Vehicle control method and system, vehicle, electronic equipment and readable storage medium

Abstract

The invention provides a vehicle control method and system, a vehicle, electronic equipment and a readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps that under the condition that a tire of the vehicle bursts, torque distribution information of wheels is determined; and on the basis of the torque distribution information, torque is provided for the wheels through a driving motor, so that the vehicle is stable. According to the method, the torque distribution information of the wheels can be obtained in time after the vehicle has the tire burst, then the torque is provided for the wheels through the driving motor on the basis of the torque distribution information so that the vehicle can be stable, and after the vehicle has the tire burst, the torque is provided for the wheels through the driving motor so that balance control can be conducted on the vehicle; due to the characteristics of high control precision and short response time of the driving motor, the stability control effect of the vehicle body after tire burst can be effectively improved.

Description

Technical Field

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

[0002] As the speed of vehicles on highways continues to increase, tire blowout accidents have brought great traffic safety risks. At the moment of a tire blowout, the vehicle will sway unexpectedly due to the sudden change in tire deformation and asymmetric rolling resistance. Tire blowouts usually happen very suddenly, making it difficult for drivers to react in time, and in the case of panic or incorrect operation, the severity of the accident may be further aggravated.

[0003] At present, when facing a tire blowout accident while the vehicle is driving at high speed, hydraulic braking is often used to control vehicle stability. However, there are obvious defects in the control accuracy and response time of hydraulic braking. The response time of hydraulic braking is usually more than 150ms, and the pressure of each wheel cylinder depends on estimation, which cannot be compared with the real-time measurement value. Due to the defects in control accuracy and response time, the stability control effect of hydraulic braking after a tire blowout is greatly affected.

[0004] Therefore, a new vehicle control method is urgently needed to solve the problem of vehicle instability after a tire blowout accident. Summary of the invention

[0005] In view of the above problems, embodiments of the present application provide a vehicle control method, system, vehicle, electronic device, and readable storage medium to overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect of the present application, a vehicle control method is provided, the method comprising: In the event of a tire blowout, determine the torque distribution information of the wheels; Based on the torque distribution information, torque is provided to the wheels through a driving motor to stabilize the vehicle.

[0007] Optionally, the torque distribution information of the wheel is the distributed torque of the wheel, and providing the torque to the wheel by driving the motor based on the torque distribution information includes: Based on the distributed torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, wherein the motor output torque is the actual torque that the drive motor can output at the current moment.

[0008] Optionally, providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor includes: When the motor output torque is greater than or equal to the distributed torque, the distributed torque is provided to the wheels via the drive motor.

[0009] Optionally, providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor includes: In a case where the motor output torque is less than the distributed torque, the distributed torque is provided to the wheels via the drive motor and the hydraulic brake device of the vehicle.

[0010] Optionally, providing the distributed torque to the wheels through the drive motor and the hydraulic brake device of the vehicle includes: determining a hydraulic braking torque according to the distributed torque and a motor output torque of the drive motor; The motor output torque is provided to the wheels through the driving motor, and the hydraulic braking torque is provided to the wheels through the hydraulic braking device of the vehicle, wherein the sum of the motor output torque and the hydraulic braking torque is the distributed torque.

[0011] Optionally, determining the torque distribution information of the wheels includes: determining a differential torque of the vehicle based on a desired yaw rate and an actual yaw rate of the vehicle; Torque distribution information of the wheels is determined according to the basic torque required by the vehicle and the differential torque.

[0012] Optionally, determining the torque distribution information of the wheels according to the basic torque required by the vehicle and the differential torque includes: Identify the wheel where the tire blew out; The distributed torque of the wheel with a flat tire is switched to zero torque, and the distributed torque of the remaining wheels is determined based on the basic torque and the differential torque.

[0013] Optionally, determining the distributed torque of the remaining wheels based on the basic torque and the differential torque includes: Switching the distributed torque of the coaxial wheel coaxial with the tire-punctured wheel to zero torque; Switching the distributed torque of the first wheel on the same side as the wheel with the flat tire to half of the sum of the basic torque and the differential torque; The distributed torque of the second wheel on the same side as the coaxial wheel is switched to half of the difference between the basic torque and the differential torque.

[0014] Optionally, the step of determining the tire blowout wheel that has blowout comprises: Obtaining tire pressure information of the wheel; The wheel with a flat tire is determined according to the tire pressure information.

[0015] Optionally, determining the wheel with a flat tire according to the tire pressure information includes: Determining a change in a tire pressure signal of the wheel according to the tire pressure information; When the tire pressure signal change amount is greater than the tire pressure signal change amount threshold, it is determined that the wheel is the tire burst wheel.

[0016] Optionally, the driving motor is a wheel-side motor, and providing torque to the wheel through the driving motor includes: Determining the motor output torque of the wheel side motor; The motor output torque is provided to the corresponding wheel through the wheel-side motor.

