Vehicle tire burst control method, system, vehicle, control device, and storage medium

Abstract

The application discloses a vehicle tire burst control method, system, vehicle, control device and storage medium, and relates to the technical field of vehicle safety control. The method mainly comprises the following steps: determining a tire burst wheel position according to a vehicle tire burst signal, and identifying a driving scene according to vehicle state information; if the driving scene is identified as a straight-line driving scene, acquiring a tire braking force pressure according to the tire burst wheel position, calculating a yaw torque compensation value according to the tire braking force pressure, adjusting a rear wheel steering angle, shifting driving torque based on the tire burst wheel position, and adjusting a vehicle body posture based on the tire burst wheel position; and if the driving scene is identified as a curve driving scene, controlling a change of the rear wheel steering angle based on the tire burst wheel position to adjust the yaw torque, shifting the driving torque based on the tire burst wheel position, and adjusting the vehicle body posture based on the tire burst wheel position. The vehicle tire burst control scheme provided by the application can provide a safer driving experience for users and improve the driving experience and satisfaction of the users.

Description

Technical Field

[0001] This application relates to the field of vehicle safety control technology, and in particular to a method, system, vehicle, control device and storage medium for controlling tire blowout. Background Technology

[0002] Tire blowouts are one of the most frequent problems affecting vehicle operation, with an estimated occurrence rate of approximately once every 1,500,000 kilometers. The main causes of tire blowouts include hitting stones, manhole covers, scraping against road shoulders, punctures, and road impacts. In ordinary vehicles, due to the low transmission frequency of tire pressure sensors, a low tire pressure warning is typically only issued about 4 seconds after a blowout. Furthermore, most passenger cars do not make special adjustments for tire blowout situations, easily leading to vehicle accidents. Summary of the Invention

[0003] To overcome the above-mentioned defects, the vehicle tire blowout control method, system, vehicle, control device and storage medium proposed in this application can solve the technical problem of vehicle body instability after a tire blowout.

[0004] In a first aspect, this application provides a method for controlling tire blowout in vehicles, the method comprising:

[0005] In response to a vehicle tire blowout signal, the location of the blowout tire is determined based on the vehicle tire blowout signal;

[0006] Obtain the current vehicle status information and identify the driving scenario based on the vehicle status information;

[0007] If the scenario is identified as a straight driving scenario, the tire braking pressure is obtained based on the location of the blown tire, the yaw torque compensation value is calculated based on the tire braking pressure, the rear wheel steering is adjusted based on the yaw torque compensation value, the drive torque is transferred based on the location of the blown tire, and the vehicle body posture is adjusted based on the location of the blown tire.

[0008] If the scenario is identified as a curve, the rear wheel steering angle is changed based on the location of the blown tire to adjust the yaw torque, the drive torque is transferred based on the location of the blown tire, and the vehicle body posture is adjusted based on the location of the blown tire.

[0009] In some implementations, the vehicle tire blowout control method further includes: in response to the vehicle tire blowout signal, switching the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0010] Furthermore, the step of switching the steering wheel control mode from normal driving mode to tire blowout control mode in response to the vehicle tire blowout signal includes: adjusting the value of the steering wheel damping coefficient from a first preset value to a second preset value in response to the vehicle tire blowout signal, and calculating the damping torque of the steering wheel based on the value of the damping coefficient; wherein the first preset value is a value within a preset range corresponding to the normal driving mode, and the second preset value is a value within a preset range corresponding to the tire blowout control mode.

[0011] Furthermore, the vehicle status information includes at least vehicle speed, deceleration, lateral acceleration, and steering wheel angle.

[0012] In some implementation schemes, identifying the driving scenario based on the vehicle status information includes:

[0013] If the vehicle speed exceeds a preset speed, the deceleration exceeds a preset deceleration, the lateral acceleration does not exceed a preset acceleration, and the steering wheel angle does not exceed a preset steering value, then it is identified as a straight driving scenario.

[0014] If the vehicle speed exceeds the preset speed and the lateral acceleration exceeds the preset acceleration, or if the vehicle speed exceeds the preset speed and the steering wheel angle exceeds the preset steering value, then it is identified as a curve driving scenario.

