation speed of each wheel, and determine the vehicle's trapped mode according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on different axles on both sides;

[0051] The second module is used to adjust the load of the wheels and / or transfer the load of the wheels according to the trapped mode to free the vehicle.

[0052] On the other hand, an embodiment of the present invention provides a vehicle escape control device, comprising:

[0053] at least one processor;

[0054] at least one memory for storing at least one program;

[0055] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle escape control method.

[0056] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to execute the above-mentioned vehicle escape control method.

[0057] On the other hand, an embodiment of the present invention provides a vehicle, which includes the above-mentioned vehicle escape control system or the above-mentioned vehicle escape control device.

[0058] Implementation of the embodiments of the present invention includes the following beneficial effects: in the embodiments of the present invention, first, the trapped mode of the vehicle is determined according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on two sides with different axles; then, according to different trapped modes, the adhesion of the wheels is improved by adjusting the load of the wheels and / or transferring the load of the wheels to enable the vehicle to escape from the trap, which can be applied to different road conditions or trapped scenes to improve the vehicle's escape ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1It is a structural schematic diagram of a vehicle escape control system provided by an embodiment of the present invention;

[0060] Figure 2 A flowchart of steps for entering a vehicle escape mode provided by an embodiment of the present invention;

[0061] Figure 3 is a flowchart of a vehicle escape control method provided by an embodiment of the present invention;

[0062] Figure 4 It is a schematic diagram of a process flow of determining a vehicle trapped mode provided by an embodiment of the present invention;

[0063] Figure 5 It is a flowchart of the steps of a method for controlling a vehicle escaping from a single-wheel idling situation provided by an embodiment of the present invention;

[0064] Figure 6 It is a flowchart of another method for controlling a vehicle to escape from a single-wheel idling situation provided by an embodiment of the present invention;

[0065] Figure 7 It is a flowchart of another method for controlling a vehicle to escape from a single-wheel idling situation provided by an embodiment of the present invention;

[0066] Figure 8 It is a flowchart of the steps of a method for controlling a vehicle with coaxial multi-wheel idling to escape from distress provided by an embodiment of the present invention;

[0067] Fig. 9 It is a flowchart of the steps of a method for controlling a vehicle with coaxial multi-wheel idling to escape from distress provided by an embodiment of the present invention;

[0068] Fig.10 It is a flowchart of the steps of another coaxial multi-wheel idling vehicle escape control method provided by an embodiment of the present invention;

[0069] Fig.11 It is a flowchart of the steps of a method for controlling a vehicle to escape from a jam with multiple wheels idling on different axles on both sides provided by an embodiment of the present invention;

[0070] Fig.12 It is a flow chart of a vehicle escape control method according to a specific embodiment of the present invention;

[0071] Fig.13 It is a structural block diagram of a vehicle escape control system provided by an embodiment of the present invention;

[0072] Fig.14 It is a structural block diagram of a vehicle escape control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only provided for the convenience of explanation and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0074] It should be noted that, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification and claims and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0076] Some technical terms in this embodiment are explained below.

[0077] The function of TCS (Traction Control System) is to enable the vehicle to obtain the best traction under various driving conditions. When the vehicle is driving, acceleration requires driving force and turning requires lateral force. Both forces come from the friction between the tire and the ground, but the friction between the tire and the ground has a maximum value. On a smooth road with a very small friction coefficient, the driving force and lateral force of the car are very small. If you step on the accelerator pedal hard in order to obtain a larger driving force, so that the driving force exceeds the maximum friction between the tire and the ground, that is, the adhesion, not only can the desired driving force not be obtained, but the driving stability of the vehicle is affected. When the vehicle is turning, if the throttle valve is opened too much, the driving wheel will slip. If the front wheel of a front-wheel drive vehicle slips, the vehicle will have understeering, that is, the vehicle deviates from the turning arc and runs outside the turning arc. If the rear wheel of a rear-wheel drive vehicle slips, the vehicle will have oversteering, that is, the car deviates from the turning arc and runs inside the turning arc. In severe cases, the car will rotate. The function of the drive anti-skid system is to automatically control the driving force when the vehicle accelerates so that the tire slip is within a reasonable range, thereby maintaining the stability of the vehicle's driving.

