Vehicle control method, device, storage medium and vehicle

Abstract

The present application relates to a vehicle control method, device, storage medium and vehicle. The method obtains tire rupture information; if the vehicle does not have a steering demand, the steering wheel power of the vehicle is controlled to be reduced. In this way, the steering wheel power of the vehicle is accurately controlled according to the steering demand of the vehicle, which can reduce the driver's misoperation and improve the stability of the vehicle.

Description

Technical Field

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

[0002] At present, when a tire blows out during driving, the tire pressure monitoring alarm installed on the vehicle can be used to feedback the tire status to the driver, and then the driver can control the vehicle. However, when a tire blows out, it is difficult and dangerous to control the vehicle. The driver is in a tense state and it is difficult to control the vehicle correctly, which can easily cause the vehicle to lose control and even cause a traffic accident. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, device, storage medium and vehicle, which can reduce driver's misoperation and improve vehicle stability, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, the method comprising:

[0005] Get tire rupture information;

[0006] If there is no steering demand for the vehicle, the steering wheel power assistance of the vehicle is controlled to be reduced.

[0007] Optionally, the method further comprises:

[0008] Acquiring driving environment information of the vehicle;

[0009] Determine whether the vehicle has a steering demand according to the driving environment information.

[0010] Optionally, determining whether the vehicle has a steering demand according to the driving environment information includes:

[0011] Based on the driving environment information, identifying whether there is a steering trigger object in front of the vehicle;

[0012] If a turning triggering object is identified in front of the vehicle, it is determined that the vehicle has a turning demand;

[0013] Otherwise, it is determined that there is no steering demand for the vehicle.

[0014] Optionally, the turning trigger object includes an obstacle and / or a curve.

[0015] Optionally, the driving environment information includes first driving environment information acquired by a first detection device of the vehicle;

[0016] The identifying, based on the driving environment information, whether there is a steering trigger object in front of the vehicle includes:

[0017] Based on the first driving environment information, it is identified whether there is an obstacle in front of the vehicle.

[0018] Optionally, the driving environment information further includes second driving environment information acquired by a second detection device of the vehicle;

[0019] The step of identifying whether there is a steering trigger object in front of the vehicle based on the driving environment information includes:

[0020] Based on the second driving environment information, it is identified whether there is a curve ahead of the vehicle.

[0021] Optionally, the method further comprises:

[0022] If the vehicle has a steering demand, the steering wheel power assistance of the vehicle is kept unchanged.

[0023] Optionally, controlling the steering wheel power assistance of the vehicle to decrease comprises:

[0024] Acquiring driving parameters of the vehicle;

[0025] Determining a power assistance adjustment parameter of the vehicle according to the driving parameter;

[0026] The steering wheel power assistance of the vehicle is reduced based on the power assistance adjustment parameter.

[0027] Optionally, determining the power assistance adjustment parameter of the vehicle according to the driving parameter includes:

[0028] A target steering wheel assist force that needs to be reduced for the vehicle is calculated according to the driving parameters.

[0029] Optionally, obtaining tire rupture information includes:

[0030] Acquiring a tire pressure signal of the vehicle;

[0031] The tire rupture information is obtained according to the tire pressure signal.

[0032] Optionally, obtaining tire rupture information includes:

[0033] Acquiring change information of a tire pressure signal of the vehicle;

[0034] The tire rupture information is obtained according to the change information of the tire pressure signal.

[0035] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0036] An acquisition unit, used for acquiring tire rupture information;

[0037] The first control unit is used to control the steering wheel power assistance of the vehicle to reduce when it is determined that there is no steering demand for the vehicle.

[0038] According to a third aspect of the present application, there is also provided a computer-readable storage medium storing a computer program, which implements the above vehicle control method when the computer program is executed on a processor.

[0039] According to a fourth aspect of the present application, a controller is also provided, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the above vehicle control method is implemented.

[0040] According to a fifth aspect of the present application, a vehicle is also provided, comprising a controller, wherein the controller is used to execute the steps of the above vehicle control method.

[0041] According to the sixth aspect of the present application, a computer program product is also provided, comprising a computer program or instructions, which implement the above vehicle control method when executed by a processor.

[0042] The embodiment of the present application obtains tire rupture information; if the vehicle does not have a steering demand, the steering wheel power of the vehicle is controlled to be reduced. In this way, the steering wheel power of the vehicle is accurately controlled according to the steering demand of the vehicle, which can reduce the driver's misoperation and improve the vehicle stability.