[0015] In some implementations, obtaining the tire braking pressure based on the location of the blown tire and calculating the yaw torque compensation value based on the tire braking pressure includes:

[0016] If the blowout is determined to be a tire on the front or rear axle based on the location of the blowout, the tire braking pressure of the left and right wheels of the front or rear axle is obtained, the longitudinal force of the left and right wheels of the front or rear axle is calculated based on the tire braking pressure of the left and right wheels of the front or rear axle, and the yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right wheels of the front or rear axle.

[0017] If the location of the blowout tire indicates that a tire on the front axle or rear axle has blown out, the tire braking pressure of all four tires of the vehicle is obtained. The longitudinal force of the left and right front axle tires is calculated based on the tire braking pressure of the left and right front axle tires, and the longitudinal force of the left and right rear axle tires is calculated based on the tire braking pressure of the left and right rear axle tires. The yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right front axle tires and the difference between the longitudinal forces of the left and right rear axle tires.

[0018] In some implementations, adjusting the rear wheel steering based on the yaw torque compensation value includes: obtaining the rear wheel steering angle corresponding to the yaw torque compensation value according to a pre-set correspondence between yaw torque and rear wheel steering angle, and adjusting the rear wheel steering of the vehicle based on the rear wheel steering angle.

[0019] In some implementations, the step of controlling the change of the rear wheel steering angle based on the location of the blown tire to adjust the yaw torque includes:

[0020] If the location of the blowout tire indicates that a tire on the front axle has blown out, the steering angle of the rear wheels is reduced to decrease the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

[0021] If the location of the blowout tire indicates that a tire on the rear axle has blown out, the rear wheel steering angle is increased to increase the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

[0022] In some implementations, the drive torque based on the position transfer of the blown tire includes:

[0023] If the location of the blowout tire indicates that a tire on the front axle has blown out, the drive torque will be transferred to the rear axle.

[0024] If the location of the blowout tire indicates that a tire on the rear axle has blown out, the drive torque will be transferred to the front axle.

[0025] In some implementations, adjusting the vehicle posture based on the location of the blown tire includes: determining the non-blown tire based on the location of the blown tire, and adjusting the tire load of the non-blown tire to a target load to adjust the suspension height of the non-blown tire.

[0026] Furthermore, for the aforementioned cornering driving scenario, the adjustment of vehicle posture based on the location of the blown tire also includes:

[0027] If the location of the blowout tire indicates that a tire on the front axle has blown out, the roll torque will be distributed to the rear axle.

[0028] If the location of the blowout tire indicates that a tire on the rear axle has blown out, the roll torque will be distributed to the front axle.

[0029] In a second aspect, this application provides a vehicle tire blowout control system, comprising: a fusion control system integrated in the vehicle's domain controller, and a power drive system, a rear-wheel steering system, and a fully active suspension system communicatively connected to the domain controller;

[0030] The fusion control system is configured to: respond to a tire blowout signal, determine the location of the blown tire based on the tire blowout signal, acquire current vehicle status information, and identify the driving scenario based on the vehicle status information; if the scenario is identified as a straight driving scenario, acquire the tire braking pressure based on the location of the blown tire, calculate the yaw torque compensation value based on the tire braking pressure, control the rear wheel steering system to adjust the rear wheel steering based on the yaw torque compensation value, control the power drive system to transfer the drive torque based on the location of the blown tire, and control the fully active suspension system to adjust the vehicle posture based on the location of the blown tire; if the scenario is identified as a curve, control the rear wheel steering system to change the rear wheel steering angle to adjust the yaw torque based on the location of the blown tire, control the power drive system to transfer the drive torque based on the location of the blown tire, and control the fully active suspension system to adjust the vehicle posture based on the location of the blown tire.

[0031] In some implementations, the vehicle tire blowout control system further includes a steer-by-wire system communicatively connected to the domain controller;

[0032] The steer-by-wire system is configured to: in response to the vehicle tire blowout signal, switch the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0033] In a third aspect, this application provides a control device including a processor and a storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to execute the vehicle tire blowout control method described in any of the above-described technical solutions.

[0034] In a fourth aspect, this application provides a vehicle including the aforementioned vehicle tire blowout control system or control device.

[0035] In a fifth aspect, this application provides a computer-readable storage medium storing a plurality of program codes adapted to be loaded and run by a processor to perform the vehicle tire blowout control method described in any of the above-described technical solutions.