[0078] For example, the drive anti-skid system uses the speed of the four wheels and the steering angle of the steering wheel to detect that when accelerating, if it detects that the speed difference between the driving wheel and the non-driving wheel is too large, it will send a command signal to reduce the engine's fuel supply and reduce the driving force, thereby reducing the slip rate of the driving wheel tire. The drive anti-skid system uses the steering wheel angle sensor to grasp the driver's steering intention, and then uses the left and right wheel speed sensors to detect the speed difference between the left and right wheels, thereby determining whether the degree of vehicle steering is consistent with the driver's steering intention. Figure 1 If the car is detected to be understeering (or oversteering), the driving force of the driving wheel is judged to be too large, and a command is issued to reduce the driving force to achieve the driver's steering intention. When the car stops, the speed of the four wheels is zero. When the car starts, that is, when accelerating from zero speed, the drive anti-skid system detects the slip rate of the driving wheel. If a large slip rate is detected, a command is issued to reduce the engine power and reduce the slip rate of the tire. When the car starts, it is not possible to completely prevent the tire from slipping, but if the slip rate of the tire is too large, it will accelerate the wear of the tire and reduce the friction between the tire and the ground, which will not be beneficial to the starting acceleration. When the slip rate of the tire is moderate, the car can obtain the maximum driving force. If the tire is caused to slip more when turning, the acceleration ability of the car will be improved. The drive anti-skid system can use the steering wheel angle sensor to detect the driving state of the vehicle, determine whether the vehicle is driving in a straight line or turning, and appropriately change the slip rate of each tire.

[0079] See also Figure 1In the embodiment of the present invention, the vehicle escape control function needs to receive the vehicle speed, four-wheel speed, vehicle height sent by the height sensors at the four corners of the vehicle body (the sensor measures the relative position change between the vehicle body and the wheels), air spring pressure, accelerator pedal opening, brake pedal switch, brake system fault state, drive system fault state, gear state, and parking EPB (Electronic Parking Brake) caliper clamping state; after receiving these signals, the vehicle escape control function controls the air spring to adjust the vehicle's posture, controls the active shock absorber to realize the active shock absorber action of the corresponding wheel, and interacts with the braking system and the drive system while the air suspension and the active shock absorber are working. The braking system and the drive system synchronously complete the process of the driver stepping on the accelerator pedal, and controls the TCS based on the driving torque of the wheel slip rate, so that the slip rate of each driving wheel is controlled within the range of maximum utilization of the ground adhesion coefficient.

[0080] See also Figure 2 The embodiment of the present invention provides a vehicle escape control method, which includes:

[0081] S010. Acquire a sensor signal of the vehicle, and determine whether there is a need to drive the vehicle according to the sensor signal.

[0082] It should be noted that the sensor signal is determined according to the actual application, and this embodiment does not impose any specific restrictions, such as the vehicle speed, wheel speed, gear position or pedal status, etc.

[0083] In a specific embodiment, the vehicle is identified as being in a non-faulty state based on the received braking system and driving system, and the vehicle is not in the N gear or P gear at this time, the parking brake system of the vehicle is in the released state, the brake pedal is not stepped on, and the driver steps on the accelerator pedal, and the accelerator pedal opening is ≥ a, then it is judged that the driver has a need to drive the vehicle. Wherein, a is determined based on an empirical value (for example, a can be 20%, etc.), to avoid the fluctuation of the accelerator opening signal and the driver's misjudgment of the driver's need to drive the vehicle when the accelerator is lightly stepped on.

[0084] S020: If there is a need to drive the vehicle, determine whether the vehicle is in a trapped state based on the vehicle speed and the rotation speed of each wheel.

[0085] If there is a need to drive the vehicle, at this time, if the vehicle speed is always ≤bk / h, combined with the wheel speed, if the wheel speed is greater than the vehicle speed, it is judged that the current vehicle is trapped in place and cannot respond to the driver's throttle driving demand. It is judged that there are wheels spinning or multiple wheels are not rotating at this time, and whether the vehicle is in a trapped state. Among them, b is determined according to an empirical value (for example, b can be 10, etc.). If the vehicle does not move, but shakes back and forth, left and right, then it is judged that the vehicle is trapped, otherwise, it is considered that the vehicle is still moving.

[0086] S030. If the vehicle is in a trapped state, the trapped state is displayed through an interactive interface, operation instructions are obtained, and an escape mode is entered.

[0087] If the vehicle is in a trapped state, the instrument panel will remind the driver that the vehicle is trapped and whether it is necessary to enter the escape mode. The driver will be prompted to step on the accelerator pedal to drive the vehicle after entering the escape mode and pay attention to the surrounding environment to avoid safety risks. After the driver confirms that he has entered the escape mode, the corresponding escape mode control will be entered.

[0088] It should be noted that after entering the escape mode, the vehicle escape control method begins to be executed.

[0089] See also Figure 3 , an embodiment of the present invention provides a vehicle escape control method, comprising:

[0090] S100, obtaining the vehicle speed and the rotation speed of each wheel, and determining the vehicle's trapped mode according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on two different axles

[0091] The number of wheels of a vehicle is determined according to actual application, and this embodiment does not impose any specific restrictions. For example, a car has 4 wheels. First, it is determined whether the wheel is in a non-rotating state according to the wheel speed of each wheel, and then it is determined whether the wheel is in an idling state according to the wheel speed and vehicle speed, and then the vehicle's trapped mode is determined according to the number and position relationship of the idling wheels.

[0092] S200: According to the trapped mode, the vehicle is freed from the trapped state by adjusting the load of the wheels and / or transferring the load of the wheels.