[0017] In a second aspect of the present application, a vehicle control system is provided, the system comprising: A determination module, used to determine the torque distribution information of the wheels when a tire blowout occurs on the vehicle; The torque providing module is used to provide torque to the wheels through a driving motor based on the torque distribution information to stabilize the vehicle.

[0018] Optionally, the wheel torque distribution information is the distributed torque of the wheel, and based on the torque distribution information, the driving motor provides torque to the wheel, and the torque providing module includes: The first torque providing submodule is used to provide torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor, wherein the motor output torque is the actual torque that the drive motor can output at a current moment.

[0019] Optionally, based on the allocated torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, and the first torque providing submodule includes: The first torque providing subunit is used to provide the distributed torque to the wheels through the driving motor when the motor output torque is greater than or equal to the distributed torque.

[0020] Optionally, based on the allocated torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, and the first torque providing submodule includes: The second torque providing subunit is used to provide the distributed torque to the wheels through the drive motor and the hydraulic brake device of the vehicle when the output torque of the motor is less than the distributed torque.

[0021] Optionally, the distribution torque is provided to the wheels through the drive motor and the hydraulic brake device of the vehicle, and the second torque providing subunit includes: a first determining subunit, configured to determine a hydraulic braking torque according to the distributed torque and a motor output torque of the driving motor; The third torque providing subunit is used to provide the motor output torque to the wheels through the drive motor, and to provide the hydraulic braking torque to the wheels through the hydraulic braking device of the vehicle, wherein the sum of the motor output torque and the hydraulic braking torque is the distributed torque.

[0022] Optionally, the determining module for determining the torque distribution information of the wheels includes: A first determination submodule, configured to determine a differential torque of the vehicle based on a desired yaw rate and an actual yaw rate of the vehicle; The second determination submodule is used to determine the torque distribution information of the wheels according to the basic torque required by the vehicle and the differential torque.

[0023] Optionally, the torque distribution information of the wheels is determined according to the basic torque required by the vehicle and the differential torque, and the second determining submodule includes: A second determination subunit is used to determine the tire blowout wheel where the tire blowout occurs; The third determining subunit is used to switch the distributed torque of the wheel with a flat tire to zero torque, and determine the distributed torque of the remaining wheels based on the basic torque and the differential torque.

[0024] Optionally, the distributed torque of the remaining wheels is determined based on the basic torque and the differential torque, and the third determining subunit includes: a first switching subunit, configured to switch the distributed torque of the coaxial wheel coaxial with the tire-punctured wheel to zero torque; A second switching subunit is used to switch the distributed torque of the first wheel on the same side as the wheel with the flat tire to half of the sum of the basic torque and the differential torque; The third switching subunit is used to switch the distributed torque of the second wheel on the same side as the coaxial wheel to half of the difference between the basic torque and the differential torque.

[0025] Optionally, the second determination subunit for determining the tire punctured wheel that has punctured includes: An acquisition subunit, used to acquire tire pressure information of the wheel; The fourth determining subunit is used to determine the wheel with a flat tire according to the tire pressure information.

[0026] Optionally, the tire pressure information is used to determine the tire of the vehicle that has a tire blowout, and the fourth determining subunit includes: a fifth determining subunit, configured to determine a change amount of a tire pressure signal of the wheel according to the tire pressure information; The sixth determination subunit is used to determine that the wheel is the tire burst wheel when the tire pressure signal change amount is greater than the tire pressure signal change amount threshold.

[0027] Optionally, the driving motor is a wheel-side motor, and the driving motor provides torque to the wheel, and the torque providing module includes: A third determination submodule is used to determine the motor output torque of the wheel-side motor; The second torque providing submodule is used to provide the motor output torque to the corresponding wheel through the wheel-side motor.

[0028] In a third aspect of the present application, a vehicle is provided, comprising a vehicle control system as described in the second aspect of the present application, and / or a vehicle control method as described in the first aspect of the present application.

[0029] In a fourth aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the vehicle control method as described in the first aspect of the present application.

[0030] In a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method as described in the first aspect of the present application is implemented.

[0031] Beneficial effects of this application: The present application provides a vehicle control method, the method comprising: determining the torque distribution information of the wheels in the event of a tire blowout; based on the torque distribution information, providing torque to the wheels through a drive motor to stabilize the vehicle. The present application can obtain the torque distribution information of the wheels in a timely manner after a tire blowout occurs in the vehicle, and then based on the torque distribution information, provide torque to the wheels through a drive motor to stabilize the vehicle. The present application provides torque to the wheels through a drive motor after a tire blowout occurs in the vehicle, thereby balancing the vehicle. Due to the high control accuracy and fast response time of the drive motor, the vehicle body stability control effect after a tire blowout can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of a vehicle control system provided by an embodiment of the present application; Figure 3 is a schematic diagram of a vehicle control system provided in an embodiment of the present application; Figure 4 It is a schematic diagram of an electronic device provided in an embodiment of the present application.