[0036] The above-described technical solutions of this application have at least one or more of the following beneficial effects:

[0037] In implementing the technical solution of this application, in response to a tire blowout signal, different tire blowout control strategies can be determined based on scenario recognition. Then, based on the control strategy, rear wheel steering adjustment, drive torque conversion, vehicle posture balance, and hand force compensation are performed, achieving vehicle stability control that is more in line with actual application needs. For tire blowout conditions, it can provide users with a safer driving experience and improve users' vehicle experience and satisfaction. Attached Figure Description

[0038] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Wherein:

[0039] Figure 1 This is a schematic diagram illustrating an application scenario of the vehicle tire blowout control method according to an embodiment of this application;

[0040] Figure 2 This is a schematic flowchart of the main steps of a vehicle tire blowout control method according to an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of a vehicle architecture configured with a tire blowout control method according to an embodiment of this application. Detailed Implementation

[0042] Some embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application.

[0043] In the description of this application, "module," "system," "unit," and "processor" can include hardware, software, or a combination of both. A module, system, or unit can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media includes any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0044] Currently, most drivers do not slam on the brakes or jerk the steering wheel after a tire blowout. At low to medium speeds, drivers may still need to apply the accelerator, apply light braking, and make steering corrections to maintain speed. Braking and significant steering corrections will only begin as the vehicle approaches a stop. At medium to high speeds, drivers typically apply gradually increasing braking force after a blowout and bring the vehicle to a smooth stop by making minor steering wheel adjustments. Some drivers may exhibit abnormal / stressful behaviors after a tire blowout, specifically:

[0045] 1. If a tire blows out on a high-speed straight road and the brakes are applied suddenly, the ABS function may be activated. After the ABS is activated, the vehicle's ability to maintain lane position is reduced due to the distribution of braking force, and the vehicle may veer off course.

[0046] 2. After a tire blowout on a high-speed curve, the vehicle may oversteer or understeer due to changes in the lateral force on the tire, resulting in poorer tracking.

[0047] 3. After a tire blowout, the rolling radius of the wheel decreases, making the vehicle's posture less stable and easily causing panic among drivers.

[0048] Based on the current status of tire blowout warning and tire blowout control strategies in the industry, as well as the development of sensor sampling and transmission and chassis domain control technologies, this application provides a vehicle tire blowout control scheme that rapidly transmits tire pressure sensor data to a fusion control system when a tire blowout occurs, and then the fusion control system performs yaw torque control, vehicle posture balance, and manual force compensation based on scene recognition.

[0049] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this application. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0050] like Figure 1The diagram illustrates an application scenario of this application. This scenario includes a sensing module, a control module, an execution module, and a warning module. The sensing module primarily detects tire pressure at the front left wheel, front right wheel, rear left wheel, and rear right wheel of the vehicle. The tire pressure detection signal is transmitted to the control module via a receiver. When a tire blowout is detected based on the tire pressure detection signal, the vehicle's tire blowout control system is triggered. This mainly includes identifying the driving scenario based on the tire blowout signal and interacting with the execution module and / or the warning module according to the blowout control strategy corresponding to different driving scenarios. It should be understood that the warning module can be a human-machine interface component in the vehicle's cabin, and the execution module can be any existing major system components in the vehicle, such as the rear-wheel steering system, power drive system, fully active suspension system, and steer-by-wire system. The aforementioned systems mentioned in this application embodiment should be understood to include both the vehicle's hardware and the functional software in the controller. In this application scenario, the execution module enables control of rear-wheel steering, four-wheel drive, fully active suspension, and steer-by-wire, while the warning module provides human-machine prompts based on its functional components.

[0051] See appendix Figure 2 , Figure 2 This is a schematic flowchart illustrating the main steps of a vehicle tire blowout control method according to an embodiment of this application. Figure 1 As shown, the vehicle tire blowout control method provided in this application mainly includes the following steps S11 to S14.

[0052] Step S11: In response to a vehicle tire blowout signal, determine the location of the blowout tire based on the vehicle tire blowout signal;

[0053] In this embodiment, the tire blowout signal can be obtained based on the vehicle's tire pressure sensor. This blowout signal includes, but is not limited to, the tire pressure value at the time of the blowout and a blowout marker. The blowout marker can be used to identify the specific tire that experienced the blowout; that is, the location of the blowout tire can be determined based on the blowout marker. For example, when the tire pressure sensor used to detect the left front tire of the vehicle detects a blowout, it will send a blowout signal to the domain controller.