[0093] Adjusting the wheel load can be understood as increasing the load of a part of the wheels or reducing the load of another part of the wheels, and transferring the wheel load can be understood as transferring the load of one part of the wheels to another part of the wheels. It can be understood that different trapped modes correspond to different escape control methods. It should be noted that the specific method of adjusting the wheel load or transferring the wheel load is determined according to the actual application, and this embodiment does not make specific restrictions. For example, adjust the four-wheel empty spring to adjust the wheel load, or increase the wheel load by high-speed telescopic active suspension, and complete the transfer of wheel load by lifting the wheel. In the implementation process, you can first use the method of adjusting the wheel load. If the vehicle cannot be freed, you can continue to use the method of transferring the wheel load; or, directly use the method of transferring the wheel load. The specific method and order are determined according to the actual application, and this embodiment does not make specific restrictions.

[0094] Implementation of the embodiments of the present invention includes the following beneficial effects: in the embodiments of the present invention, first, the trapped mode of the vehicle is determined according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on two sides with different axles; then, according to different trapped modes, the adhesion of the wheels is improved by adjusting the load of the wheels and / or transferring the load of the wheels to enable the vehicle to escape from the trap, thereby improving the vehicle's escape ability.

[0095] Optionally, see Figure 4 , determining the trapped mode of the vehicle according to the vehicle speed and the rotation speed of each wheel, including:

[0096] S110, if the rotation speed of the wheel is 0, the wheel is in a non-rotating state;

[0097] S120: If the rotation speed of the wheel is greater than the speed of the vehicle, the wheel is in an idling state;

[0098] S130: Determine a trapped mode of the vehicle according to a non-rotating state or an idling state of the wheels.

[0099] If the wheel speed is 0, it indicates that the wheel is not rotating and is in a non-rotating state; if the wheel speed is greater than the vehicle speed, it indicates that the wheel speed has not been fully converted into the vehicle speed and the wheel is in an idling state; the vehicle's trapped mode is determined based on the non-rotating state or idling state of the wheel, combined with information such as the number and position of the wheels.

[0100] Optionally, determining the trapped mode of the vehicle according to the non-rotating state or idling state of the wheels includes:

[0101] S131, if multiple wheels are not rotating, the trapped mode is multiple wheels not rotating;

[0102] S132: If multiple wheels are in idling state, the trapped mode is multiple wheels idling;

[0103] S133: If one wheel is in idling state, the trapped mode is single wheel idling;

[0104] S134: If multiple wheels are in an idling state and the wheels in the idling state are coaxial, the trapped mode is coaxial multi-wheel idling;

[0105] S135: If multiple wheels are in an idling state and the wheels in the idling state are on the same side, the trapped mode is idling of multiple wheels on one side;

[0106] S136: If multiple wheels are in an idling state and the wheels in the idling state are on different axles on both sides, the trapped mode is idling of multiple wheels with different axles on both sides.

[0107] Different models have different numbers of wheels. For example, a car has four wheels. If all four wheels are not rotating, the trapped mode is that all four wheels are not rotating; if all four wheels are idling, the trapped mode is that all four wheels are idling; if two wheels are idling and the idling wheels are coaxial, the trapped mode is that the coaxial two wheels are idling; if two wheels are idling and the idling wheels are on the same side, the trapped mode is that the two wheels on one side are idling; if three wheels are idling and the idling wheels are on different sides, the trapped mode is that the three wheels on different sides are idling. It can be understood that the various trapped modes include different trapped scenarios of the vehicle.

[0108] Optionally, the vehicle escape control method further includes:

[0109] If the trapped mode is that multiple wheels are not rotating or multiple wheels are idling, escape control is performed in the trapped mode of single wheel idling.

[0110] In a specific embodiment, if it is determined that multiple wheels are not rotating or multiple wheels are idling, control is performed according to the control logic of single wheel idling, and a certain wheel (such as the left front wheel) is selected and assumed to be idling for processing.

[0111] Optionally, see Figure 5 If the trapped mode is single wheel spinning, according to the trapped mode, the load of the wheel is adjusted and / or the load of the wheel is transferred to free the vehicle, including:

[0112] S211, adjusting the four-wheel idle springs to adjust the single wheel in the idling state to the lowest position, so as to increase the load of the single wheel in the idling state;

[0113] S212: Control the slip rate of a single wheel in an idling state by driving an anti-skid system to maximize the road adhesion coefficient.

[0114] In a specific embodiment, if it is determined that a single wheel is idling, firstly, the load on this wheel is too small and the ground driving force is insufficient, resulting in the vehicle being unable to be driven. At this time, the single wheel in the idling state is adjusted to the lowest position by adjusting the four-wheel idle springs, that is, the vehicle load is transferred to the idling single wheel, and the wheel load in the idling state is increased to increase adhesion. After the wheel load in the idling state increases, the driving force capacity that the ground of the wheel in the idling state can provide becomes larger, and the braking system and the driving system synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque control TCS function based on the wheel slip rate controls the ground adhesion coefficient within the maximum utilization range so that the slip rate of each driving wheel controls the ground adhesion coefficient.