[0043] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0045] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0046] Figure 1 A schematic diagram of a vehicle control system provided in an exemplary embodiment of the present disclosure;

[0047] Figure 2 A schematic diagram of another vehicle control system provided in an exemplary embodiment of the present disclosure;

[0048] Figure 3 A schematic diagram of a tire blowout identification module provided in an exemplary embodiment of the present disclosure;

[0049] Figure 4 A schematic diagram of an obstacle and curve recognition module provided in an exemplary embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram of a tire blowout control module provided in an exemplary embodiment of the present disclosure;

[0051] Figure 6 A schematic diagram of an EPS execution unit provided in an exemplary embodiment of the present disclosure;

[0052] Figure 7 A schematic flow chart of a vehicle control method provided in an exemplary embodiment of the present disclosure;

[0053] Figure 8 A flowchart of another vehicle control method provided in an exemplary embodiment of the present disclosure;

[0054] Fig. 9 It is a structural block diagram of another vehicle control device provided in an exemplary embodiment of the present disclosure;

[0055] Fig.10 It is a schematic diagram of the structure of a controller provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0057] Based on the above problems, the embodiments of the present application provide a vehicle control method, device, storage medium and vehicle. Specifically, the vehicle control method of the embodiments of the present application can be executed by a vehicle or a cloud server. Among them, the vehicle can be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and the present disclosure does not make specific limitations on this. Among them, the cloud server can be an independent physical cloud server, or a cloud server cluster or distributed system composed of multiple physical cloud servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms.

[0058] For example, see Figure 1 , Figure 1 The following is a schematic diagram of a vehicle control system provided in an exemplary embodiment of the present disclosure. The control system may include: at least one of a tire sensor, a camera, and a radar, a controller, and an Electric Power Steering (EPS) system.

[0059] Among them, the tire sensor is a device installed inside or near the car tire (such as on the rim) to monitor the tire pressure in real time. The working principle of the tire sensor is based on pressure sensing technology: when the air pressure inside the tire changes, the sensor can sense this change and convert it into an electrical signal for transmission. These signals are then received and processed by the vehicle's receiving system, and finally displayed on the vehicle's dashboard, or through other means to remind the driver to pay attention to the tire pressure.

[0060] Among them, the tire sensor may include multiple types, for example, the tire sensor may include a high-frequency tire pressure sensor, etc. The high-frequency tire pressure sensor uses a high-frequency signal to measure and monitor the air pressure inside the tire, and converts the measured data into an electrical signal for transmission.

[0061] In the embodiment of the present application, the tire sensor can be used to obtain the tire pressure signal of the vehicle, so that the controller can determine the tire rupture information according to the tire pressure signal. That is, it is determined whether the vehicle has a tire blowout according to the tire pressure signal; if it is determined that a tire blowout has occurred, it is determined as tire rupture information.

[0062] The control system includes at least one of a camera and a radar, which means that the control system includes at least one of a camera and a radar, that is, the control system includes a camera and / or a radar. The number of cameras or radars in the control system is not limited.

[0063] The camera may be installed on the vehicle, for example, the camera may be installed above the front windshield of the vehicle. The camera may be used to collect driving environment information of the vehicle, for example, to capture an image of the environment around the vehicle.

[0064] The radar can be installed on the vehicle, for example, the radar can be installed in the front bumper of the vehicle. The radar can be used to collect the driving environment information of the vehicle, for example, it can detect obstacles around the vehicle.

[0065] Specifically, radar works by transmitting radio waves (usually microwaves) and receiving signals reflected from target objects. The transmitted signal will be reflected when it encounters an object, and the receiver calculates the distance, speed and direction of the object based on the time and frequency changes of the reflected signal.

[0066] Among them, the EPS system is a power steering system that directly relies on the motor to provide auxiliary torque. It is mainly composed of a torque sensor, a vehicle speed sensor, an electric motor (ie, EPS actuator unit), a deceleration mechanism and an electronic control unit (ECU).

[0067] Among them, the electric power steering system can be used to adjust the steering wheel power assistance of the vehicle.

[0068] In an embodiment of the present application, a controller in a control system may be used to obtain tire rupture information; if there is no steering demand for the vehicle, the steering wheel assistance of the vehicle is controlled to be reduced.

[0069] For example, see Figure 2 , Figure 2 This is a schematic diagram of another vehicle control system provided in an exemplary embodiment of the present disclosure. The controller may include: a tire blowout recognition module, an obstacle and curve recognition module, and a tire blowout control module.

[0070] The tire blowout identification module can be used to collect tire pressure signals detected by tire sensors and determine whether a vehicle has a tire blowout based on the tire pressure signals.