[0054] Step S12: Obtain the current vehicle status information, identify the driving scenario based on the vehicle status information, and if the scenario is identified as a straight driving scenario, proceed to step S13; if the scenario is identified as a curved driving scenario, proceed to step S14.

[0055] The vehicle status information in this embodiment includes at least vehicle speed, deceleration, lateral acceleration (Ay), and steering wheel angle (SWA). It is understood that the vehicle status information may also include other vehicle parameters, such as wheel track. The vehicle status information in this embodiment can be obtained directly from the various existing components of the vehicle or calculated.

[0056] In some implementations, identifying the driving scenario based on the vehicle status information in this step may include:

[0057] If the vehicle status information simultaneously satisfies the following conditions: vehicle speed exceeds preset speed, deceleration exceeds preset deceleration, lateral acceleration does not exceed preset acceleration, and steering wheel angle does not exceed preset steering value, then it is identified as a straight driving scenario.

[0058] If the vehicle status information simultaneously satisfies that the vehicle speed exceeds a preset speed and the lateral acceleration exceeds a preset acceleration, or simultaneously satisfies that the vehicle speed exceeds a preset speed and the steering wheel angle exceeds a preset steering value, then it is identified as a curve driving scenario.

[0059] In this embodiment, the preset vehicle speed, preset deceleration, preset acceleration, and preset steering value can be customized according to actual needs.

[0060] Furthermore, the vehicle state information in this embodiment may also include a stability control state, which can be directly obtained from the vehicle's braking system. The stability control state is divided into an active state and an inactive state. The active state is used to characterize the tire blowout control in the straight-line driving scenario of this application, which is not allowed to be triggered. For example, when the straight-line driving scenario is identified, if the stability control state is active, step S13 will not be triggered. If the stability control state is inactive, step S13 will be triggered.

[0061] Step S13: Obtain tire braking pressure based on the location of the blown tire, calculate yaw torque compensation value based on the tire braking pressure, adjust rear wheel steering based on the yaw torque compensation value, transfer drive torque based on the location of the blown tire, and adjust vehicle body posture based on the location of the blown tire.

[0062] In some implementations, obtaining the tire braking pressure based on the location of the blown tire and calculating the yaw torque compensation value based on the tire braking pressure may include:

[0063] If the blowout is determined to be a tire on the front or rear axle based on the location of the blowout, the tire braking pressure of the left and right wheels of the front or rear axle is obtained. The longitudinal force of the left and right wheels of the front or rear axle is calculated based on the tire braking pressure of the left and right wheels of the front or rear axle. The yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right wheels of the front or rear axle.

[0064] If the blowout location indicates that a tire on either the front or rear axle has blown out, the braking pressures of all four tires are obtained. The longitudinal forces on the left and right front axle tires are calculated based on their braking pressures, and the longitudinal forces on the left and right rear axle tires are calculated based on their braking pressures. The yaw torque compensation value is then calculated based on the difference between the longitudinal forces on the left and right front and rear axle tires. It should be understood that, based on existing technology, the yaw torque can be calculated using the difference in longitudinal forces and the wheelbase.

[0065] In some implementations, the rear wheel steering adjustment based on the yaw torque compensation value in this step includes: obtaining the rear wheel steering angle corresponding to the yaw torque compensation value according to a pre-set correspondence between yaw torque and rear wheel steering angle, and adjusting the rear wheel steering of the vehicle based on the rear wheel steering angle.

[0066] Specifically, the magnitude of the rear wheel steering angle corresponding to the yaw torque compensation value can be obtained based on the pre-set correspondence between the yaw torque and the rear wheel steering angle, and the direction of the rear wheel steering angle can be determined based on the location of the blown tire.

[0067] Step S14: Based on the position of the blown tire, control the change of the rear wheel steering angle to adjust the yaw torque, transfer the drive torque based on the position of the blown tire, and adjust the vehicle body posture based on the position of the blown tire.

