Vehicle control method, electronic equipment and storage medium

Abstract

The invention relates to a vehicle control method, electronic equipment and a storage medium, and the method comprises the steps that in response to a tire burst signal, a target tire with a burst tire and a driving scene are determined, the driving scene comprises a driving direction type, and the driving direction type is used for representing the relation between the driving direction of the vehicle and the lane direction; controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle. According to the technical scheme, the vehicle is controlled based on the relation between the driving direction of the vehicle and the lane direction during tire burst, and the control effect of vehicle stability can be improved.

Description

Technical Field

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

[0002] Tire blowout is a common driving safety issue. Whether it occurs on the front or rear wheels, it will significantly cause the vehicle body to shift and become unbalanced, leading to safety accidents.

[0003] The prior art generally adopts a vehicle stability control strategy when dealing with a tire blowout condition, which mainly includes adjusting the steering wheel and braking. However, the above control strategy is relatively simple and cannot achieve an ideal control effect. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle control method, electronic device and storage medium, which can control the vehicle based on the relationship between the vehicle's driving direction and lane direction when a tire blows out, thereby improving the control effect of vehicle stability.

[0005] In order to achieve the above object, the present application provides a vehicle control method, characterized by comprising:

[0006] In response to a tire blowout signal, determining a target tire for the tire blowout and a driving scenario, wherein the driving scenario includes a driving direction type, and the driving direction type is used to characterize a relationship between a driving direction of the vehicle and a lane direction;

[0007] The vehicle is controlled according to the target tire and the driving scenario to stabilize the driving direction of the vehicle.

[0008] In some embodiments, determining the type of driving direction includes at least one of the following:

[0009] Identify the direction of the lane line to determine the lane direction, determine the driving direction of the vehicle according to the driver's intention, and determine the driving direction type according to the relationship between the driving direction and the lane direction;

[0010] Identify the direction of the lane line to determine the lane direction, determine the driving direction of the vehicle according to the steering wheel angle, and determine the driving direction type according to the relationship between the driving direction and the lane direction;

[0011] The driving direction type is determined according to a navigation route.

[0012] In some embodiments, the driving direction type includes at least one of the following:

[0013] Straight road, entering a curve to the left, entering a curve to the right, in a left curve, in a right curve, exiting a curve to the left, exiting a curve to the right, changing lanes to the left, changing lanes to the right.

[0014] In some embodiments, controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle includes at least one of the following:

[0015] Controlling a steering wheel angle according to the target tire and the driving scenario to stabilize the driving direction of the vehicle;

[0016] The steering wheel angle is controlled according to the target tire and the driving scenario, and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

[0017] In some embodiments, controlling the steering wheel angle according to the target tire and the driving scene and adjusting the air spring mechanism corresponding to the target tire and / or other tires to stabilize the driving direction of the vehicle includes:

[0018] Determining a tire blowout condition according to the target tire and the driving scenario, and determining a control strategy, wherein the control strategy is used to characterize a control sequence between a steering wheel angle and an air spring mechanism;

[0019] According to the tire blowout condition and the control strategy, the steering wheel angle is controlled and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

[0020] In some embodiments, the target air spring mechanism, the adjustment height of the air spring mechanism and the adjustment angle of the steering wheel are determined according to the tire blowout condition and the control strategy.

[0021] In some embodiments, the determining of the control strategy includes at least one of the following:

[0022] Acquire a preset strategy as the control strategy;

[0023] The control strategy is determined according to the tire blowout condition.

[0024] In some embodiments, the driving scenario further includes a current vehicle speed, and determining a tire blowout condition according to the target tire and the driving scenario includes:

[0025] According to a combination of the driving direction type, the preset vehicle speed interval to which the current vehicle speed belongs, and the position of the target tire, a corresponding tire blowout condition is matched.

[0026] In some embodiments, the controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle further includes:

[0027] When the steering wheel angle is controlled and / or the air spring mechanism is adjusted, braking control is performed on the vehicle.