[0034] Explanation of the reference numerals: 10, vehicle; 20, wheel; 30, wheel-side motor; 40, hydraulic brake device. DETAILED DESCRIPTION

[0035] The exemplary embodiments of the present application will be described in more detail below in conjunction with the accompanying drawings in the embodiments of the present application. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art.

[0036] Based on the above problems, in a first aspect, an embodiment of the present application provides a vehicle control method, such as Figure 1 As shown, the method includes: Step S101, when a tire blowout occurs on a vehicle, determine the torque distribution information of the wheels.

[0037] In this step, when a tire blowout occurs on a vehicle, the wheels of the vehicle need to be monitored first to determine the torque distribution information of the wheels. In practical applications, the torque distribution information of the wheels refers to the torque that should be output by the wheels after a tire blowout occurs, so as to restore the stability of the vehicle in the event of a vehicle out of control. In practical applications, the distributed torque of the wheels can be calculated by analyzing the state of the vehicle (such as vehicle speed, yaw rate, etc.). This application will discuss in detail the process of determining the distributed torque of the wheels in subsequent content, and will not be discussed in detail here.

[0038] Step S102: Based on the torque distribution information, provide torque to the wheels through a driving motor to stabilize the vehicle.

[0039] In this step, according to the torque distribution information, that is, the distribution torque corresponding to the wheel, the distribution torque is provided to the wheel through the driving motor, so as to maintain the stability of the vehicle after the vehicle has a tire blowout.

[0040] In practical applications, it is necessary to obtain the output torque of the drive motor in real time, that is, the actual torque output capacity, that is, the actual torque that the drive motor can output at the current moment. In practical applications, the output torque of the drive motor is affected by many factors, such as the working state of the drive motor, battery power, ambient temperature, etc. If the drive motor is in a fault state or the battery power is low, the output torque of the drive motor may be limited. Therefore, this step needs to determine the actual output torque of the drive motor at the current moment based on the working state of the drive motor, battery power, ambient temperature, etc.

[0041] After a tire blowout occurs in a vehicle, the present application can promptly obtain the torque distribution information of the wheels, and then based on the torque distribution information, provide torque to the wheels through the drive motor to stabilize the vehicle. After a tire blowout occurs in a vehicle, the present application can provide torque to the wheels through the drive motor to balance the vehicle. Due to the high control accuracy and fast response time of the drive motor, the vehicle body stability control effect after a tire blowout can be effectively improved.

[0042] In one embodiment, the torque distribution information of the wheel is the distributed torque of the wheel, and providing the torque to the wheel by driving the motor based on the torque distribution information includes: Based on the distributed torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, wherein the motor output torque is the actual torque that the drive motor can output at the current moment.

[0043] In this embodiment, the torque distribution information of the wheel is the distribution torque, and the drive motor provides torque to the wheel according to the distribution torque and the actual output capacity at the current moment. Specifically, the vehicle control system dynamically calculates the distribution torque of the wheel according to the driver's demand, the vehicle driving state and the road conditions; the drive motor adjusts the output torque based on its actual output capacity (such as the current temperature of the motor, the battery power supply capacity, etc.) and provides the required torque to the wheel.

[0044] In one embodiment, providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor includes: When the motor output torque is greater than or equal to the distributed torque, the distributed torque is provided to the wheels via the drive motor.

[0045] In this embodiment, before providing torque to the wheels through the drive motor, it is necessary to further determine whether the drive motor meets the preset torque distribution condition, and the preset torque distribution condition is whether the distributed torque of the wheel is less than or equal to the motor output torque of the drive motor.

[0046] If it is determined that the drive motor meets the preset torque distribution conditions, that is, the wheel's distributed torque is less than or equal to the motor output torque of the drive motor, then the wheel is considered to meet the torque distribution conditions. At this time, the drive motor is set to provide the corresponding distributed torque to ensure that the wheel runs according to the expected torque output. This ensures that the drive motor can provide accurate braking force in a timely manner under appropriate load conditions, thereby improving the vehicle's stability and response speed after a tire blowout, while avoiding problems such as overload or unstable torque output.

[0047] In one embodiment, providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor includes: When the motor output torque is greater than or equal to the distributed torque, the distributed torque is provided to the wheels via the drive motor.

[0048] In this embodiment, if it is determined that the drive motor does not meet the preset torque distribution conditions, and the distributed torque of the wheel is greater than the motor output torque of the drive motor, it is first necessary to control the drive motor to provide the motor output torque to the wheel, that is, the actual torque that the drive motor can output, and then provide additional hydraulic braking torque to the wheel through the hydraulic braking device to ensure that sufficient stability control can be provided to the wheel.