[0068] In some implementations, the step of controlling the change of the rear wheel steering angle based on the position of the blown tire to adjust the yaw torque may specifically include:

[0069] If the location of the blowout tire indicates that a tire on the front axle has blown out, the steering angle of the rear wheels is reduced to decrease the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

[0070] If the location of the blowout tire indicates that a tire on the rear axle has blown out, the rear wheel steering angle is increased to increase the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

[0071] In some embodiments, the drive torque based on the tire blowout wheel position transfer in steps S13 and S14 above may specifically include:

[0072] If the location of the blowout tire indicates that a tire on the front axle has blown out, the drive torque will be transferred to the rear axle.

[0073] If the location of the blowout tire indicates that a tire on the rear axle has blown out, the drive torque will be transferred to the front axle.

[0074] In some implementations, the vehicle attitude adjustment based on the location of the blown tire in step S13 may specifically include the following a1:

[0075] a1: Determine the non-exploded tire based on the location of the tire with the blowout, and adjust the suspension height of the non-exploded tire by adjusting the tire load of the non-exploded tire to the target load.

[0076] In some implementations, the vehicle posture adjustment based on the location of the blown tire in step S14 may specifically include the following a1 and a2:

[0077] a1: Determine the non-exploded tire based on the location of the tire with the blowout, and adjust the suspension height of the non-exploded tire by adjusting the tire load of the non-exploded tire to the target load.

[0078] a2: If the tire blowout is determined to be a front axle tire based on the location of the blowout, the roll torque is distributed to the rear axle; if the tire blowout is determined to be a rear axle tire based on the location of the blowout, the roll torque is distributed to the front axle.

[0079] Furthermore, in a1 above, tire load and lateral acceleration can be combined simultaneously to adaptively adjust the vehicle's attitude in order to optimize vehicle tilt performance.

[0080] Based on the above steps S11 to S14, the vehicle tire blowout control method of this embodiment may further include step S21:

[0081] Step S21: In response to the vehicle tire blowout signal, switch the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0082] In one specific implementation, the steering wheel control mode can be configured as a normal driving mode and a tire blowout control mode based on the steer-by-wire system. When switching to the tire blowout control mode, the steering wheel force can be increased. In this embodiment, the controller of the steer-by-wire system pre-stores a range of values ​​for the steering wheel damping coefficient, and the value of the damping coefficient in the steering wheel control mode is obtained based on this range. Specifically, it may include a pre-set range corresponding to the normal driving mode and a range corresponding to the tire blowout control mode. Accordingly, step S21 can be specifically as follows: in response to a tire blowout signal, the value of the steering wheel damping coefficient is adjusted from a first preset value to a second preset value, and the damping torque of the steering wheel is calculated based on the value of the damping coefficient; wherein, the first preset value is a value within the pre-set range corresponding to the normal driving mode, and the second preset value is a value within the pre-set range corresponding to the tire blowout control mode.

[0083] It should be understood that, in specific implementations, in steps S13 and S14 above, the controller can send a rear wheel angle compensation request, including the magnitude and direction of the rear wheel steering angle, to the rear wheel steering system to achieve rear wheel steering adjustment; send a drive torque switching request, including the drive torque corresponding to the shaft, to the power drive system to achieve drive torque transfer; and send a suspension adjustment request, including the wheel corresponding to the suspension height, and / or a torque distribution request, including the yaw torque corresponding to the shaft, to the fully active suspension system to achieve vehicle attitude adjustment. In step 21 above, a steering wheel control mode switching request, including a tire blowout signal, can be sent to the steer-by-wire system to increase the steering wheel effort.

