Vehicle control method, vehicle, electronic equipment and storage medium

Abstract

The invention relates to a control method of a vehicle, the vehicle, electronic equipment and a storage medium, and the control method comprises the steps that after a tire burst signal is obtained, the treading behavior of a brake pedal starts to be monitored, and brake control is carried out based on system brake deceleration; after the treading behavior is monitored, pedal braking deceleration at the corresponding moment and system braking deceleration at the corresponding moment are obtained at each moment; comparing the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment; and a braking deceleration is determined according to the comparison result for braking control. According to the technical scheme, after tire burst, braking control is conducted on the basis of the system braking deceleration, then after the treading behavior of the braking pedal is monitored, the pedal braking deceleration and the system braking deceleration at each moment are comprehensively considered for braking control, and the braking effect and safety can be improved while tire burst braking is conducted in time.

Description

Technical Field

[0001] The present application relates to the field of braking technology, and in particular to a vehicle control method, a vehicle, an electronic device and a storage medium. Background Art

[0002] Vehicle tire blowout is a common safety hazard during driving, especially when driving at high speed. Sudden tire blowout will not only seriously affect the vehicle's handling stability, but may also cause serious traffic accidents.

[0003] When a vehicle tire blows out, the driver usually steps on the brake pedal sharply and with great force. This sudden and sharp braking on the vehicle with a tire blowout will aggravate the instability of the vehicle. However, in solving the problem of tire blowout braking, the existing technology mostly adopts direct braking plus steering control means, which lacks consideration of the driver's braking behavior, affecting the effect and safety of tire blowout braking. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle control method, a vehicle, an electronic device and a storage medium. After a tire blowout, braking control is first performed based on the system braking deceleration, and then after monitoring the stepping behavior of the brake pedal, braking control is performed by comprehensively considering the pedal braking deceleration and the system braking deceleration at each moment. This can improve the braking effect and safety while performing tire blowout braking in a timely manner.

[0005] To achieve the above object, the present application provides a vehicle control method, comprising:

[0006] After receiving the tire blowout signal, the system starts to monitor the brake pedal's pedaling behavior and performs brake control based on the system's brake deceleration;

[0007] After the pedaling behavior is detected, the pedal braking deceleration and the system braking deceleration at the corresponding moment are obtained at each moment;

[0008] comparing the pedal braking deceleration at a corresponding moment with the system braking deceleration at a corresponding moment;

[0009] A braking deceleration is determined according to the comparison result to perform braking control.

[0010] In some embodiments, determining a braking deceleration according to the comparison result to perform braking control includes:

[0011] According to the comparison result, one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment is selected to perform braking control.

[0012] In some embodiments, the step of selecting one of the pedal braking deceleration at a corresponding moment and the system braking deceleration at a corresponding moment for braking control according to the comparison result includes:

[0013] When the pedal braking deceleration at the corresponding moment is less than or equal to the system braking deceleration at the corresponding moment, selecting the pedal braking deceleration at the corresponding moment for braking control;

[0014] When the pedal braking deceleration at the corresponding moment is greater than the system braking deceleration at the corresponding moment, the system braking deceleration at the corresponding moment is selected for braking control.

[0015] In some embodiments, the vehicle includes an image acquisition device, and the image acquisition device is disposed around the brake pedal. The step of monitoring the stepping behavior of the brake pedal includes:

[0016] Acquiring a preset number of images continuously acquired by the image acquisition device;

[0017] The preset number of images are input into a pre-trained machine learning model to perform feature extraction on the preset number of images, determine the sole movement features, and when the sole movement features meet the preset conditions, determine that the brake pedal stepping behavior is monitored.

[0018] In some embodiments, the sole motion feature includes an angular velocity of the sole motion and / or a displacement change rate of the sole motion, and the step of extracting features from the preset number of images to determine the sole motion feature includes:

[0019] Performing feature extraction on the preset number of images to obtain the sole coordinates corresponding to each of the preset number of images;

[0020] Generate a first variation curve between a sole angle and time and / or a second variation curve between a sole displacement and time according to the sole coordinates;

[0021] The angular velocity is determined according to the first change curve, and / or the displacement change rate is determined according to the second change curve.