[0115] Optionally, the vehicle escape control method further includes:

[0116] S213, judging whether the vehicle is out of trouble based on the throttle opening and the first maintaining time corresponding to the throttle opening and the vehicle speed and the second maintaining time corresponding to the vehicle speed.

[0117] In a specific embodiment, after completing the above escape control method, it is determined whether the vehicle speed is greater than c and maintained for a second maintenance time d seconds when the throttle opening is greater than f and maintained for a first maintenance time g seconds; if the throttle opening is greater than f and maintained for a first maintenance time g seconds, the vehicle speed is greater than c and maintained for a second maintenance time d seconds, the vehicle escapes; otherwise, the vehicle fails to escape. It should be noted that the sizes of f, g, c and d are determined according to actual applications and are not specifically limited in this embodiment.

[0118] Optionally, see Figure 6 The vehicle escape control method further includes:

[0119] S214, if the vehicle is not out of trouble, controlling the active suspension to extend and retract to impact the ground at a preset speed, so as to increase the load of the single wheel in the idling state;

[0120] S215. Control the slip rate of a single wheel in an idling state by driving an anti-skid system to maximize the road adhesion coefficient.

[0121] It should be noted that the preset speed is determined according to the actual application, and this embodiment does not make specific restrictions, such as the preset speed is high speed. If the vehicle fails to complete the escape, it is determined that the load of the idling wheel may be insufficient, and the active suspension is extended and retracted at high speed to impact the ground to increase the single wheel load in the idling state. The braking system and the drive system synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque based on the wheel slip rate controls the TCS function so that the slip rate of each driving wheel is controlled within the maximum range of the ground adhesion coefficient utilization. After completing the operation, it is determined whether the vehicle speed is greater than c when the throttle opening is greater than f and maintained for g seconds, and is maintained for d seconds. If so, the vehicle has completed the escape; otherwise, the vehicle has not completed the escape.

[0122] Optionally, see Figure 7 The vehicle escape control method further includes:

[0123] S216: If the vehicle is not out of trouble, lift the single wheel in the idling state to transfer the load of the single wheel in the idling state to other wheels;

[0124] S217: Control the slip rate of a single wheel in an idling state by driving an anti-skid system to maximize the road adhesion coefficient.

[0125] If the vehicle fails to escape, it is treated as if the wheel is suspended or has a very low adhesion coefficient, that is, no matter how large the load of the wheel is, because the adhesion coefficient provided by the ground is very low and cannot provide driving force, the single wheel in the idling state is lifted and the load is transferred to the diagonal opposite side; if the transfer to the diagonal opposite side still fails to escape, the vehicle load can also be tried to be moved to the two wheels corresponding to the other axle corresponding to the axle where the single wheel in the idling state is located, and the two wheels on the other side opposite to the side where the single wheel in the idling state is located; each attempt requires the braking system and the drive system to synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque control TCS function based on the wheel slip rate makes the slip rate of each driving wheel control the ground adhesion coefficient within the maximum utilization range. After completing this operation, it is judged whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds. If so, the vehicle has escaped; otherwise, the vehicle has not escaped.

[0126] If the vehicle still cannot escape from a difficult situation after completing the above operations in sequence under the condition of single wheel idling, the vehicle will exit the difficult situation mode after maintaining this state for e seconds. It should be noted that e is determined according to actual application and is not specifically limited in this embodiment.

[0127] There are many situations in which a single wheel spins. One of the situations is that the spinning wheel is suspended in the air and cannot utilize the ground adhesion, but at this time the wheel is a driving wheel. At this time, the center of gravity of the vehicle is concentrated on the non-driving axle, making it impossible for the vehicle to move forward or backward to escape. By utilizing the suspension system to transfer more of the vehicle load to the driving wheel, the suspended wheel can be grounded or the other wheel load on the same axle as the suspended wheel can be added to increase adhesion to provide greater ground driving force, which may allow the vehicle to escape. In addition, more and more vehicles are now equipped with air suspension and active suspension (active shock absorbers). Making full use of the load transfer and active suspension operating force of the vehicle's air suspension and active suspension can achieve a short-term increase in ground positive pressure.

[0128] Optionally, see Figure 8 If the trapped mode is coaxial multi-wheel idling, according to the trapped mode, the load of the wheel is adjusted and / or the load of the wheel is transferred to free the vehicle, including:

[0129] S221. By adjusting the four-wheel idle springs, the coaxial multiple wheels in the idling state are adjusted to the lowest position, so as to increase the load of the coaxial multiple wheels in the idling state;

[0130] S222. Control the slip rate of the coaxial multi-wheels in an idling state by driving an anti-skid system to maximize the use of the road adhesion coefficient.