[0084] It should be noted that the vehicle tire blowout control method of this application embodiment can be applied to Figure 3The diagram illustrates a vehicle hardware environment comprised of tire pressure sensors, an RF receiver, a smart cockpit domain, a domain controller, and other vehicle control systems. The tire pressure sensors can detect tire pressure at each of the four wheels and transmit the detection signal or tire blowout signal to the domain controller via the RF receiver. Upon receiving a tire blowout signal, the domain controller, based on the tire blowout control method described in this application, controls other vehicle control systems to achieve vehicle stability control. Simultaneously, it can send the tire blowout signal to the smart cockpit domain for safety alerts. Safety prompts or operational guidance can be provided to the user through various components of the smart cockpit domain, such as displays, speakers, and dashboards. For example, a Warning Signal Alarm Information (WTI) system can be implemented in the smart cockpit domain based on various components: upon receiving a tire blowout signal, it immediately displays a prominent, constantly lit indicator on the dashboard or head-up display informing the user, "Tire pressure XX is too low, please drive cautiously"; it also provides an audible alert, "Tire XX has blown out, please grip the steering wheel firmly and avoid sudden braking," and after X seconds, it reminds the user, "Please pull over to the side of the road as soon as it is safe to do so." When a vehicle experiences a tire blowout and is put into park, an audio prompt will remind the user to "move all occupants to a safe area and remember to place a warning triangle" and ask if the user has called the relevant service hotline. If a false or missed tire blowout warning signal is received from the domain controller, the constantly lit warning light on the instrument panel or head-up display will turn off, and the audio prompt will cease.

[0085] The vehicle tire blowout control method of this application embodiment can be executed by a single control unit (ECU) in a domain controller or by multiple control units working together. In one specific embodiment: the domain controller includes a fusion control system and an actuator allocation and control system. The actuator allocation and control system interacts with the vehicle's rear-wheel steering system, power drive system, and fully active suspension system. When the fusion control system receives a tire blowout signal, it sends a signal to the actuator allocation and control system and the vehicle's steer-by-wire system. The actuator allocation and control system is mainly used to control the vehicle's rear-wheel steering system, power drive system, and fully active suspension system in conjunction with control strategies related to the driving scenario to achieve vehicle stability control.

[0086] Furthermore, based on the attached Figure 3 This application provides a vehicle tire blowout control system, which mainly includes: a fusion control system integrated in the vehicle's domain controller, and a power drive system, a rear wheel steering system, and a fully active suspension system that are communicatively connected to the domain controller;

[0087] In this embodiment, the fusion control system is configured to: respond to a tire blowout signal, determine the location of the blown tire based on the tire blowout signal, obtain current vehicle status information, and identify a driving scenario based on the vehicle status information; if the scenario is identified as a straight driving scenario, obtain tire braking pressure based on the location of the blown tire, calculate a yaw torque compensation value based on the tire braking pressure, control the rear wheel steering system to adjust the rear wheel steering based on the yaw torque compensation value, control the power drive system to transfer drive torque based on the location of the blown tire, and control the fully active suspension system to adjust the vehicle posture based on the location of the blown tire; if the scenario is identified as a curve, control the rear wheel steering system to change the rear wheel steering angle to adjust the yaw torque based on the location of the blown tire, control the power drive system to transfer drive torque based on the location of the blown tire, and control the fully active suspension system to adjust the vehicle posture based on the location of the blown tire.

[0088] In some embodiments, the vehicle tire blowout control system further includes a steer-by-wire system communicatively connected to the domain controller;

[0089] In this embodiment of the application, the steer-by-wire system is configured to: in response to the vehicle tire blowout signal, switch the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

[0090] For ease of explanation, the above description of the vehicle tire blowout control system only shows the parts related to the embodiments of this application. For specific technical details not disclosed, please refer to the method section of the embodiments of this application.

[0091] It should be understood that the various controllers, control units, systems, or modules are provided merely to illustrate the functional system of this application. The corresponding physical devices may be the processor itself, or a part of the processor's software, hardware, or a combination of both. Therefore, the number of modules shown in the figures is merely illustrative.

[0092] Those skilled in the art will understand that the various components of the system can be adaptively split or merged. Such splitting or merging of specific functional systems will not cause the technical solution to deviate from the principles of this application; therefore, the technical solutions after splitting or merging will fall within the protection scope of this application.

[0093] Those skilled in the art will understand that all or part of the processes in the method of the above-described embodiment can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0094] Furthermore, this application also provides a control device.

[0095] In one embodiment of a control device according to this application, the control device mainly includes a processor and a storage device. The storage device can be configured to store a program for executing the vehicle tire blowout control method of the above-described method embodiments. The processor can be configured to execute the program in the storage device, which includes, but is not limited to, a program for executing the vehicle tire blowout control method of the above-described method embodiments. For ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of this application.