[0022] In some embodiments, the meeting of a preset condition includes at least one of the following:

[0023] The angular velocity is less than a preset angular velocity, and a deviation between the angular velocity and the preset angular velocity is within a first preset range;

[0024] The displacement change rate is less than a preset displacement change rate, and a deviation between the displacement change rate and the preset displacement change rate is within a second preset range;

[0025] The angular velocity is greater than the preset angular velocity;

[0026] The displacement change rate is greater than the preset displacement change rate.

[0027] In some embodiments, the method further comprises:

[0028] When braking control is performed, the energy generated by braking is recovered.

[0029] The present application also provides a vehicle, including a tire pressure sensor and a controller;

[0030] The tire pressure sensor is used to collect tire pressure signals;

[0031] The controller is used to start monitoring the braking behavior of the brake pedal after obtaining the tire burst signal determined based on the tire pressure signal, and perform braking control based on the system braking deceleration; after monitoring the braking behavior, obtain the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment at each moment; compare the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment; and determine a braking deceleration according to the comparison result to perform braking control.

[0032] The present application also provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of any of the above methods when executed by the processor.

[0033] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0034] From the above, the control method of the vehicle, the vehicle, the electronic device and the storage medium of the present application, the control method includes: after obtaining the tire blowout signal, start monitoring the stepping behavior of the brake pedal, and perform brake control based on the system brake deceleration; after monitoring the stepping behavior, obtain the pedal brake deceleration at the corresponding moment and the system brake deceleration at the corresponding moment at each moment; compare the pedal brake deceleration at the corresponding moment with the system brake deceleration at the corresponding moment; determine a brake deceleration according to the comparison result to perform brake control. The technical solution of the present application first performs brake control based on the system brake deceleration after a tire blowout, and then after monitoring the stepping behavior of the brake pedal, comprehensively considers the pedal brake deceleration at each moment and the system brake deceleration to perform brake control, which can improve the braking effect and safety while performing tire blowout braking in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 The figure is a flow chart of a vehicle control method provided according to an embodiment.

[0037] Figure 2 The figure is a schematic diagram of stepping on a brake pedal according to an embodiment.

[0038] Figure 3 The first variation curve of the sole angle and time provided according to an embodiment.

[0039] Figure 4 The figure is a second variation curve of sole displacement and time provided according to an embodiment.

[0040] Figure 5 The figure is a schematic diagram of the structure of a vehicle provided according to an embodiment. DETAILED DESCRIPTION

[0041] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0042] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0043] The terms "first", "second", "third", etc. are merely used to distinguish values ​​or elements of similar attributes, rather than to indicate or imply relative importance or a particular order.

[0044] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0045] Figure 1FIG. 1 is a flow chart of a vehicle control method according to an embodiment. Figure 1 As shown, a vehicle control method of the present application comprises the following steps:

[0046] S1, after obtaining the tire blowout signal, starts to monitor the brake pedal stepping behavior and performs braking control based on the system braking deceleration;

[0047] S2, after the pedaling behavior is detected, the pedal braking deceleration and the system braking deceleration at the corresponding moment are obtained at each moment;

[0048] S3, comparing the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment;

[0049] S4, determining a braking deceleration according to the comparison result to perform braking control.

[0050] Among them, the tire blowout signal is determined based on the tire pressure signal, and the tire pressure signal can be detected by a direct tire pressure sensor. After obtaining the tire blowout signal, the brake pedal stepping behavior is monitored, and the stepping behavior monitoring function can be activated in a targeted manner to reduce the computing power occupation and energy consumption during normal driving.

[0051] Since there is a time difference between detecting a tire blowout and obtaining the monitoring result of the trampling behavior, before the trampling behavior is detected, braking control is first performed based on the system braking deceleration, and braking control can be started at the first moment of the tire blowout to prevent the vehicle from skidding or rolling over. The system braking deceleration is the braking deceleration determined by the vehicle body state after the tire blowout (such as the body yaw angle, vehicle speed, etc.). In some embodiments, the system braking deceleration is generated by a wire control brake system (i.e., Onebox), and the wire control brake system receives the tire blowout signal sent by CAN.