[0049] In one embodiment, providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor includes: In a case where the motor output torque is less than the distributed torque, the distributed torque is provided to the wheels via the drive motor and the hydraulic brake device of the vehicle.

[0050] Providing the distributed torque to the wheels through the drive motor and the hydraulic brake device of the vehicle includes: determining a hydraulic braking torque according to the distributed torque and a motor output torque of the drive motor; The motor output torque is provided to the wheels through the driving motor, and the hydraulic braking torque is provided to the wheels through the hydraulic braking device of the vehicle, wherein the sum of the motor output torque and the hydraulic braking torque is the distributed torque.

[0051] In the present application, the preset torque distribution condition is that the distribution torque of the wheel is less than or equal to the motor output torque of the drive motor of the wheel. Specifically, when the wheel of the vehicle does not meet the preset torque distribution condition, that is, when the distribution torque of the wheel is greater than the motor output torque of the drive motor, the difference between the distribution torque of the wheel and the motor output torque is calculated based on the distribution torque of the wheel and the motor output torque, and the hydraulic braking torque of the wheel is obtained according to the difference between the distribution torque of the wheel and the motor output torque provided by the drive motor of the wheel. In the present application, the magnitude of the hydraulic braking torque is the difference between the distribution torque of the wheel and the motor output torque provided by the drive motor of the wheel.

[0052] After the hydraulic brake torque is calculated, the hydraulic brake device will provide additional braking force to the wheels. The size of this additional braking force is the size of the hydraulic brake torque. This is to make up for the insufficient torque of the drive motor and ensure that sufficient stabilizing torque is provided to the wheels to restore the stability of the vehicle.

[0053] In this embodiment, the drive motor and the hydraulic brake device work together. The drive motor can provide high-response, high-precision control, quickly adjust the driving torque of the wheel, and accurately control the rotation speed of the wheel and the movement state of the vehicle. The hydraulic brake device is a supplement and is mainly responsible for providing greater torque to ensure that the vehicle can still travel stably when the control ability of the drive motor is insufficient. In this embodiment, when the drive motor cannot meet the required control effect, the hydraulic brake device will ensure the stability of the vehicle through hydraulic braking torque. This coordinated control enables the vehicle to maintain sufficient stability after a tire blowout, thereby reducing the danger caused by a tire blowout.

[0054] In one embodiment, determining the torque distribution information of the wheels includes: determining a differential torque of the vehicle based on a desired yaw rate and an actual yaw rate of the vehicle; Torque distribution information of the wheels is determined according to the basic torque required by the vehicle and the differential torque.

[0055] In this embodiment, the differential torque of the vehicle needs to be determined based on the expected yaw rate and the actual yaw rate of the vehicle. Specifically: In this embodiment, the steering wheel angle of the vehicle, the current speed of the vehicle, and the yaw rate of the vehicle are obtained respectively. In practical applications, the steering wheel angle can be obtained by a steering sensor, the current speed of the vehicle can be obtained by a speed sensor, and the actual yaw rate can be obtained by an inertial navigation unit. According to the obtained steering wheel angle and current speed, the expected yaw rate is derived based on the formula: expected yaw rate = (steering wheel angle * current speed) / vehicle steering radius. The yaw rate deviation represents the difference between the actual vehicle yaw rate and the expected yaw rate. If the vehicle travels along the expected trajectory, the two should be close in theory. If there is a deviation, it indicates that there is a gap between the actual driving state of the vehicle and the driver's expectations. Finally, based on the yaw rate deviation, the differential torque of the vehicle is calculated. In this embodiment, by using multiple input signals such as steering wheel angle, vehicle speed, yaw rate, etc., combined with the vehicle's dynamic model, the differential torque is calculated and the torque distribution is adjusted. In this way, the vehicle's steering behavior can be corrected in time after a tire blowout occurs, thereby improving the vehicle's stability and safety.

[0056] Furthermore, after the yaw rate deviation of the vehicle is obtained, the basic torque required by the vehicle is obtained by querying a pre-established basic torque table of the vehicle according to the yaw rate deviation and the current vehicle speed. The basic torque table required by the vehicle is a pre-established lookup table used to describe the relationship between the yaw rate deviation, the vehicle speed and the basic torque required by the vehicle. This table can be established through actual driving tests or dynamic models, and records the basic torque required by the vehicle under different driving conditions.

[0057] Then, based on the basic torque and differential torque required by the vehicle, the torque distribution information of the wheels is determined, that is, the distributed torque of the wheels is determined.

[0058] In one embodiment, determining the torque distribution information of the wheels according to the basic torque required by the vehicle and the differential torque includes: Identify the wheel where the tire blew out; The distributed torque of the wheel with a flat tire is switched to zero torque, and the distributed torque of the remaining wheels is determined based on the basic torque and the differential torque.