[0096] In the embodiments of this application, the computer device may be a control device comprising various electronic devices. In some possible implementations, the control device may include multiple storage devices and multiple processors. The program executing the vehicle tire blowout control method of the above method embodiments can be divided into multiple subroutines, each subroutine can be loaded and run by a processor to execute different steps of the vehicle tire blowout control method of the above method embodiments. Specifically, each subroutine can be stored in different storage devices, and each processor can be configured to execute programs in one or more storage devices to jointly implement the vehicle tire blowout control method of the above method embodiments, that is, each processor executes different steps of the vehicle tire blowout control method of the above method embodiments to jointly implement the vehicle tire blowout control method of the above method embodiments.

[0097] The aforementioned multiple processors can be processors deployed on the same device. For example, the aforementioned computer device can be a high-performance device composed of multiple processors, and the aforementioned multiple processors can be processors configured on that high-performance device. Alternatively, the aforementioned multiple processors can also be processors deployed on different devices. For example, the aforementioned computer device can be a server cluster, and the aforementioned multiple processors can be processors on different servers within the server cluster.

[0098] Furthermore, this application also provides a computer-readable storage medium.

[0099] In one embodiment of a computer-readable storage medium according to this application, the computer-readable storage medium can be configured to store a program that performs the vehicle tire blowout control method of the above-described method embodiments. This program can be loaded and run by a processor to implement the vehicle tire blowout control method. For ease of explanation, only the parts related to the embodiments of this application are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of this application. The computer-readable storage medium can be a storage device comprising various electronic devices. Optionally, in the embodiments of this application, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0100] The technical solution of this application has been described in conjunction with the embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A method for controlling tire blowout in vehicles, characterized in that, The method includes: In response to a vehicle tire blowout signal, the location of the blowout tire is determined based on the vehicle tire blowout signal; Obtain the current vehicle status information and identify the driving scenario based on the vehicle status information; If the scenario is identified as a straight driving scenario, the tire braking pressure is obtained based on the location of the blown tire, the yaw torque compensation value is calculated based on the tire braking pressure, the rear wheel steering is adjusted based on the yaw torque compensation value, the drive torque is transferred based on the location of the blown tire, and the vehicle body posture is adjusted based on the location of the blown tire. If the scenario is identified as a curve driving scenario, the rear wheel steering angle is changed based on the position of the blown tire to adjust the yaw torque, the drive torque is transferred based on the position of the blown tire, and the vehicle body posture is adjusted based on the position of the blown tire. The step of adjusting the rear wheel steering angle based on the location of the blown tire to adjust the yaw torque includes: If the location of the blowout tire indicates that a tire on the front axle has blown out, the steering angle of the rear wheels is reduced to decrease the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle. If the location of the blowout tire indicates that a tire on the rear axle has blown out, the rear wheel steering angle is increased to increase the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

2. The vehicle tire blowout control method according to claim 1, characterized in that, The method further includes: in response to the vehicle tire blowout signal, switching the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

3. The vehicle tire blowout control method according to claim 2, characterized in that, The step of switching the steering wheel control mode from normal driving mode to tire blowout control mode in response to the vehicle tire blowout signal includes: adjusting the value of the steering wheel damping coefficient from a first preset value to a second preset value in response to the vehicle tire blowout signal, and calculating the damping torque of the steering wheel based on the value of the damping coefficient; wherein the first preset value is a value within a preset range corresponding to the normal driving mode, and the second preset value is a value within a preset range corresponding to the tire blowout control mode.

4. The vehicle tire blowout control method according to any one of claims 1-3, characterized in that, The vehicle status information includes vehicle speed, deceleration, lateral acceleration, and steering wheel angle; The step of identifying driving scenarios based on the vehicle status information includes: If the following conditions are met simultaneously: the vehicle speed exceeds the preset vehicle speed, the deceleration exceeds the preset deceleration, the lateral acceleration does not exceed the preset acceleration, and the steering wheel angle does not exceed the preset steering value, then it is identified as a straight driving scenario. If the vehicle speed exceeds the preset speed and the lateral acceleration exceeds the preset acceleration at the same time, or if the vehicle speed exceeds the preset speed and the steering wheel angle exceeds the preset steering value at the same time, then it is identified as a curve driving scenario.