[0052] The pedal braking deceleration is the braking deceleration generated when the driver steps on the brake pedal. At each moment after the stepping behavior of the brake pedal is monitored, the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment are obtained, that is, the pedal braking deceleration and the system braking deceleration at the same moment are obtained. In this case, the pedal braking deceleration and the system braking deceleration considered at each moment are updated in real time, which can better reflect the real-time state of the vehicle's tire blowout and the driver's operating state, and the control result is more accurate. In some embodiments, the pedal braking deceleration and the system braking deceleration at the corresponding moment can be obtained every 10ms, but it is not limited to this. In actual implementation, the acquisition interval can be pre-set, and can also be determined or adjusted according to factors such as the speed of the vehicle when the tire blows out, the body state, etc. For example, when the speed of the vehicle is high when the tire blows out, the acquisition interval is relatively shortened, and vice versa, the interval is relatively increased.

[0053] After monitoring the braking behavior of the brake pedal, the braking control logic is switched to comprehensively consider the pedal braking deceleration and the system braking deceleration at each moment for braking control. In the case of timely braking for a tire blowout, the driver's braking behavior can be further considered to improve the braking effect and safety.

[0054] In some embodiments, step S4, determining a braking deceleration to perform braking control according to the comparison result, includes:

[0055] According to the comparison result, one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment is selected to perform braking control.

[0056] Among them, by comparing the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment, one of the pedal braking deceleration and the system braking deceleration is selected for braking control, so that the abruptness of braking can be reduced.

[0057] In some embodiments, according to the comparison result, selecting one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment to perform braking control includes:

[0058] When the pedal braking deceleration at the corresponding moment is less than or equal to the system braking deceleration at the corresponding moment, the pedal braking deceleration at the corresponding moment is selected for braking control;

[0059] When the pedal braking deceleration at the corresponding moment is greater than the system braking deceleration at the corresponding moment, the system braking deceleration at the corresponding moment is selected for braking control.

[0060] Among them, the system braking deceleration at the corresponding moment is used as the threshold value, and the braking deceleration generated by the wire control brake system at this time is compared with the braking deceleration generated when the driver deeply presses the brake pedal. If the braking deceleration generated by the pedal is within the threshold value, the driver's behavior is executed. If the braking deceleration generated by the pedal exceeds the threshold value, the braking deceleration generated by the wire control brake system is always executed to avoid instantaneous sharp braking and improve safety.

[0061] In some embodiments, the vehicle includes an image acquisition device, which is disposed around the brake pedal and monitors the stepping behavior of the brake pedal, including:

[0062] Acquiring a preset number of images continuously acquired by an image acquisition device;

[0063] A preset number of images are input into a pre-trained machine learning model to perform feature extraction on the preset number of images, determine the sole movement features, and when the sole movement features meet preset conditions, determine that the brake pedal stepping behavior is monitored.

[0064] Among them, by integrating the machine learning model to monitor the driver's braking behavior during the braking control process, the accuracy of the driver's operation intention recognition can be improved. At the same time, the recognition speed is faster, the response time is effectively shortened, and the timeliness of the adjustment of the braking control strategy is further guaranteed. Monitoring the brake pedal's stepping behavior through the sole movement characteristics is more direct and more accurate.

[0065] In some embodiments, a large number of photos (e.g., 1,000 photos) can be quickly collected under real working conditions and marked to obtain training data. The machine learning model is trained based on the marked photos, and the machine learning model can select at least one of a decision tree, a random forest, a gradient boosting machine, a support vector machine, and a neural network. After the model training is completed, the machine learning model becomes an empirical large model that can be used to determine whether the brake pedal is deeply stepped on, and has empirical training values ​​for the sole movement characteristics. Afterwards, when the sole movement characteristics in the real-time collected image meet the preset conditions, it can be determined that the brake pedal stepping behavior is monitored.

[0066] In some embodiments, the sole motion feature includes the angular velocity of the sole motion and / or the displacement change rate of the sole motion, and feature extraction is performed on a preset number of images to determine the sole motion feature, including:

[0067] Perform feature extraction on a preset number of images to obtain the sole coordinates corresponding to each of the preset number of images;

[0068] Generate a first variation curve between a sole angle and time and / or a second variation curve between a sole displacement and time according to the sole coordinates;

[0069] The angular velocity is determined according to the first variation curve, and / or the displacement variation rate is determined according to the second variation curve.