[0028] 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.

[0029] 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.

[0030] From the above, a vehicle control method, electronic device and storage medium of the present application include: in response to a tire blowout signal, determining the target tire of the tire blowout and the driving scenario, the driving scenario includes a driving direction type, and the driving direction type is used to characterize the relationship between the vehicle's driving direction and the lane direction; controlling the vehicle according to the target tire and the driving scenario to stabilize the vehicle's driving direction. The technical solution of the present application controls the vehicle based on the relationship between the vehicle's driving direction and the lane direction when the tire blows out, which can improve the control effect of vehicle stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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.

[0032] Figure 1 The present invention is a flow chart of a vehicle control method provided according to an embodiment.

[0033] Figure 2 The present invention is another flowchart of a vehicle control method provided according to an embodiment.

[0034] Figure 3 The figure is a schematic diagram of the structure of an electronic device provided according to an embodiment. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Figure 1 FIG. 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:

[0040] S1, in response to a tire blowout signal, determining a target tire for the tire blowout and a driving scenario, where the driving scenario includes a driving direction type, and the driving direction type is used to characterize a relationship between a vehicle's driving direction and a lane direction;

[0041] S2, controls the vehicle according to the target tire and the driving scenario to stabilize the vehicle's driving direction.

[0042] Among them, tire pressure sensors are used to collect tire blowout information, and tire pressure sensors transmit tire blowout signals to ECU or CAN. According to the tire blowout signal, it is possible to determine which tire has blown out, that is, the location of the target tire. The location of the target tire includes the left front wheel, right front wheel, left rear wheel, and right rear wheel.

[0043] The vehicle's driving directions include straight line, left turn, right turn, left shift, and right shift. Left shift and right shift have smaller steering angles than left turn and right turn. Lane directions include straight line, curve, curve entrance, and curve exit. Different driving direction types can be refined according to the relationship between the vehicle's driving direction and lane direction. Controlling the vehicle according to the target tire and driving scenario (including the driving direction type) can make the vehicle stability adjustment and the vehicle's driving state more closely matched, and obtain better adjustment effects.

[0044] In some embodiments, the driving direction type includes at least one of the following:

[0045] Straight road, entering a curve to the left, entering a curve to the right, in a left curve, in a right curve, exiting a curve to the left, exiting a curve to the right, changing lanes to the left, changing lanes to the right.

[0046] Among them, a straight road is a lane with a turning angle less than a threshold, entering a curve to the left means that the vehicle turns left to enter the curve, entering a curve to the right means that the vehicle turns right to enter the curve, being in a left curve means that the vehicle is continuously in a left-turning state, being in a right curve means that the vehicle is continuously in a right-turning state, exiting a curve to the left means that the vehicle exits the curve to the left, exiting a curve to the right means that the vehicle exits the curve to the right, changing lanes to the left means that the vehicle moves left from the current lane to enter the adjacent lane, and changing lanes to the right means that the vehicle moves right from the current lane to enter the adjacent lane. Under different driving direction types, the required turning angle of the vehicle is different. For example, entering a curve is a straight road turning into a curve, while exiting a curve is a curve turning into a straight road. The required turning angles are different. If the same angle is used to control the steering wheel when a tire bursts, it may lead to insufficient compensation of the steering wheel angle when entering a curve or excessive compensation of the steering wheel angle when exiting a curve, resulting in unsatisfactory control effect of vehicle body stability. Therefore, by refining the driving direction type based on the relationship between the vehicle's driving direction and the lane direction, a more accurate control effect can be achieved.

[0047] In some embodiments, in step S1, determining the type of driving direction includes at least one of the following:

[0048] Identify the direction of the lane line to determine the lane direction, determine the vehicle's driving direction based on the driver's intention, and determine the driving direction type based on the relationship between the driving direction and the lane direction;

[0049] Identify the direction of the lane line to determine the lane direction, determine the vehicle's driving direction based on the steering wheel angle, and determine the driving direction type based on the relationship between the driving direction and the lane direction;

[0050] Determine the type of driving directions based on the navigation route.