[0071] For example, see Figure 3 , Figure 3 The following is a schematic diagram of a tire blowout identification module provided in an exemplary embodiment of the present disclosure, wherein the tire pressure sensor inputs the acquired tire pressure signal into the tire blowout identification module, and the tire blowout identification module performs tire blowout identification based on the tire pressure signal, and outputs information as: whether there is a tire blowout.

[0072] Among them, the obstacle and curve recognition module can identify the driving environment information obtained by the camera and / or radar to determine the situation around the vehicle.

[0073] For example, see Figure 4 , Figure 4 The following is a schematic diagram of an obstacle and curve recognition module provided in an exemplary embodiment of the present disclosure. The camera and radar input the acquired driving environment information into the obstacle and curve recognition module, and the obstacle and curve recognition module recognizes obstacles and curves based on the driving environment information, and outputs the following information: 1. Is there an obstacle ahead? 2. Is there a curve ahead?

[0074] Among them, the tire blowout control module can control the vehicle's steering wheel assistance based on the recognition results of the driving environment information.

[0075] For example, see Figure 5 , Figure 5 The figure is a schematic diagram of a tire blowout control module provided in an exemplary embodiment of the present disclosure. The output information of the tire blowout recognition module and the obstacle and curve recognition module can be input into the tire blowout control module, and the tire blowout control module processes the output information of the tire blowout recognition module and the obstacle and curve recognition module to obtain the output information: 1. Steering wheel assist reduction; 2. Steering wheel assist remains unchanged.

[0076] Among them, the EPS system may include an EPS actuator unit. Specifically, the EPS actuator unit (i.e., the electric motor) plays the role of providing steering assistance in the EPS system. It generates corresponding assistance torque based on the signals from the torque sensor and the vehicle speed sensor and is controlled by the electronic control unit to help the driver turn the steering wheel more easily.

[0077] For example, the EPS execution unit can receive the adjustment instruction sent by the tire blowout control module and adjust the steering wheel power assistance according to the adjustment instruction.

[0078] For example, see Figure 6 , Figure 6 The schematic diagram of an EPS execution unit provided in an exemplary embodiment of the present disclosure is shown in FIG. The output information of the tire blowout control module can be input to the EPS execution unit, and the arbitration module in the EPS execution unit can be used to control the steering wheel assistance.

[0079] Above Figure 1-Figure 6 The example is only an example of a system architecture for implementing the embodiment of the present invention. The embodiment of the present invention is not limited to the above Figure 1-Figure 6 The system structure shown is based on which various embodiments of the present invention are proposed.

[0080] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0081] The present application provides a vehicle control method. Figure 7 , Figure 71 is a flow chart of a vehicle control method provided in an exemplary embodiment of the present disclosure. The specific flow of the vehicle control method may be as follows:

[0082] 101. Obtain tire rupture information.

[0083] In the embodiment of the present application, the tire rupture information is used to indicate that a tire of the vehicle is ruptured.

[0084] The rupture of a vehicle's tire may include the rupture of a tire caused by various reasons during the driving process of the vehicle. For example, the tire rupture information may include: vehicle tire blowout (such as excessive internal tire pressure, tire aging, severe wear, external force impact, etc., which leads to sudden rupture or explosion of the tire), tire slashing (the tire surface is scratched or cut by sharp objects (such as blades, glass fragments, etc.)), etc.

[0085] In some embodiments, the step of “obtaining tire rupture information” may include the following operations:

[0086] Obtain the tire pressure signal of the vehicle;

[0087] According to the tire pressure signal, the tire rupture information is obtained.

[0088] The tire pressure signal is used to indicate the air pressure inside the vehicle tire. The tire pressure signal can be obtained by monitoring the air pressure inside the tire in real time through a tire sensor. The tire sensor can include multiple types, such as a high-frequency tire pressure sensor, etc.

[0089] For example, a high-frequency tire pressure sensor may be installed on the wheel hub of the vehicle. During the driving process of the vehicle, the tire pressure signal of the vehicle may be monitored in real time through the high-frequency tire pressure sensor.

[0090] Wherein, obtaining tire rupture information according to the tire pressure signal may include: when the tire pressure signal indicates that the tire pressure is lower than a first threshold value (such as 50 kPa), the tire pressure signal at this time may be used as the tire rupture information.

[0091] The first threshold value may be used to determine whether a rupture occurs in the tire. If the tire pressure is lower than the first threshold value, it indicates that a rupture occurs; if the tire pressure is not lower than the first threshold value, it indicates that a rupture does not occur.

[0092] For example, during vehicle driving, the tire pressure signals of each tire of the vehicle are monitored in real time. If the tire pressure is detected to be less than a first threshold, it can be determined that the tire is ruptured, and the current tire pressure signal is used as tire rupture information.