[0131] In a specific embodiment, if the current state is determined to be coaxial multi-wheel idling, the coaxial multi-wheel load is too small and the ground driving force is insufficient. By adjusting the four-wheel idle spring, the coaxial multi-wheel is adjusted to the lowest position, and the coaxial multi-wheel load is increased to increase the adhesion; the braking system and the drive system synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque based on the wheel slip rate controls the TCS function so that the slip rate of each driving wheel is controlled within the maximum range of the ground adhesion coefficient utilization. After completing this operation, it is determined whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds. If so, the vehicle has completed the escape; otherwise, the vehicle has not completed the escape.

[0132] Optionally, see Fig. 9 The vehicle escape control method further includes:

[0133] S223, if the vehicle is not out of trouble, controlling the active suspension to extend and retract to impact the ground at a preset speed, so as to increase the load of the coaxial multi-wheel in an idling state;

[0134] S224. Control the slip rate of the coaxial multi-wheels in an idling state by driving an anti-skid system to maximize the use of the road adhesion coefficient.

[0135] If the vehicle fails to escape, it is determined that the load of the coaxial multi-wheel in the idling state is insufficient, and the active suspension is extended and retracted at high speed to impact the ground to increase the load of the coaxial multi-wheel in the idling state. The braking system and the drive system synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque based on the wheel slip rate controls the TCS function so that the slip rate of each driving wheel is controlled within the maximum range of the ground adhesion coefficient utilization. After completing this operation, it is determined whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds. If so, the vehicle has escaped; otherwise, the vehicle has not escaped.

[0136] Optionally, see Fig.10 The vehicle escape control method further includes:

[0137] S225, if the vehicle is not out of trouble, lift the coaxial multiple wheels in the idling state to transfer the load of the coaxial multiple wheels in the idling state to the wheels of other axles;

[0138] S226. Control the slip rate of the coaxial multi-wheels in an idling state by driving an anti-skid system to maximize the use of the road adhesion coefficient.

[0139] If the vehicle fails to escape, it will be treated as if the coaxial multi-wheel in this idling state is suspended or has a very low adhesion coefficient, that is, no matter how large the load of this wheel is, because the adhesion coefficient provided by the ground is very low and cannot provide driving force, the coaxial multi-wheel in this idling state will be lifted to transfer the load to another axle; the braking system and the drive system will synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque based on the wheel slip rate will control the TCS function so that the slip rate of each driving wheel is controlled within the maximum range of the ground adhesion coefficient utilization. After completing this operation, it is determined whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds. If so, the vehicle has escaped; otherwise, the vehicle has not escaped.

[0140] If the two wheels on the same axis are idling and the vehicle still cannot escape after completing the above operations in sequence, maintain this state for e seconds and then exit the escape mode.

[0141] Optionally, the vehicle escape control method further includes:

[0142] If the trapped mode is that multiple wheels on one side are idling, escape control is performed using the trapped mode of coaxial multiple wheels.

[0143] In a specific embodiment, if it is determined that the current state is that multiple wheels on one side are idling, the escape operation is the same as the control method for coaxial multiple wheels idling, and the coaxial wheels are adjusted to the wheels on the same side.

[0144] Optionally, see Fig.11 If the trapped mode is multiple wheels spinning on different axles on both sides, the vehicle is freed by adjusting the wheel load and / or transferring the wheel load according to the trapped mode, including:

[0145] S231, controlling the active suspension to extend and retract at high speed to impact the ground, so as to increase the load on the multiple wheels on both sides in an idling state;

[0146] S232. The slip rate of the multiple wheels on both sides of the different axles in an idling state is controlled by driving an anti-skid system to maximize the use of the road adhesion coefficient.

[0147] In a specific embodiment, if the current state is determined to be idling of multiple wheels with different axles on both sides, it is handled as too small a load and insufficient ground driving force: the active suspension is extended and retracted at high speed to impact the ground to increase the load of the multiple wheels with different axles on both sides; the braking system and the driving system synchronously complete the process of the driver stepping on the accelerator pedal; the driving torque control TCS function based on the wheel slip rate is used to control the slip rate of each driving wheel within the range of maximum utilization of the ground adhesion coefficient; after completing the operation, the state is maintained for e seconds and the function is exited.

[0148] The embodiment of the present invention, on a vehicle equipped with air suspension and active suspension, identifies the current wheel jamming situation of the vehicle by reading the wheel speeds of the four wheels of the vehicle, the vehicle speed, the accelerator pedal opening and other information, such as multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side or multiple wheels idling on different axles on both sides, etc.; then, according to different jamming situations, in turn, according to two situations that the trapped wheel may have insufficient wheel load resulting in too little adhesion and the wheel is located on the ground with too low adhesion coefficient resulting in too little adhesion, the air spring is tried to adjust the posture of the vehicle to achieve load transfer and the active suspension impact is used to improve adhesion to perform an escape operation, and while the air suspension and active shock absorber are working, they interact with the braking system and the driving system, the braking system and the driving system synchronously complete the process of the driver stepping on the accelerator pedal, and the driving torque based on the wheel slip rate controls the TCS, so that the slip rate of each driving wheel is controlled within the range of maximum utilization of the ground adhesion coefficient, thereby improving the vehicle's escape capability on unpaved roads.