[0051] Among them, a camera can be used to collect images in front of the vehicle, and features of the image can be extracted and identified to obtain the direction of the lane line, which is equivalent to the direction of the lane. The direction of the lane line can be a straight road or a curve, and the lane line at the entrance or exit of the curve can also be identified at the intersection. The driver's intention can be determined by the signal of the turn signal and the user's historical route. For example, if the left turn signal is turned on, it means that there is an intention to turn left or move left. At this time, if the lane direction is a straight line, the driving direction type is to change lanes to the left. Alternatively, the user's historical data shows that at the current intersection, the user always chooses to turn left, which means that there is an intention to turn left. At this time, if the lane direction is the entrance of the curve, the driving direction type is to enter the curve to the left.

[0052] After identifying the direction of the lane line, the driving direction can also be determined based on the steering wheel angle. When the steering wheel angle remains in a larger angle range for a longer time, it indicates that the vehicle is turning right or left. When the steering wheel angle remains in a smaller range for a shorter time, it indicates that the vehicle is moving right or left.

[0053] The driving direction and lane direction can also be determined based on the navigation route. When the user uses the navigation map, the data of the navigation route is extracted to obtain the driving direction and lane direction, and then the driving direction type is confirmed.

[0054] In some embodiments, in step S2, controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle includes at least one of the following:

[0055] Control the steering wheel angle according to the target tire and driving scenario to stabilize the vehicle's driving direction;

[0056] The steering wheel angle is controlled according to the target tire and the driving scenario, and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

[0057] Among them, only the steering wheel angle can be controlled to stabilize the driving direction of the vehicle, or the air spring mechanism corresponding to the target tire and / or other tires can be adjusted to adjust the vehicle height and stabilize the vehicle posture on the basis of controlling the steering wheel angle, so as to achieve better control effect of the steering wheel angle. The air spring is equipped with an air bag, and the control logic of the air spring is mainly realized by adjusting the gas pressure and volume in the air bag.

[0058] It is possible to adjust only the air spring mechanism corresponding to the target tire (i.e. the tire with a blowout), or only the air spring mechanism corresponding to other tires except the target tire, or simultaneously adjust the air spring mechanism corresponding to the target tire and at least one other tire. In this way, not only can the vehicle height be adjusted quickly, but also the corresponding tire can be adaptively selected for adjustment as needed, thereby avoiding the situation in which the vehicle posture is further unstable when adjusting the vehicle height, and improving the adjustment effect and safety.

[0059] In some embodiments, controlling the steering wheel angle and adjusting the air spring mechanism corresponding to the target tire and / or other tires according to the target tire and the driving scene to stabilize the driving direction of the vehicle includes:

[0060] Determine the tire blowout condition based on the target tire and driving scenario, and determine the control strategy, which is used to characterize the control sequence between the steering wheel angle and the air spring mechanism;

[0061] According to the tire blowout condition and control strategy, the steering wheel angle is controlled and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

[0062] Among them, according to the combination between the driving direction type and the position of the target tire, the corresponding tire blowout condition is matched, such as tire blowout condition 1, tire blowout condition 2, etc. In some embodiments, the driving scene may also include the current vehicle speed, and then the corresponding tire blowout condition may be matched according to the combination between the driving direction type, the preset vehicle speed interval to which the current vehicle speed belongs, and the position of the target tire, so that the tire blowout condition is further subdivided to improve the control effect.

[0063] The control sequence between the steering wheel angle and the air spring mechanism includes controlling the steering wheel angle and the air spring mechanism simultaneously, controlling the steering wheel angle first and then controlling the air spring mechanism, and controlling the air spring mechanism first and then controlling the steering wheel angle.