[0093] In some embodiments, the step of “obtaining tire rupture information” may include the following operations:

[0094] Obtaining change information of the vehicle's tire pressure signal;

[0095] The tire rupture information is obtained based on the change information of the tire pressure signal.

[0096] The tire pressure signal change information may include the air pressure change inside the vehicle tire.

[0097] Among them, obtaining tire rupture information based on the change information of the tire pressure signal may include: when the tire pressure signal drops by more than a certain value within a certain period of time (for example, drops from 250kpa to 150kpa within 50ms), the change information of the tire pressure signal may be used as tire rupture information.

[0098] For example, during vehicle driving, the changes in the tire pressure signals of each tire of the vehicle are monitored in real time. If the tire pressure is detected to drop by more than a certain value within a certain period of time, it can be determined that the tire is ruptured, thereby obtaining tire rupture information.

[0099] In some embodiments, the method may further include the following steps:

[0100] Determine if there is a need to steer the vehicle.

[0101] Among them, the steering demand refers to the demand for adjusting the driving direction of the vehicle during the driving process.

[0102] In some embodiments, in order to accurately determine whether the vehicle has a turning demand, the step of “determining whether the vehicle has a turning demand” may include the following operations:

[0103] Obtaining vehicle driving environment information;

[0104] Determine whether the vehicle needs to turn based on driving environment information.

[0105] The vehicle driving environment information refers to the environment information around the vehicle during the vehicle driving process, for example, it may include: the road information of the vehicle driving, objects around the vehicle, etc.

[0106] The driving environment information may be acquired through a camera and / or radar installed on the vehicle.

[0107] In some embodiments, since the environmental information in front of the vehicle has a greater impact on the driving of the vehicle, the driving environment information may be the environmental information in front of the vehicle.

[0108] In some embodiments, in order to accurately determine whether there is a turning demand during the vehicle's driving process, the step of "determining whether the vehicle has a turning demand based on driving environment information" may include the following operations:

[0109] Based on the driving environment information, identifying whether there is a steering trigger object in front of the vehicle;

[0110] If a steering trigger object is identified in front of the vehicle, it is determined that the vehicle has a steering demand;

[0111] Otherwise, it is determined that there is no steering demand for the vehicle.

[0112] The turning trigger object refers to an object that triggers the vehicle's driving direction to be adjusted. The turning trigger object may include multiple objects, such as obstacles, curves, traffic signs, and the like.

[0113] Among them, obstacles refer to objects that affect the vehicle's continued forward movement. For example, obstacles may include: people, other vehicles, buildings, etc.

[0114] Here, a curve refers to a non-straight road, such as a T-junction, an intersection, a curved road, etc.

[0115] Traffic signs refer to signs in traffic signs that indicate vehicles to travel in a specified direction or location, such as right turn signs, left turn signs, and U-turn signs.

[0116] In the embodiment of the present application, it is possible to determine whether there is a turning trigger object in front of the vehicle through the driving environment information, and then determine whether the vehicle has a turning demand.

[0117] For example, if it is determined through driving environment information that there is a turning trigger object in front of the vehicle, it can be determined that the vehicle has a turning demand.

[0118] For another example, if it is determined through the driving environment information that there is no turning trigger object in front of the vehicle, it can be determined that the vehicle has no turning demand.

[0119] In some embodiments, turn triggering objects may include obstacles and / or curves.

[0120] In some embodiments, in order to accurately determine whether there is a turn triggering object in front of the vehicle, the step of “identifying whether there is a turn triggering object in front of the vehicle based on the driving environment information” may include the following operations:

[0121] Based on the driving environment information, identify whether there is an obstacle in front of the vehicle;

[0122] If it is recognized that there is no obstacle in front of the vehicle, it is recognized whether there is a curve in front of the vehicle based on the driving environment information.

[0123] In an embodiment of the present application, different levels of importance of steering impact can be set for different steering trigger objects. When determining whether there is a steering trigger object in front of the vehicle based on driving environment information, different steering trigger objects can be identified in sequence according to their importance levels.

[0124] For example, the steering trigger object may include obstacles and curves. Since the importance of obstacles to vehicle steering is higher than that of curves, the importance level of obstacles can be set higher than that of curves.

[0125] Furthermore, when determining whether there is a steering trigger object in front of the vehicle based on the driving environment information, it is possible to first identify whether there is an obstacle in front of the vehicle based on the driving environment information; if it is identified that there is no obstacle in front of the vehicle, it is further possible to identify whether there is a curve in front of the vehicle based on the driving environment information.