[0059] In this embodiment, it is necessary to first obtain the tire with a puncture, and then determine the distributed torque of the tire with a puncture and the distributed torque of the remaining vehicles according to the preset torque distribution principle. Specifically, the distributed torque of the tire with a puncture can be switched to zero torque, and then, for the remaining wheels, the torque can be redistributed for the remaining wheels based on the basic torque and the differential torque.

[0060] After the torque of the wheel with a flat tire is set to zero, the distributed torque of the remaining three wheels needs to be redistributed according to the basic torque and differential torque of the vehicle to ensure that the vehicle can maintain stable driving. The basic torque of the vehicle represents the total torque required by the vehicle under normal circumstances. When redistributing, the total torque of the three wheels needs to meet the requirements of the basic torque of the vehicle. The differential torque will be calculated based on the dynamic state of the vehicle (such as yaw rate deviation, steering wheel angle, etc.). The introduction of differential torque is to prevent the vehicle from yaw out of control due to a flat tire. The size of the differential torque determines the torque difference between the left and right wheels to balance the yaw of the vehicle. Therefore, for the three remaining wheels, the torque needs to be redistributed according to the calculation results of the basic torque and differential torque of the vehicle to obtain the distributed torque of each remaining wheel.

[0061] In one embodiment, determining the distributed torque of the remaining wheels based on the basic torque and the differential torque includes: Switching the distributed torque of the coaxial wheel coaxial with the tire-punctured wheel to zero torque; Switching the distributed torque of the first wheel on the same side as the wheel with the flat tire to half of the sum of the basic torque and the differential torque; The distributed torque of the second wheel on the same side as the coaxial wheel is switched to half of the difference between the basic torque and the differential torque.

[0062] In this embodiment, when a tire blows out, the distributed torque of the remaining wheels is recalculated, and different torque distribution strategies are used to ensure stable driving of the vehicle. It should be noted that the four-wheel torque distribution in this application must follow the following principles: the sum of the four-wheel distributed torque is the basic torque of the vehicle, (left front wheel torque + left rear wheel torque) - (right front wheel torque + right rear wheel torque) = differential torque.

[0063] Specifically, the coaxial wheel refers to the wheel on the same axis as the wheel with the punctured tire. Assuming that the puncture occurs on the left front wheel, the right front wheel is the wheel coaxial with the left front wheel. Since the wheel with the punctured tire cannot work properly, the wheel coaxial with it cannot provide effective power. In order to avoid vehicle instability due to uncontrolled torque input, the distributed torque of the coaxial wheel is set to zero. At this time, the coaxial wheel no longer participates in the driving of the vehicle to ensure that it will not affect the stability of the vehicle. The first same-side wheel refers to the wheel on the same side as the wheel with the punctured tire. For example, if the puncture occurs on the left front wheel, the left rear wheel is the wheel on the same side as the left front wheel. In order to compensate for the failure of the wheel with the punctured tire, the torque of the remaining wheels needs to be redistributed. According to the basic torque and differential torque of the vehicle, the distributed torque of the first same-side wheel on the same side as the wheel with the punctured tire is set to half of the sum of the basic torque and the differential torque of the vehicle. The second same-side wheel refers to the wheel on the same side as the coaxial wheel. For example, if the puncture occurs on the left front wheel, the right front wheel is the wheel coaxial with the left front wheel, and the right rear wheel is the second same-side wheel on the same side as the right front wheel. The torque of the second wheel on the same side is readjusted according to the difference between the basic torque and the differential torque of the vehicle, and the distributed torque of the second wheel on the same side will be set to half of the difference between the basic torque and the differential torque of the vehicle.

[0064] For example, if the left front wheel of the vehicle has a flat tire, the basic torque of the vehicle is T and the differential torque is ΔT according to the current vehicle speed and yaw rate. The torque can be distributed to the four wheels as follows: The torque distributed to the left front wheel is 0Nm; The torque distributed to the right front wheel is 0Nm; The torque distributed to the left rear wheel is (T+ΔT) / 2Nm; The torque distributed to the right rear wheel is (T-ΔT) / 2Nm.

[0065] In one embodiment, determining the tire blowout wheel that has blowout includes: Obtaining tire pressure information of the wheel; The wheel with a flat tire is determined according to the tire pressure information.

[0066] Specifically, determining a change amount of a tire pressure signal of the wheel according to the tire pressure information; When the tire pressure signal change amount is greater than the tire pressure signal change amount threshold, it is determined that the wheel is the tire burst wheel.

[0067] In this embodiment, after a tire blowout occurs on the vehicle, the tire pressure information of each tire can be used to determine the wheel that has blown out, and the distributed torque of each wheel can be calculated. In this application, the tire pressure information specifically refers to the tire pressure signal.