[0064] The combination of the tire blowout condition and the control strategy can determine the corresponding control parameters, and the control parameters include the target air spring mechanism to be controlled, the adjustment height of the target air spring mechanism and the adjustment angle of the steering wheel.

[0065] In some embodiments, determining a control strategy includes at least one of the following:

[0066] Obtaining a preset strategy as a control strategy;

[0067] Determine the control strategy based on the tire blowout condition.

[0068] Among them, the preset strategy is a pre-formed and stored strategy. Therefore, when a tire blowout occurs, the default preset strategy is directly used without further determining the control strategy, thereby shortening the response time. It is also possible to determine a strategy from multiple preset strategies as a control strategy according to the tire blowout working condition. For example, under low-speed driving conditions, you can choose to control the steering wheel angle first and then the air spring mechanism. Under medium-speed driving conditions, you can choose to control the air spring mechanism first and then the steering wheel angle. Under high-speed driving conditions, you can choose to control the steering wheel angle and the air spring mechanism at the same time. According to different control sequences, the adjustment values ​​of the steering wheel angle and the air spring mechanism are different. In this way, more accurate and targeted adjustments can be achieved to obtain better adjustment results.

[0069] The control parameters corresponding to the combination of different tire blowout conditions and control strategies can be preset, or updated according to big data, or, according to the danger level of the tire blowout conditions, the control parameters of some tire blowout conditions (lower danger level) are preset, and the control parameters of other tire blowout conditions (lower danger level) are updated according to big data. Among them, big data is the adjustment strategy obtained by statistics and analysis of tire blowout processing data and processing results of different vehicles, which can be subdivided according to different tire blowout conditions and control strategies, and updated regularly to continuously optimize the optimal control parameters when different tires blow out under different conditions.

[0070] In some embodiments, the height adjustment of the air spring mechanism includes an adjustment value and an adjustment speed. The adjustment value refers to the adjustment amount required for the air spring mechanism to adjust the height from the current value to the target value. The adjustment speed is the ratio of the adjustment value to the adjustment duration, which indicates the speed of the adjustment. In this embodiment, the time from receiving the signal to completing the adjustment of the adjustment value is controlled within 600ms. According to different vehicle speed ranges, the higher the speed, the shorter the corresponding time should be. For example, when the speed limit is below 50km / h, the response time is no more than 600ms, and when the speed limit is above 120km / h, the response time is no more than 250ms. On this basis, it is divided according to the vehicle speed range, and the response time shortens as the limit range increases.

[0071] When adjusting the air spring mechanism corresponding to the target tire and at least one other tire, the adjustment value and / or adjustment speed of the air spring mechanism corresponding to at least one other tire is less than the adjustment value and / or adjustment speed of the air spring mechanism corresponding to the target tire. Thus, the height of the vehicle body on the side of the tire burst can be quickly increased, while the height of the vehicle body at other positions can be relatively slowly reduced, so as to achieve dynamic balance, shorten the adjustment time, and avoid further instability caused by the sharp decrease and increase of the height of the vehicle body on one side. Depending on the type of driving direction, the height adjustment value and adjustment speed of the air spring mechanism corresponding to the target tire and at least one other tire are different.

[0072] When only the air spring mechanisms corresponding to other tires are adjusted, the adjustment values ​​and / or adjustment speeds of the air spring mechanisms corresponding to each tire are consistent, or the adjustment value and / or adjustment speed of the tire on the opposite side of the target tire is different from the adjustment values ​​and / or adjustment speeds of the air spring mechanisms corresponding to the other two tires. When the target tire is not adjusted, the vehicle posture adjustment can be achieved by lowering the vehicle height at other positions, and a more stable adjustment process can be achieved by using reasonable adjustment values ​​and / or adjustment speeds.