[0126] Among them, if an obstacle is identified in front of the vehicle, which means that there is a steering trigger in front of the vehicle, it can be determined that the vehicle has a steering demand without further identifying whether there is a curve.

[0127] Among them, if it is recognized that there is a curve in front of the vehicle, which means that there is a turning trigger in front of the vehicle, it can be determined that the vehicle has a turning demand.

[0128] In some embodiments, the driving environment information may include first driving environment information acquired by a first detection device of the vehicle. In order to accurately identify whether there is an obstacle in front of the vehicle, the step of “identifying whether there is a steering trigger object in front of the vehicle based on the driving environment information” may include the following operations:

[0129] Based on the first driving environment information, it is identified whether there is an obstacle in front of the vehicle.

[0130] Among them, the first detection device may include a radar; the first driving environment information may include reflected signals of surrounding objects received by the radar. For example, the radar can detect objects by emitting radio waves and receiving reflected signals, and can measure the distance, speed and direction of the object.

[0131] In some embodiments, identifying whether there is an obstacle in front of the vehicle based on the first driving environment information may include: identifying whether there is an obstacle in front of the vehicle based on a reflected signal received by a radar.

[0132] In some embodiments, the driving environment information may further include second driving environment information acquired by a second detection device of the vehicle. In order to accurately identify whether there is a curve in front of the vehicle, the step of “identifying whether there is a steering trigger object in front of the vehicle based on the driving environment information” may include the following operations:

[0133] Based on the second driving environment information, it is identified whether there is a curve ahead of the vehicle.

[0134] The second detection device may include a camera, and the second environment driving information may include a surrounding environment image collected by the camera.

[0135] In some embodiments, based on the second driving environment information, identifying whether there is a curve ahead of the vehicle may include: detecting a target (which may include a curve) in the surrounding environment image to determine whether there is a curve ahead of the vehicle. For example, an intelligent algorithm (such as a deep learning model) may be used to detect potential targets (such as curves, etc.) in the surrounding environment image. These algorithms are usually trained extensively and can recognize objects of various shapes, sizes, and colors.

[0136] 102. If there is no steering demand for the vehicle, the steering wheel power assistance of the vehicle is controlled to be reduced.

[0137] Among them, steering wheel power assistance can be used to reduce the force required by the driver to turn the steering wheel during driving. Steering wheel power assistance can concentrate or optimize the force applied to the steering wheel through specific physical mechanisms or electronic systems, thereby optimizing the control experience.

[0138] Among them, the steering wheel power assist may include multiple categories, for example, the steering wheel power assist may include an electric power steering system.

[0139] Among them, the electric power steering system assists the driver in steering by using the power generated by the motor. The EPS system usually includes components such as a torque sensor, an electronic control unit, a motor, and a reducer. When the driver turns the steering wheel, the torque sensor detects the steering torque and steering direction and sends these signals to the ECU. The ECU controls the output of the motor based on the received signal, thereby generating corresponding torque to assist the driver in steering.

[0140] Among them, the unit of steering wheel power assistance is usually expressed in "Newton·meter" (N·m). This is a unit of torque measurement, where Newton (N) is the unit of force and meter (m) is the unit of distance. In the context of steering wheel power assistance, it represents the relationship between the force acting on the steering wheel and the rotational effect it produces. Specifically, when the steering wheel is subjected to a certain amount of force, it will generate a rotational torque, and the size of this torque determines the difficulty of turning the steering wheel. The role of the power assistance system is to increase this torque so that the driver can turn the steering wheel more easily.

[0141] For example, in an electronic power steering (EPS) system, the power motor provides different magnitudes of power torque based on vehicle speed, steering wheel angle, driver input, etc. The magnitude of this torque is usually quantified in N·m, and the strength of the power can be changed by adjusting the system parameters.

[0142] Among them, if it is determined based on the driving environment information that the vehicle has no steering demand, then it is unreasonable for the driver to turn at this time. It is very likely that the driver is nervous and operates incorrectly. In this case, the steering wheel assistance needs to be reduced, which will manifest as the steering wheel becoming heavier and heavier, so as to avoid the driver turning too sharply and causing the vehicle to deviate.

[0143] In some embodiments, the method may further include the following steps:

[0144] If the vehicle needs to turn, the steering wheel power assistance of the vehicle remains unchanged.

[0145] If it is determined based on the driving environment information that the vehicle has a steering demand, then it is reasonable for the driver to steer at this time, and there is no need to reduce the steering wheel assist, and the vehicle's steering wheel assist can be kept unchanged. In some embodiments, in order to accurately control the magnitude of the reduction in steering wheel assist, the step of "controlling the vehicle's steering wheel assist to reduce" may include the following operations:

[0146] Obtaining the driving parameters of the vehicle;

[0147] Determine the power assist adjustment parameters of the vehicle according to the driving parameters;

[0148] The vehicle's steering wheel power assistance is reduced based on the power assistance adjustment parameters.