[0068] Specifically, each wheel is equipped with a tire pressure sensor to monitor the tire pressure changes of each wheel in real time. The tire pressure signal is used to determine the moment of tire blowout, and after the tire blowout, the tire pressure signal of the wheel with the tire blowout will mutate (the tire pressure drops sharply). The tire pressure signal of each wheel after the vehicle has a tire blowout is compared with the tire pressure signal change threshold, so as to determine the tire blowout wheel. When the tire pressure signal change is greater than the tire pressure signal change threshold, the wheel is determined to be a tire blowout wheel. In practical applications, the tire pressure signal change can be the tire pressure change rate or the tire pressure change value. For example, the tire pressure change rate ΔP of any tire can be set to be greater than 30kpa / 100ms for 500ms or the tire pressure change value within 750ms is greater than 200kpa, and the wheel is considered to have a tire blowout. After determining that a wheel has a tire blowout, the distributed torque of the wheel is immediately switched to zero. This is because the driving torque of the tire blowout wheel cannot be provided normally or may cause the vehicle to lose control, so the wheel can no longer provide power.

[0069] After the torque of the tire-bursting wheel is set to zero, the distributed torque of the remaining three wheels needs to be redistributed according to the basic torque and differential torque of the vehicle to ensure that the vehicle can maintain stable driving. The basic torque of the vehicle represents the total torque required by the vehicle under normal circumstances. When redistributing, the total torque of the three wheels needs to meet the requirements of the basic torque of the vehicle. The differential torque will be calculated based on the dynamic state of the vehicle (such as yaw rate deviation, steering wheel angle, etc.). The introduction of differential torque is to prevent the vehicle from yaw out of control due to a tire blowout. The size of the differential torque determines the torque difference between the left and right wheels to balance the yaw of the vehicle. Therefore, for the three remaining wheels, it is necessary to redistribute the torque according to the calculation results of the basic torque and differential torque of the vehicle to obtain the distributed torque of each remaining wheel. The specific distribution method is as described above, and this application will not be repeated here.

[0070] This embodiment monitors the tire pressure signal changes to determine the tire with a blowout in real time, and adjusts the torque distribution of the remaining wheels according to the situation after the blowout to ensure the stability of the vehicle. By reasonably distributing the basic torque and differential torque of the vehicle, the risk of an accident can be minimized in the event of a blowout.

[0071] The present application can effectively offset the unexpected yaw of the vehicle and thus improve the stability of the vehicle body by distributing torque to each wheel according to the basic torque and differential torque of the vehicle after determining the wheel with a flat tire.

[0072] In one embodiment, the drive motor is a wheel-side motor, and providing torque to the wheel through the drive motor includes: Determining the motor output torque of the wheel side motor; The motor output torque is provided to the corresponding wheel through the wheel-side motor.

[0073] In this embodiment, the drive motor may be a wheel-side motor, wherein each wheel is provided with a wheel-side motor, and the motor output torque of each wheel-side motor is obtained, and the motor output torque is provided to the wheel corresponding to each wheel-side motor. The motor output torque of each wheel-side motor is obtained as described above, and this embodiment will not be repeated here.

[0074] The present application provides a vehicle control method, the method comprising: determining the torque distribution information of the wheels in the event of a tire blowout; based on the torque distribution information, providing torque to the wheels through a drive motor to stabilize the vehicle. The present application can obtain the torque distribution information of the wheels in a timely manner after a tire blowout occurs in the vehicle, and then based on the torque distribution information, provide torque to the wheels through a drive motor to stabilize the vehicle. The present application provides torque to the wheels through a drive motor after a tire blowout occurs in the vehicle, thereby balancing the vehicle. Due to the high control accuracy and fast response time of the drive motor, the vehicle body stability control effect after a tire blowout can be effectively improved.

[0075] In one embodiment, the present application also provides a structural diagram of a vehicle control system, such as Figure 2 As shown, the structure of the system includes a vehicle 10, wheels 20, wheel-side motors 30, and a hydraulic brake device 40, wherein the wheels 20 are mounted on the chassis of the vehicle 10, each wheel 20 is correspondingly provided with a wheel-side motor 30, and the hydraulic brake device 40 is respectively connected to each wheel 20 through a hydraulic pipeline. In this embodiment, after a tire blowout occurs in the vehicle 10, the distributed torque of each wheel 20 is first calculated. This torque is calculated based on the dynamic state of the vehicle 10 (such as vehicle speed, yaw angular velocity, etc.) and the control algorithm, with the purpose of ensuring the stability of the vehicle 10 after a tire blowout. The distributed torque of each wheel 20 reflects the driving torque that it should output after a tire blowout, helping the vehicle 10 to maintain stable driving.