[0149] See also Fig.12 The following is a specific embodiment to illustrate the vehicle escape control method. The wheels include four wheels, and the wheels are coaxial in pairs. The coaxial wheels are located on both sides of the vehicle.

[0150] S01. Read the wheel speed and vehicle speed of the four wheels, and the vehicle has no faults, the electronic parking brake is released, the gear is not in N gear or P gear, the brake pedal is not pressed, and the driver presses the accelerator pedal, and the accelerator pedal opening is ≥a; confirm whether there is wheel spinning or all four wheels are not rotating when the vehicle speed is ≤bk / h based on the vehicle speed and wheel speed; remind the driver through the instrument that the current vehicle is trapped, display whether it is necessary to enter the escape mode, and remind the driver that the driver needs to press the accelerator pedal to drive the vehicle after the vehicle enters the escape mode, and pay attention to the surrounding environment to avoid safety risks; enter the corresponding escape mode according to the performance of each wheel;

[0151] S02A. If the trapped mode is that all four wheels are not rotating or all four wheels are idling, escape control is performed in the trapped mode of single wheel idling.

[0152] S02B. If the trapped mode is single-wheel idling, the load on this wheel is too small, and the ground driving force is insufficient, resulting in the vehicle being unable to drive. Processing: By adjusting the four-wheel idle spring, adjust the single wheel in the idling state to the lowest position, increase the wheel load in the idling state to increase adhesion; after the body posture is adjusted, control the slip rate of the wheel through the drive protection system to maximize the use of the road surface and maximize the road surface adhesion coefficient; determine whether the throttle opening is greater than f and maintained for g seconds, and whether the vehicle speed is greater than c and maintained for d seconds to determine whether the vehicle has successfully escaped; if not, adjust the idling wheel load Too small, insufficient ground driving force. Solution: Increase the load on the single wheel in idling state by extending and retracting the active suspension at high speed to impact the ground, control the slip rate of the wheel through the drive protection system, and make maximum use of the road surface adhesion coefficient; determine whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds, to determine whether the vehicle has escaped; if not, treat this wheel as suspended or with extremely low adhesion. Solution: Lift the single wheel in idling state, transfer the load to the diagonally opposite side, adjust the height of the air spring to make the diagonally opposite side at the lowest height, and use the drive protection system to control the slip rate of the wheel to maximize the use of the road surface adhesion coefficient; determine whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds, to determine whether the vehicle has escaped; if not, treat this wheel as suspended or with extremely low adhesion coefficient. The protection system controls the slip rate of the wheel and makes maximum use of the road surface and the road adhesion coefficient; determines whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds to determine whether the vehicle has escaped; if not, it is treated as if the wheel is suspended or has a very low adhesion coefficient: lift the idling single wheel and transfer the load to the other axle so that the vehicle body height of the other axle corresponding to the axle where the wheel is located is at the lowest position, and controls the slip rate of the wheel through the driving protection system to make maximum use of the road surface and the road adhesion coefficient; determines whether the throttle opening is greater than f and maintained for g seconds, and whether the vehicle speed is greater than c and maintained for d seconds to determine whether the vehicle has escaped; if not, it is treated as if the wheel is suspended or has a very low adhesion coefficient: lift the idling single wheel and transfer the load to the other axle so that the vehicle body height of the other axle corresponding to the axle where the wheel is located is at the lowest position, and controls the slip rate of the wheel through the driving protection system to make maximum use of the road surface and the road adhesion coefficient; , when the time is g seconds, whether the vehicle speed is greater than c and maintained for d seconds to determine whether the vehicle has successfully escaped; if not, treat it as if the wheel is suspended or the adhesion coefficient is extremely low: lift the single wheel in the idling state, transfer the load to the two wheels on the other side, so that the two wheels on the other side corresponding to the side where the wheel is located are at the lowest position of the vehicle body height, control the slip rate of the wheel through the drive protection system, maximize the use of the road surface and the adhesion coefficient, maintain this state for e seconds, and then exit the escape mode; during the escape control process, if the vehicle escapes, exit the escape mode.