[0149] The driving parameters of a vehicle refer to numerical indicators involved in the vehicle's driving process. For example, the driving parameters may include driving speed, etc.

[0150] In some embodiments, the step of “determining the power assistance adjustment parameter of the vehicle according to the driving parameter” may include the following operations:

[0151] According to the driving parameters, the target steering wheel assistance that the vehicle needs to reduce is calculated.

[0152] Among them, the target steering wheel assist refers to the steering wheel assist that currently needs to be reduced.

[0153] In some embodiments, the driving parameters may include the driving speed, and the power assistance adjustment parameter of the vehicle is calculated according to the driving parameters, which may be calculated according to the following formula:

[0154] K = V x + b;

[0155] Among them, V is the current vehicle speed, x is the calibration coefficient, b is the constant parameter, and K is the target steering wheel assistance.

[0156] The calibration coefficient x refers to a parameter used in the vehicle system to assist in calculating the steering wheel assist, and the calibration coefficient x can be set before the vehicle leaves the factory.

[0157] The value of the calibration coefficient x can be determined according to different vehicle types and vehicle speeds during driving. For example, the calibration coefficients corresponding to different vehicles may be different, and the calibration coefficients of the same vehicle at different driving speeds may be different, etc.

[0158] In an embodiment of the present application, the calculated target steering wheel assist K can be used as an assist adjustment parameter. Reducing the steering wheel assist of the vehicle based on the assist adjustment parameter can include: subtracting the target steering wheel assist from the steering wheel assist of the vehicle to obtain an adjusted steering wheel assist.

[0159] The embodiment of the present application discloses a vehicle control method, which includes: obtaining tire rupture information; if the vehicle does not have a steering demand, controlling the vehicle's steering wheel power to be reduced. In this way, the vehicle's steering wheel power can be accurately controlled according to the vehicle's steering demand, which can reduce the driver's misoperation and improve vehicle stability.

[0160] Based on the above introduction, the vehicle control method of the present application will be further illustrated by giving examples below.

[0161] For example, see Figure 8 , Figure 8 This is a flow chart of another vehicle control method provided in an exemplary embodiment of the present disclosure. Take the vehicle control method applied to the control of a vehicle tire blowout as an example. The specific process may be as follows:

[0162] First, identify whether the vehicle has a tire blowout;

[0163] If the vehicle has a tire blowout, the obstacle recognition in the environment in front of the vehicle will be performed;

[0164] If an obstacle is detected, the vehicle's steering request is determined to be reasonable;

[0165] If it is detected that there is no obstacle, the vehicle will be identified as a curve in front of it.

[0166] If a curve is detected, the vehicle's steering request is determined to be reasonable;

[0167] If it is recognized that there is no curve, it is determined that no steering request is required;

[0168] Among them, if the vehicle's steering request is reasonable, the steering wheel assist is controlled to remain unchanged; if the vehicle does not require a steering request, the steering wheel assist is controlled to be reduced, and the steering wheel assist is adjusted through EPS.

[0169] Based on the vehicle having cameras and radars, the embodiments of the present application can accurately determine whether there are obstacles and curves ahead when the vehicle has a flat tire. If there are obstacles or curves, the driver's steering at this time is reasonable, and the flat tire control module does not need to reduce the steering wheel power assistance; if there are no obstacles or curves ahead when the tire blows, the driver's steering at this time is unreasonable, and it is highly likely caused by nervous misoperation, so the flat tire control module needs to reduce the steering wheel power assistance at this time, which is manifested as the steering wheel becoming heavier and heavier. At this time, it is difficult for the user to use faster and larger inputs to turn, avoiding instability caused by fierce steering when the tire blows. In order to facilitate better implementation of the vehicle control method provided in the exemplary embodiment of the present disclosure, the embodiments of the present application also provide a vehicle control device based on the above vehicle control method. The meaning of the nouns is the same as in the above vehicle control method, and the specific implementation details can refer to the description in the method embodiment.

[0170] See also Fig. 9 , Fig. 9 This is a structural block diagram of a vehicle control device provided in an exemplary embodiment of the present disclosure, the device comprising:

[0171] An acquisition unit 301 is used to acquire tire rupture information;

[0172] The first control unit 302 is configured to control the steering wheel power assistance of the vehicle to be reduced when it is determined that there is no steering demand for the vehicle.