[0073] The adjustment height of the target air spring mechanism and the adjustment angle of the steering wheel can refer to the following principles:

[0074] If the height adjustment is 8cm and the angle adjustment is 10° as the target values, when driving on a straight road: if adjusted at the same time, the height adjustment can be less than 8cm, and the angle adjustment is 10°; if the air spring is adjusted first and then the steering wheel angle, the height adjustment is 8cm, and the angle adjustment can be less than 10°; if the steering wheel angle is adjusted first and then the air spring, the angle adjustment is 10°, and the height adjustment can be less than 8cm. When turning and changing lanes: if it is a left turn and the left wheel has a flat tire, the steering wheel angle should be greater than 10° to compensate for the over-turning angle; if it is a left turn and the right wheel has a flat tire, the steering wheel angle should be less than 6° to compensate for the under-turning angle. The steering wheel angle and the air spring adjustment height when entering and exiting the turn are less than the adjustment value of the turn, and the steering wheel angle and the air spring adjustment height when exiting the turn are less than the adjustment value when entering the turn.

[0075] For example, when the left front tire bursts when entering a left turn, the air spring on the left side of the front suspension is inflated to raise the height of the vehicle. At this time, the height of the air spring increases to compensate for the height drop caused by the vehicle body tilting to the left. At this time, due to the left turn, the steering wheel has a left turn angle, and the left front side of the vehicle body is subjected to downward pressure, showing an excessive left turn phenomenon. A theoretical right turn angle of the steering wheel calculated by the vehicle two-degree-of-freedom model is given for angle compensation. At this time, the steering wheel angle can be greater than 10° to offset the excessive left turn phenomenon, so that the steering wheel remains in its original state. At the same time, the onebox (wire control brake system) executes control measures to stabilize the vehicle body.

[0076] Take the example of a right front tire blowout when entering a left turn. The right air spring of the front suspension is inflated to raise the height of the vehicle. At this time, the height of the air spring will compensate for the height drop due to the rightward tilt of the vehicle body. At this time, due to the left turn, the steering wheel has a left turn angle. The downward pressure on the left front side of the vehicle body can compensate for the lift caused by the right front tire blowout. However, it will still show an excessive left turn phenomenon. At this time, a theoretical right steering wheel turn angle calculated by the vehicle two-degree-of-freedom model is given for angle compensation. The steering wheel angle can be less than 6° to offset the excessive left turn phenomenon, so that the steering wheel remains in its original state. At the same time, the onebox executes control measures to stabilize the vehicle body.

[0077] In some embodiments, controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle further includes:

[0078] The vehicle is braked while controlling the steering wheel angle and / or adjusting the air spring mechanism.

[0079] Among them, the tire pressure sensor transmits the tire blowout signal to the ECU or CAN, and then the ECU or CAN transmits the signal to the actuator (such as the wire control system, also known as "onebox") for brake control. Since the air spring takes a short time to compensate the vehicle height according to the signal, the adjustment of the air spring is combined with other control directions to adjust the vehicle body posture before the tire blowout stability control, providing more convenient and ideal control conditions for subsequent stability control.

[0080] Please refer to Figure 2 , an implementation method of the control method of the present application is illustrated by way of example.

[0081] like Figure 2 As shown, during the driving process of the vehicle, tire pressure monitoring is performed in real time. When a tire blowout signal is detected, it is determined whether the target tire of the blowout is the left front wheel, the right front wheel, the left rear wheel or the right rear wheel. During the driving process of the vehicle, the function of controlling the vehicle height through the air spring and the steering wheel angle compensation function are turned on in real time, and the driving scene is recognized, including determining the driving direction type and the current vehicle speed. The driving direction type can be determined based on the camera, the user's historical route, and the vehicle working parameters.

[0082] When a tire blowout signal is detected, the current driving direction type and current vehicle speed are obtained, and the tire blowout condition is determined according to the position of the target tire, the current driving direction type and the current vehicle speed. The control parameters are determined according to the tire blowout condition and the control strategy, and then the air spring mechanism and the steering wheel angle are controlled according to the control parameters. When the air springs corresponding to the target tire and / or other tires are adjusted, the vehicle is braked synchronously.