[0070] Please refer to Figure 2 The main information parameters obtained from the image include ankle coordinates (for example, a point on the heel of the shoe is taken as the ankle point) and sole coordinates (for example, the toe point is taken as the sole point). The ankle coordinates are taken as the coordinate origin, and the sole coordinates are the relative coordinate positions based on the ankle coordinates. According to the acquisition frame rate setting of the image acquisition device, for example, every 10 images are collected as a group, and a group of images can generate two curves: the change curve between the sole angle and time (the curve of the coordinate change and time, such as Figure 3 As shown in the figure) and the change curve between the displacement of the sole of the foot and time (as shown in the figure) Figure 4 Then, according to the change curve between the sole angle and time, the angular velocity of the sole movement can be determined (as shown in Figure 3 According to the change curve between the displacement of the sole of the foot and time, the displacement change rate of the sole of the foot can be determined (as shown in Figure 4 shown).

[0071] In some embodiments, the preset condition is met, including at least one of the following:

[0072] The angular velocity is less than the preset angular velocity, and the deviation between the angular velocity and the preset angular velocity is within a first preset range;

[0073] The displacement change rate is less than the preset displacement change rate, and the deviation between the displacement change rate and the preset displacement change rate is within a second preset range;

[0074] The angular velocity is greater than the preset angular velocity;

[0075] The displacement change rate is greater than the preset displacement change rate.

[0076] Among them, the preset angular velocity and the preset displacement change rate are reference values ​​obtained in advance during model training. When one of the above preset conditions is met, the machine learning model can output a monitoring result confirming that the brake pedal is deeply depressed.

[0077] In some embodiments, the method further comprises:

[0078] When braking control is performed, the energy generated by braking is recovered.

[0079] By recovering the energy generated by braking, on the one hand, the severity of braking can be reduced, and on the other hand, the endurance of pure electric vehicles can be improved.

[0080] From the above, the vehicle control method of the present application first performs braking control based on the system braking deceleration after a tire blowout, and then after monitoring the stepping behavior of the brake pedal, comprehensively considers the pedal braking deceleration and the system braking deceleration at each moment to perform braking control, which can improve the braking effect and safety while performing tire blowout braking in a timely manner.

[0081] Figure 5 FIG. 1 is a schematic diagram of the structure of a vehicle provided according to an embodiment. Figure 5 As shown, the present application also provides a vehicle, including a tire pressure sensor 51 and a controller 53 .

[0082] The tire pressure sensor 51 is used to collect tire pressure signals;

[0083] The controller 53 is used to start monitoring the braking behavior of the brake pedal after obtaining the tire burst signal determined based on the tire pressure signal, and perform braking control based on the system braking deceleration; after monitoring the braking behavior, obtain the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment at each moment; compare the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment; and determine a braking deceleration according to the comparison result to perform braking control.

[0084] In some embodiments, the tire pressure sensor 51 is a direct tire pressure sensor, and the controller 53 may be a controller of a brake-by-wire system.

[0085] In some embodiments, the vehicle further includes an image acquisition device 52 , which is disposed around the brake pedal so as to clearly capture the operation of the brake pedal.

[0086] In some embodiments, a braking deceleration is determined according to the comparison result to perform braking control, and the controller 53 is used to:

[0087] According to the comparison result, one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment is selected to perform braking control.

[0088] In some embodiments, according to the comparison result, one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment is selected for braking control, and the controller 53 is used to:

[0089] When the pedal braking deceleration at the corresponding moment is less than or equal to the system braking deceleration at the corresponding moment, the pedal braking deceleration at the corresponding moment is selected for braking control;

[0090] When the pedal braking deceleration at the corresponding moment is greater than the system braking deceleration at the corresponding moment, the system braking deceleration at the corresponding moment is selected for braking control.

[0091] In some embodiments, the controller 53 monitors the braking behavior of the brake pedal and is used to:

[0092] Acquiring a preset number of images continuously acquired by an image acquisition device;

[0093] A preset number of images are input into a pre-trained machine learning model to perform feature extraction on the preset number of images, determine the sole movement features, and when the sole movement features meet preset conditions, determine that the brake pedal stepping behavior is monitored.

[0094] In some embodiments, the sole motion feature includes the angular velocity of the sole motion and / or the displacement change rate of the sole motion. Feature extraction is performed on a preset number of images to determine the sole motion feature. The controller 53 is used to:

[0095] Perform feature extraction on a preset number of images to obtain the sole coordinates corresponding to each of the preset number of images;

[0096] Generate a first variation curve between a sole angle and time and / or a second variation curve between a sole displacement and time according to the sole coordinates;

[0097] The angular velocity is determined according to the first variation curve, and / or the displacement variation rate is determined according to the second variation curve.