[0173] In some embodiments, the apparatus may further include:

[0174] A first acquisition subunit, used to acquire the driving environment information of the vehicle;

[0175] The first determining subunit is used to determine whether the vehicle has a turning demand according to the driving environment information.

[0176] In some embodiments, the first determining subunit may be specifically used for:

[0177] Based on the driving environment information, identifying whether there is a steering trigger object in front of the vehicle;

[0178] If it is identified that there is a turning trigger object in front of the vehicle, it is determined that the vehicle has a turning demand;

[0179] Otherwise, it is determined that there is no steering demand for the vehicle.

[0180] In some embodiments, the driving environment information includes first driving environment information acquired by a first detection device of the vehicle;

[0181] The first determining subunit may also be specifically used for:

[0182] Based on the first driving environment information, it is identified whether there is an obstacle in front of the vehicle.

[0183] In some embodiments, the driving environment information further includes second driving environment information acquired by a second detection device of the vehicle;

[0184] The first determining subunit may also be specifically used for:

[0185] Based on the second driving environment information, it is identified whether there is a curve ahead of the vehicle.

[0186] In some embodiments, the apparatus may further include:

[0187] The second control unit is used to keep the steering wheel power assistance of the vehicle unchanged when it is determined that the vehicle has a steering demand.

[0188] In some embodiments, the first control unit 302 may include:

[0189] A second acquisition subunit, used to acquire the driving parameters of the vehicle;

[0190] A second determination subunit, configured to determine a power assistance adjustment parameter of the vehicle according to the driving parameter;

[0191] The reducing subunit is used to reduce the steering wheel power assistance of the vehicle based on the power assistance adjustment parameter.

[0192] In some embodiments, the reduction subunit may be specifically used to:

[0193] A target steering wheel assist force that needs to be reduced for the vehicle is calculated according to the driving parameters.

[0194] In some embodiments, the acquisition unit 301 may include:

[0195] A third acquisition subunit, used to acquire change information of a tire pressure signal of the vehicle;

[0196] The third determining subunit is used to obtain the tire rupture information according to the change information of the tire pressure signal.

[0197] In some embodiments, the acquisition unit 301 may include:

[0198] a fourth acquisition subunit, configured to acquire a tire pressure signal of the vehicle;

[0199] The fourth determining subunit is used to obtain the tire rupture information according to the tire pressure signal.

[0200] The embodiment of the present application discloses a vehicle control device, which is used to obtain tire rupture information through an acquisition unit 301; and a first control unit 302 is used to control the steering wheel power of the vehicle to reduce when it is determined that there is no steering demand for the vehicle. In this way, the steering wheel power of the vehicle is accurately controlled according to the steering demand of the vehicle, which can reduce the driver's misoperation and improve the stability of the vehicle.

[0201] The embodiment of the present application also provides a computer-readable storage medium, on which a plurality of computer program instructions are stored, and the computer program can be loaded by a processor to execute the steps in any vehicle control method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0202] Get tire rupture information;

[0203] If there is no steering demand for the vehicle, the steering wheel power assistance of the vehicle is controlled to be reduced.

[0204] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take 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.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of the methods, 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 device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.

[0206] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing 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.

[0208] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0209] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0210] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated communication signals and carrier waves.

[0211] Accordingly, the present application also provides a controller. Fig.10 As shown, Fig.10600 includes a processor 601 having one or more processing cores, a memory 602 having one or more computer-readable storage media, and a computer program stored in the memory 602 and executable on the processor. The processor 601 is electrically connected to the memory 602. Those skilled in the art will appreciate that Fig.10 The controller structure shown in the figure does not constitute a limitation on the controller, and may include Fig.10 More or fewer components, or combinations of certain components, or different arrangements of components may be shown.

[0212] Processor 601 is the control center of controller 600. It uses various interfaces and lines to connect various parts of the entire controller 600, executes various functions of controller 600 and processes data by running or loading software programs and / or modules stored in memory 602, and calling data stored in memory 602, thereby monitoring controller 600 as a whole.

[0213] In the embodiment of the present application, the processor 601 in the controller 600 loads instructions corresponding to the processes of one or more application programs into the memory 602 according to the following steps, and the processor 601 runs the application programs stored in the memory 602, thereby realizing various functions:

[0214] Get tire rupture information;

[0215] If there is no steering demand for the vehicle, the steering wheel power assistance of the vehicle is controlled to be reduced.

[0216] The embodiment of the present application obtains tire rupture information; if the vehicle does not have a steering demand, the steering wheel power of the vehicle is controlled to be reduced. In this way, the steering wheel power of the vehicle is accurately controlled according to the steering demand of the vehicle, which can reduce the driver's misoperation and improve the vehicle stability.