[0076] Next, the motor output torque of each wheel 20 is obtained. The motor output torque represents the actual output torque that each wheel-side motor 30 can provide at the current moment. This value is calculated in real time by the motor control unit of the vehicle 10 and fed back based on factors such as battery power, temperature, and rotation speed. The motor output torque provides basic data for subsequent judgment of whether the torque distribution conditions are met.

[0077] According to the calculated distributed torque of the wheel 20 and the motor output torque of the wheel-side motor 30, it is judged whether the wheel meets the preset torque distribution condition, wherein the wheel is any one of the four wheels 20 of the vehicle 10. The preset condition is: the distributed torque of the wheel is less than or equal to the target torque of the wheel-side motor of the wheel. If the wheel does not meet the preset torque distribution condition, the wheel-side motor 30 of the wheel is controlled to provide the corresponding motor output torque, and the hydraulic brake device 40 of the vehicle 10 is controlled to provide the hydraulic brake torque for the wheel to supplement the motor output torque, thereby achieving the distributed torque of the wheel.

[0078] Based on the same inventive concept, the second aspect of the present application provides a vehicle control system, such as Figure 3 As shown, the system comprises: A determination module 201 is used to determine the torque distribution information of the wheels when a tire blowout occurs on the vehicle; The torque providing module 202 is configured to provide torque to the wheels through a driving motor based on the torque distribution information to stabilize the vehicle.

[0079] Optionally, the wheel torque distribution information is the distributed torque of the wheel, and based on the torque distribution information, the driving motor provides torque to the wheel, and the torque providing module 202 includes: The first torque providing submodule is used to provide torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor, wherein the motor output torque is the actual torque that the drive motor can output at a current moment.

[0080] Optionally, based on the allocated torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, and the first torque providing submodule includes: The first torque providing subunit is used to provide the distributed torque to the wheels through the driving motor when the motor output torque is greater than or equal to the distributed torque.

[0081] Optionally, based on the allocated torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, and the first torque providing submodule includes: The second torque providing subunit is used to provide the distributed torque to the wheels through the drive motor and the hydraulic brake device of the vehicle when the output torque of the motor is less than the distributed torque.

[0082] Optionally, the distribution torque is provided to the wheels through the drive motor and the hydraulic brake device of the vehicle, and the second torque providing subunit includes: a first determining subunit, configured to determine a hydraulic braking torque according to the distributed torque and a motor output torque of the driving motor; The third torque providing subunit is used to provide the motor output torque to the wheels through the drive motor, and to provide the hydraulic braking torque to the wheels through the hydraulic braking device of the vehicle, wherein the sum of the motor output torque and the hydraulic braking torque is the distributed torque.

[0083] Optionally, the determining module 201 for determining the torque distribution information of the wheels includes: A first determination submodule, configured to determine a differential torque of the vehicle based on a desired yaw rate and an actual yaw rate of the vehicle; The second determination submodule is used to determine the torque distribution information of the wheels according to the basic torque required by the vehicle and the differential torque.

[0084] Optionally, the torque distribution information of the wheels is determined according to the basic torque required by the vehicle and the differential torque, and the second determining submodule includes: A second determination subunit is used to determine the tire blowout wheel where the tire blowout occurs; The third determining subunit is used to switch the distributed torque of the wheel with a flat tire to zero torque, and determine the distributed torque of the remaining wheels based on the basic torque and the differential torque.

[0085] Optionally, the distributed torque of the remaining wheels is determined based on the basic torque and the differential torque, and the third determining subunit includes: a first switching subunit, configured to switch the distributed torque of the coaxial wheel coaxial with the tire-punctured wheel to zero torque; A second switching subunit is used to switch the distributed torque of the first wheel on the same side as the wheel with the flat tire to half of the sum of the basic torque and the differential torque; The third switching subunit is used to switch the distributed torque of the second wheel on the same side as the coaxial wheel to half of the difference between the basic torque and the differential torque.

[0086] Optionally, the second determination subunit for determining the tire punctured wheel that has punctured includes: An acquisition subunit, used to acquire tire pressure information of the wheel; The fourth determining subunit is used to determine the wheel with a flat tire according to the tire pressure information.

[0087] Optionally, the tire pressure information is used to determine the tire of the vehicle that has a tire blowout, and the fourth determining subunit includes: a fifth determining subunit, configured to determine a change amount of a tire pressure signal of the wheel according to the tire pressure information; The sixth determination subunit is used to determine that the wheel is the tire burst wheel when the tire pressure signal change amount is greater than the tire pressure signal change amount threshold.

[0088] Optionally, the driving motor is a wheel-side motor, and the driving motor is used to provide torque to the wheel. The torque providing module 202 includes: A third determination submodule is used to determine the motor output torque of the wheel-side motor; The second torque providing submodule is used to provide the motor output torque to the corresponding wheel through the wheel-side motor.