[0098] In some embodiments, the preset condition is met, including at least one of the following:

[0099] The angular velocity is less than the preset angular velocity, and the deviation between the angular velocity and the preset angular velocity is within a first preset range;

[0100] The displacement change rate is less than the preset displacement change rate, and the deviation between the displacement change rate and the preset displacement change rate is within a second preset range;

[0101] The angular velocity is greater than the preset angular velocity;

[0102] The displacement change rate is greater than the preset displacement change rate.

[0103] In some embodiments, the controller 53 is further configured to:

[0104] When braking control is performed, the energy generated by braking is recovered.

[0105] The specific process of the controller 53 executing the above steps is detailed in the description of the method embodiment, which will not be repeated here.

[0106] The present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the method described in any of the above embodiments when executed by the processor.

[0107] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0108] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: include: After receiving the tire blowout signal, the system starts to monitor the brake pedal's pedaling behavior and performs brake control based on the system's brake deceleration; After the pedaling behavior is detected, the pedal braking deceleration and the system braking deceleration at the corresponding moment are obtained at each moment; comparing the pedal braking deceleration at a corresponding moment with the system braking deceleration at a corresponding moment; A braking deceleration is determined according to the comparison result to perform braking control.

2. The method according to claim 1, characterized in that The step of determining a braking deceleration according to the comparison result to perform braking control comprises: According to the comparison result, one of the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment is selected to perform braking control.

3. The method according to claim 2, characterized in that The step of selecting one of the pedal braking deceleration at a corresponding moment and the system braking deceleration at a corresponding moment to perform braking control according to the comparison result includes: When the pedal braking deceleration at the corresponding moment is less than or equal to the system braking deceleration at the corresponding moment, selecting the pedal braking deceleration at the corresponding moment for braking control; When the pedal braking deceleration at the corresponding moment is greater than the system braking deceleration at the corresponding moment, the system braking deceleration at the corresponding moment is selected for braking control.

4. The method according to claim 1, characterized in that The vehicle includes an image acquisition device, which is arranged around the brake pedal. The stepping behavior of the brake pedal is monitored, including: Acquiring a preset number of images continuously acquired by the image acquisition device; The preset number of images are input into a pre-trained machine learning model to perform feature extraction on the preset number of images, determine the sole movement features, and when the sole movement features meet the preset conditions, determine that the brake pedal stepping behavior is monitored.

5. The method according to claim 4, characterized in that The foot movement feature includes an angular velocity of the foot movement and / or a displacement change rate of the foot movement. The step of extracting features from the preset number of images to determine the foot movement feature includes: Performing feature extraction on the preset number of images to obtain the sole coordinates corresponding to each of the preset number of images; Generate a first variation curve between a sole angle and time and / or a second variation curve between a sole displacement and time according to the sole coordinates; The angular velocity is determined according to the first change curve, and / or the displacement change rate is determined according to the second change curve.

6. The method according to claim 5, characterized in that The pre-set conditions include at least one of the following: The angular velocity is less than a preset angular velocity, and a deviation between the angular velocity and the preset angular velocity is within a first preset range; The displacement change rate is less than a preset displacement change rate, and a deviation between the displacement change rate and the preset displacement change rate is within a second preset range; The angular velocity is greater than the preset angular velocity; The displacement change rate is greater than the preset displacement change rate.

7. The method according to claim 1, characterized in that The method further comprises: When braking control is performed, the energy generated by braking is recovered.

8. A vehicle, characterized in that: Includes tire pressure sensor and controller; The tire pressure sensor is used to collect tire pressure signals; The controller is used to start monitoring the braking behavior of the brake pedal after obtaining the tire burst signal determined based on the tire pressure signal, and perform braking control based on the system braking deceleration; after monitoring the braking behavior, obtain the pedal braking deceleration at the corresponding moment and the system braking deceleration at the corresponding moment at each moment; compare the pedal braking deceleration at the corresponding moment with the system braking deceleration at the corresponding moment; and determine a braking deceleration according to the comparison result to perform braking control.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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