[0153] S02C. If the trapped mode is that the coaxial two wheels are idling, the load on this wheel is too small, and the ground driving force is insufficient, resulting in the vehicle being unable to drive. Processing: By adjusting the four-wheel idle spring, adjust the idling coaxial two wheels to the lowest position, increase the wheel load in the idling state to increase adhesion; after the body posture is adjusted, control the slip rate of the wheel through the drive protection system to maximize the use of the road surface adhesion coefficient; determine whether the vehicle speed is greater than c when the throttle opening is greater than f and maintained for g seconds, and maintain it for d seconds to determine whether the vehicle has been rescued; if not, the idling wheel load is too small and the ground driving force is insufficient. Processing: Use the active suspension to extend and retract at high speed to impact the ground to increase the coaxial two wheels in the idling state. load, control the slip rate of the wheel through the driving protection system, and make maximum use of the road surface and the road adhesion coefficient; determine whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds, to determine whether the vehicle has successfully escaped; if not, treat it as if the wheel is suspended or the adhesion coefficient is extremely low: lift the two coaxial wheels in the idling state, transfer the load to the other axle, so that the axle where the two coaxial wheels in the idling state are located corresponds to the lowest position of the vehicle body of the other axle, control the slip rate of the wheel through the driving protection system, and make maximum use of the road surface and the road adhesion coefficient; maintain this state for e seconds and then exit the escape mode; during the escape control process, if the vehicle escapes, exit the escape mode.

[0154] S02D. If the trapped mode is that two wheels on one side are idling, the load on this wheel is too small, and the ground driving force is insufficient, resulting in the vehicle being unable to drive. The following treatment is carried out: By adjusting the four-wheel air spring, the two wheels in the idling state are adjusted to the lowest position, and the wheel load in the idling state is increased to increase adhesion; after the body posture is adjusted, the slip rate of the wheel is controlled by the drive protection system to maximize the use of the road surface adhesion coefficient; when the throttle opening is greater than f and maintained for g seconds, whether the vehicle speed is greater than c and maintained for d seconds to determine whether the vehicle has been rescued; if not, the idling wheel load is too small and the ground driving force is insufficient. The following treatment is carried out: The active suspension is extended and retracted at high speed to impact the ground to increase the two wheels on one side in the idling state. load, control the slip rate of the wheel through the driving protection system, and make maximum use of the road surface and the road adhesion coefficient; determine whether the vehicle speed is greater than c and maintained for d seconds when the throttle opening is greater than f and maintained for g seconds, to determine whether the vehicle has successfully escaped; if not, treat it as if the wheel is suspended or the adhesion coefficient is extremely low: lift the two wheels on one side of the idling state, transfer the load to the other axle, so that the axle where the two wheels in the idling state are located corresponds to the lowest position of the vehicle body of the other axle, control the slip rate of the wheel through the driving protection system, and make maximum use of the road surface and the road adhesion coefficient; maintain this state for e seconds and then exit the escape mode; during the escape control process, if the vehicle escapes, exit the escape mode.

[0155] S02E. If three wheels are idling, the load on the idling wheels is too small and the ground driving force is insufficient: the active suspension is extended and retracted at high speed to impact the ground to increase the load in the idling state, and the slip rate of the wheel is controlled by the drive protection system to maximize the use of the road surface and the road adhesion coefficient; maintain this state for e seconds and then exit the escape mode.

[0156] See also Fig.13 , an embodiment of the present invention provides a vehicle escape control system, comprising:

[0157] The first module is used to obtain the vehicle speed and the rotation speed of each wheel, and determine the vehicle's trapped mode according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on different axles on both sides;

[0158] The second module is used to adjust the load of the wheels and / or transfer the load of the wheels according to the trapped mode so as to free the vehicle.

[0159] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0160] See also Fig.14 , an embodiment of the present invention provides a vehicle escape control device, comprising:

[0161] at least one processor;

[0162] at least one memory for storing at least one program;

[0163] When at least one program is executed by at least one processor, the at least one processor implements the above-mentioned vehicle escape control method.

[0164] Among them, the memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. The memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a remote memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0165] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0166] In addition, the embodiment of the present application also discloses a computer program product or a computer program, which is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method.

[0167] The embodiment of the present invention further provides a computer-readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the above method when executed by the processor. Similarly, the contents of the above method embodiment are all applicable to the present storage medium embodiment, and the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0168] It is understood that all or some steps and systems in the disclosed method above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0169] The embodiment further provides a vehicle, which includes the electric drive assembly of the above-mentioned vehicle escape control system (or device) or computer device (or electronic device). Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0170] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A vehicle escape control method, characterized in that: include: Obtaining the vehicle speed and the rotation speed of each wheel, and determining the trapped mode of the vehicle according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on different axles on both sides; According to the trapped mode, the vehicle is freed from the trapped state by adjusting the load of the wheels and / or transferring the load of the wheels.

2. The method according to claim 1, characterized in that The determining the trapped mode of the vehicle according to the vehicle speed and the rotation speed of each wheel includes: If the rotation speed of the wheel is 0, it is determined that the wheel is not rotating; If the rotation speed of the wheel is greater than the speed of the vehicle, it is determined that the wheel is in an idling state; The trapped mode of the vehicle is determined according to the non-rotating state or the idling state of the wheel.