[0083] A vehicle control method of the present application determines the target tire and driving scenario of the tire blowout in response to a tire blowout signal, wherein the driving scenario includes a driving direction type, and the driving direction type is used to characterize the relationship between the vehicle's driving direction and the lane direction; the vehicle is controlled according to the target tire and the driving scenario to stabilize the vehicle's driving direction. The technical solution of the present application controls the vehicle based on the relationship between the vehicle's driving direction and the lane direction when the tire blows out, which can improve the control effect of vehicle stability.

[0084] 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.

[0085] like Figure 3 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 3The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 3 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the above-mentioned vehicle control method is implemented.

[0086] The electronic device may also include: at least one network interface 312. The various components in the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 313 is not used in the following examples. Figure 3 Various buses are labeled as bus system 313.

[0087] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0088] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player, a browser, etc., for implementing various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0089] 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.

[0090] The computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the control method of the vehicle applied to the above electronic device is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0091] 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: In response to a tire blowout signal, determining a target tire for the tire blowout and a driving scenario, wherein the driving scenario includes a driving direction type, and the driving direction type is used to characterize a relationship between a driving direction of the vehicle and a lane direction; The vehicle is controlled according to the target tire and the driving scenario to stabilize the driving direction of the vehicle.

2. The method according to claim 1, characterized in that Determining the type of the driving direction includes at least one of the following: Identify the direction of the lane line to determine the lane direction, determine the driving direction of the vehicle according to the driver's intention, and determine the driving direction type according to the relationship between the driving direction and the lane direction; Identify the direction of the lane line to determine the lane direction, determine the driving direction of the vehicle according to the steering wheel angle, and determine the driving direction type according to the relationship between the driving direction and the lane direction; The driving direction type is determined according to a navigation route.

3. The method according to claim 2, characterized in that The driving direction type includes at least one of the following: Straight road, entering a curve to the left, entering a curve to the right, in a left curve, in a right curve, exiting a curve to the left, exiting a curve to the right, changing lanes to the left, changing lanes to the right.

4. The method according to any one of claims 1 to 3, characterized in that The controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle includes at least one of the following: Controlling a steering wheel angle according to the target tire and the driving scenario to stabilize the driving direction of the vehicle; The steering wheel angle is controlled according to the target tire and the driving scenario, and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

5. The method according to claim 4, characterized in that The controlling of the steering wheel angle according to the target tire and the driving scene and adjusting the air spring mechanism corresponding to the target tire and / or other tires to stabilize the driving direction of the vehicle includes: Determining a tire blowout condition according to the target tire and the driving scenario, and determining a control strategy, wherein the control strategy is used to characterize a control sequence between a steering wheel angle and an air spring mechanism; According to the tire blowout condition and the control strategy, the steering wheel angle is controlled and the air spring mechanism corresponding to the target tire and / or other tires is adjusted to stabilize the driving direction of the vehicle.

6. The method according to claim 5, characterized in that The control strategy is determined, including at least one of the following: Acquire a preset strategy as the control strategy; The control strategy is determined according to the tire blowout condition.

7. The method according to claim 4, characterized in that The driving scenario also includes a current vehicle speed, and determining a tire blowout condition according to the target tire and the driving scenario includes: According to a combination of the driving direction type, the preset vehicle speed interval to which the current vehicle speed belongs, and the position of the target tire, a corresponding tire blowout condition is matched.

8. The method according to claim 4, characterized in that The controlling the vehicle according to the target tire and the driving scene to stabilize the driving direction of the vehicle further includes: When the steering wheel angle is controlled and / or the air spring mechanism is adjusted, braking control is performed on the vehicle.

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 8 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 8 are implemented.

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