[0089] Based on the same inventive concept, the third aspect of the present application provides a vehicle, which includes a vehicle control system as described in the second aspect of the present application, and / or is used to execute the vehicle control method as described in the first aspect of the present application.

[0090] Based on the same inventive concept, in a fourth aspect of the present application, there is provided a Figure 4 The electronic device 100 shown includes a memory 110, a processor 120 and a computer program stored in the memory 110, and the processor 120 executes the computer program to implement the vehicle control method as described in the first aspect of the present application.

[0091] Based on the same inventive concept, the fifth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the vehicle control method as described in the first aspect of the present application.

[0092] Each embodiment in this specification focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referenced to each other.

[0093] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0094] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0097] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0098] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the presence of other identical elements in the process, method, article or terminal device including the elements.

[0099] The above is a detailed introduction to a vehicle control method, system, vehicle, electronic device and readable storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: In the event of a tire blowout, determine the torque distribution information of the wheels; Based on the torque distribution information, torque is provided to the wheels through a driving motor to stabilize the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The torque distribution information of the wheel is the distributed torque of the wheel, and providing the torque to the wheel by driving the motor based on the torque distribution information includes: Based on the distributed torque of the wheel and the motor output torque of the drive motor, the drive motor provides torque to the wheel, wherein the motor output torque is the actual torque that the drive motor can output at the current moment.

3. The vehicle control method according to claim 2, characterized in that: The step of providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor comprises: When the motor output torque is greater than or equal to the distributed torque, the distributed torque is provided to the wheels via the drive motor.

4. The vehicle control method according to claim 2, characterized in that: The step of providing torque to the wheel through the drive motor based on the distributed torque of the wheel and the motor output torque of the drive motor comprises: In a case where the motor output torque is less than the distributed torque, the distributed torque is provided to the wheels via the drive motor and the hydraulic brake device of the vehicle.

5. The vehicle control method according to claim 4, characterized in that: Providing the distributed torque to the wheels through the drive motor and the hydraulic brake device of the vehicle includes: determining a hydraulic braking torque according to the distributed torque and a motor output torque of the drive motor; The motor output torque is provided to the wheels through the driving motor, and the hydraulic braking torque is provided to the wheels through the hydraulic braking device of the vehicle, wherein the sum of the motor output torque and the hydraulic braking torque is the distributed torque.

6. The vehicle control method according to claim 1, characterized in that: The determining of the torque distribution information of the wheels includes: determining a differential torque of the vehicle based on a desired yaw rate and an actual yaw rate of the vehicle; Torque distribution information of the wheels is determined according to the basic torque required by the vehicle and the differential torque.

7. The vehicle control method according to claim 6, characterized in that: The step of determining the torque distribution information of the wheels according to the basic torque required by the vehicle and the differential torque includes: Identify the wheel where the tire blew out; The distributed torque of the wheel with a flat tire is switched to zero torque, and the distributed torque of the remaining wheels is determined based on the basic torque and the differential torque.

8. The vehicle control method according to claim 7, characterized in that: The step of determining the distributed torque of the remaining wheels based on the basic torque and the differential torque comprises: Switching the distributed torque of the coaxial wheel coaxial with the tire-punctured wheel to zero torque; Switching the distributed torque of the first wheel on the same side as the wheel with the flat tire to half of the sum of the basic torque and the differential torque; The distributed torque of the second wheel on the same side as the coaxial wheel is switched to half of the difference between the basic torque and the differential torque.

9. The vehicle control method according to claim 7, characterized in that: The step of determining the tire blowout wheel that has blowout comprises: Obtaining tire pressure information of the wheel; The wheel with a flat tire is determined according to the tire pressure information.

10. The vehicle control method according to claim 9, characterized in that: The step of determining the tire blowout wheel according to the tire pressure information comprises: Determining a change in a tire pressure signal of the wheel according to the tire pressure information; When the tire pressure signal change amount is greater than the tire pressure signal change amount threshold, it is determined that the wheel is the tire burst wheel.

11. The vehicle control method according to any one of claims 1 to 10, characterized in that: The drive motor is a wheel-side motor, and providing torque to the wheel through the drive motor includes: Determining the motor output torque of the wheel side motor; The motor output torque is provided to the corresponding wheel through the wheel-side motor.

12. A vehicle control system, characterized in that: The system comprises: A determination module, used to determine the torque distribution information of the wheels when a tire blowout occurs on the vehicle; The torque providing module is used to provide torque to the wheels through a driving motor based on the torque distribution information to stabilize the vehicle.

13. A vehicle, characterized in that: The vehicle comprises the vehicle control system according to claim 12, and / or the vehicle is used to execute the vehicle control method according to any one of claims 1-11.

14. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the vehicle control method according to any one of claims 1 to 11.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 11 is implemented.

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