3. The method according to claim 2, characterized in that The determining of the trapped mode of the vehicle according to the non-rotating state or idling state of the wheel comprises: If all wheels are in a non-rotating state, it is determined that the trapped mode is that multiple wheels are non-rotating; If all wheels are in an idling state, determining that the trapped mode is that multiple wheels are idling; If one wheel is in an idling state, determining that the trapped mode is single wheel idling; If multiple wheels are in an idling state and the wheels in the idling state are coaxial, determining that the trapped mode is coaxial multi-wheel idling; If multiple wheels are in an idling state and the wheels in the idling state are located on the same side, it is determined that the trapped mode is idling of multiple wheels on one side; If multiple wheels are in an idling state and the wheels in the idling state are on different axles on both sides, it is determined that the trapped mode is idling of multiple wheels with different axles on both sides.

4. The method according to claim 1, characterized in that The method further comprises: If the trapped mode is that multiple wheels do not rotate or multiple wheels are idling, escape control is performed in the trapped mode of single wheel idling.

5. The method according to claim 1, characterized in that: If the trapped mode is single wheel idling, adjusting the wheel load and / or transferring the wheel load according to the trapped mode to free the vehicle from the trapped state includes: By adjusting the four-wheel idle springs, the single wheel in the idling state is adjusted to the lowest position, so as to increase the load of the single wheel in the idling state; The slip rate of the single wheel in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

6. The method according to claim 5, characterized in that The method further comprises: If the vehicle is not out of trouble, the active suspension is controlled to extend and retract at a preset speed to impact the ground, so as to increase the load on the single wheel in the idling state.

7. The method according to claim 6, characterized in that The method further comprises: If the vehicle is not out of trouble, lift the single wheel in the idling state to transfer the load of the single wheel in the idling state to other wheels.

8. The method according to claim 1, characterized in that: If the trapped mode is coaxial multi-wheel idling, according to the trapped mode, adjusting the wheel load and / or transferring the wheel load to free the vehicle, including: By adjusting the four-wheel idle springs, the coaxial multiple wheels in the idling state are adjusted to the lowest position, so as to increase the load of the coaxial multiple wheels in the idling state; The slip rate of the coaxial multiple wheels in the idling state is controlled by driving an anti-skid system to maximize the use of the road adhesion coefficient.

9. The method according to claim 8, characterized in that The method further comprises: If the vehicle is not out of trouble, the active suspension is controlled to extend and retract to impact the ground at a preset speed, so as to increase the load of the coaxial multiple wheels in the idling state; The slip rate of the coaxial multiple wheels in the idling state is controlled by a driving anti-skid system to maximize the use of the road adhesion coefficient.

10. The method according to claim 9, characterized in that The method further comprises: If the vehicle is not out of trouble, the coaxial multiple wheels in the idling state are lifted to transfer the load of the coaxial multiple wheels in the idling state to the wheels of other axles.

11. The method according to claim 1, characterized in that The method further comprises: If the trapped mode is idling of multiple wheels on one side, escape control is performed in the trapped mode of coaxial multiple wheels.

12. The method according to claim 1, characterized in that If the trapped mode is idling of multiple wheels with different axles on both sides, the method of adjusting the load of the wheels and / or transferring the load of the wheels according to the trapped mode to free the vehicle includes: Control the active suspension to extend and retract at high speed to impact the ground, so as to increase the load on the multiple wheels on both sides of the axle in the idling state; The anti-skid system is used to control the slip rate of the multiple wheels on both sides of the axle in the idling state to maximize the use of the road adhesion coefficient.

13. The method according to any one of claims 5 to 12, characterized in that: The method further comprises: Whether the vehicle is out of trouble is determined based on the throttle opening and the first maintaining time corresponding to the throttle opening and the vehicle speed and the second maintaining time corresponding to the vehicle speed.

14. The method according to any one of claims 1 to 12, characterized in that: The method further comprises: Acquiring a sensor signal of the vehicle, and determining whether there is a need to drive the vehicle according to the sensor signal; If there is a need to drive the vehicle, determine whether the vehicle is in a trapped state based on the vehicle speed and the rotation speed of each wheel; If the vehicle is in a trapped state, the trapped state is displayed through an interactive interface, operation instructions are obtained, and an escape mode is entered.

15. A vehicle escape control system, characterized in that: include: The first module is used to obtain the vehicle speed and the rotation speed of each wheel, and determine the vehicle's trapped mode according to the vehicle speed and the rotation speed of each wheel; the trapped mode includes any one of multiple wheels not rotating, multiple wheels idling, single wheel idling, coaxial multiple wheels idling, multiple wheels idling on one side, or multiple wheels idling on different axles on both sides; The second module is used to adjust the load of the wheels and / or transfer the load of the wheels according to the trapped mode to free the vehicle.

16. A vehicle escape control device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 14.

17. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 14 when executed by the processor.

18. A vehicle, characterized in that: The vehicle includes the vehicle escape control system as claimed in claim 15 or the vehicle escape control device as claimed in claim 16.

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