[0217] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0218] Optional, such as Fig.10 As shown, the controller 600 may further include: a display 603 and an input unit 604. The processor 601 is electrically connected to the display 603 and the input unit 604 respectively. Those skilled in the art will appreciate that Fig.10 The controller structure shown in the figure does not constitute a limitation of the controller, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0219] The display 603 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The display 603 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the controller, which can be composed of graphics, guide information, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect the user's touch operations on or near it (such as the user's operation on the touch panel or near the touch panel using any suitable object or accessory such as a finger, stylus, etc.), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller.

[0220] Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 601, and can receive the command sent by the processor 601 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 601 to determine the type of touch event, and then the processor 601 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the display 603 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the display 603 can also be used as a part of the input unit 604 to realize the input function.

[0221] The input unit 604 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0222] In some embodiments, the controller may further include a radio frequency circuit, which may be used to send and receive radio frequency signals to establish wireless communication with a network device or other controllers through wireless communication, and to send and receive signals with the network device or other controllers.

[0223] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0224] As can be seen from the above, the controller provided in this embodiment can obtain tire rupture information; if the vehicle does not have a steering demand, the steering wheel assistance of the vehicle is controlled to be reduced.

[0225] An embodiment of the present application also provides a vehicle, which includes a controller, and the controller is used to execute the steps of any vehicle control method provided in the embodiment of the present application.

[0226] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0227] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0228] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0229] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0230] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Get tire rupture information; Acquiring driving environment information of the vehicle; determining whether the vehicle has a steering demand according to the driving environment information; If there is no steering demand for the vehicle, the steering wheel power assistance of the vehicle is controlled to be reduced.

2. The method according to claim 1, characterized in that The determining whether the vehicle has a steering demand according to the driving environment information includes: Based on the driving environment information, identifying whether there is a steering trigger object in front of the vehicle; If it is identified that there is a turning trigger object in front of the vehicle, it is determined that the vehicle has a turning demand; Otherwise, it is determined that there is no steering demand for the vehicle.

3. The method according to claim 2, characterized in that The turning trigger object includes obstacles and / or curves.

4. The method according to claim 2, characterized in that: The driving environment information includes first driving environment information acquired by a first detection device of the vehicle; The identifying, based on the driving environment information, whether there is a steering trigger object in front of the vehicle includes: Based on the first driving environment information, it is identified whether there is an obstacle in front of the vehicle.

5. The method according to claim 2, characterized in that: The driving environment information also includes second driving environment information acquired by a second detection device of the vehicle; The identifying, based on the driving environment information, whether there is a steering trigger object in front of the vehicle includes: Based on the second driving environment information, it is identified whether there is a curve ahead of the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: If the vehicle has a steering demand, the steering wheel power assistance of the vehicle is kept unchanged.

7. The method according to claim 1, characterized in that The controlling the steering wheel power assistance of the vehicle to be reduced comprises: Acquiring driving parameters of the vehicle; Determining a power assistance adjustment parameter of the vehicle according to the driving parameter; The steering wheel power assistance of the vehicle is reduced based on the power assistance adjustment parameter.

8. The method according to claim 7, characterized in that The step of determining the power assistance adjustment parameter of the vehicle according to the driving parameter comprises: A target steering wheel assist force that needs to be reduced for the vehicle is calculated according to the driving parameters.

9. The method according to claim 1, characterized in that: The step of obtaining tire rupture information comprises: Acquiring a tire pressure signal of the vehicle; The tire rupture information is obtained according to the tire pressure signal.

10. The method according to claim 1, characterized in that The step of obtaining tire rupture information comprises: Acquiring change information of a tire pressure signal of the vehicle; The tire rupture information is obtained according to the change information of the tire pressure signal.

11. A vehicle control device, characterized in that: The device comprises: An acquisition unit, used for acquiring tire rupture information; A first acquisition subunit, used to acquire the driving environment information of the vehicle; A first determining subunit, configured to determine whether the vehicle has a steering demand according to the driving environment information; The first control unit is used to control the steering wheel power assistance of the vehicle to reduce when it is determined that there is no steering demand for the vehicle.

12. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed on a processor, the method according to any one of claims 1 to 10 is implemented.

13. A controller applied to a vehicle, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1 to 10 is implemented.

14. A vehicle, characterized in that: A controller is included, wherein the controller is used to perform the steps of the method according to any one of claims 1 to 10.

15. A computer program product, characterized in that The method comprises a computer program or an instruction, which implements the method according to any one of claims 1 to 10 when executed by a processor.

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