5. The vehicle tire blowout control method according to any one of claims 1-3, characterized in that, The step of obtaining the tire braking pressure based on the location of the blown tire and calculating the yaw torque compensation value based on the tire braking pressure includes: If the blowout is determined to be a tire on the front or rear axle based on the location of the blowout, the tire braking pressure of the left and right wheels of the front or rear axle is obtained, the longitudinal force of the left and right wheels of the front or rear axle is calculated based on the tire braking pressure of the left and right wheels of the front or rear axle, and the yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right wheels of the front or rear axle. If the location of the blowout tire indicates that a tire on the front axle or rear axle has blown out, the tire braking pressure of all four tires of the vehicle is obtained. The longitudinal forces of the left and right front axle tires are calculated based on the tire braking pressure of the left and right front axle tires, and the longitudinal forces of the left and right rear axle tires are calculated based on the tire braking pressure of the left and right rear axle tires. The yaw torque compensation value is calculated based on the difference between the longitudinal forces of the left and right front axle tires and the difference between the longitudinal forces of the left and right rear axle tires.

6. The vehicle tire blowout control method according to any one of claims 1-3, characterized in that, The rear wheel steering adjustment based on the yaw torque compensation value includes: obtaining the rear wheel steering angle corresponding to the yaw torque compensation value according to a pre-set correspondence between yaw torque and rear wheel steering angle, and adjusting the rear wheel steering of the vehicle based on the rear wheel steering angle.

7. The vehicle tire blowout control method according to any one of claims 1-3, characterized in that, The drive torque based on the tire blowout wheel position transfer includes: If the location of the blowout tire indicates that a tire on the front axle has blown out, the drive torque will be transferred to the rear axle. If the location of the blowout tire indicates that a tire on the rear axle has blown out, the drive torque will be transferred to the front axle.

8. The vehicle tire blowout control method according to any one of claims 1-3, characterized in that, The vehicle posture adjustment based on the location of the blown tire includes: determining the non-blown tire based on the location of the blown tire, and adjusting the tire load of the non-blown tire to the target load to adjust the suspension height of the non-blown tire.

9. The vehicle tire blowout control method according to claim 8, characterized in that, For the aforementioned driving scenario on curves, the adjustment of vehicle posture based on the location of the blown tire further includes: If the location of the blowout tire indicates that a tire on the front axle has blown out, the roll torque will be distributed to the rear axle. If the location of the blowout tire indicates that a tire on the rear axle has blown out, the roll torque will be distributed to the front axle.

10. A vehicle tire blowout control system, characterized in that, include: A fusion control system integrated into the vehicle's domain controller, and a power drive system, rear-wheel steering system, and fully active suspension system that are communicatively connected to the domain controller; The fusion control system is configured to: respond to a tire blowout signal, determine the location of the blowout wheel based on the tire blowout signal, obtain current vehicle status information, and identify the driving scenario based on the vehicle status information; if the scenario is identified as a straight driving scenario, obtain the tire braking pressure based on the location of the blowout wheel, calculate the yaw torque compensation value based on the tire braking pressure, control the rear wheel steering system to adjust the rear wheel steering based on the yaw torque compensation value, control the power drive system to transfer the drive torque based on the location of the blowout wheel, and control the fully active suspension system to adjust the vehicle posture based on the location of the blowout wheel; if the scenario is identified as a cornering driving scenario, control the rear wheel steering system to change the rear wheel steering angle to adjust the yaw torque based on the location of the blowout wheel, control the power drive system to transfer the drive torque based on the location of the blowout wheel, and control the fully active suspension system to adjust the vehicle posture based on the location of the blowout wheel. The step of adjusting the rear wheel steering angle based on the location of the blown tire to adjust the yaw torque includes: If the location of the blowout tire indicates that a tire on the front axle has blown out, the steering angle of the rear wheels is reduced to decrease the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle. If the location of the blowout tire indicates that a tire on the rear axle has blown out, the rear wheel steering angle is increased to increase the lateral force on the rear axle, and the yaw torque is adjusted based on the change in the lateral force on the rear axle.

11. The vehicle tire blowout control system according to claim 10, characterized in that, It also includes a steer-by-wire system that is communicatively connected to the domain controller; The steer-by-wire system is configured to: in response to the vehicle tire blowout signal, switch the steering wheel control mode from normal driving mode to tire blowout control mode, wherein the damping torque corresponding to the tire blowout control mode is greater than the damping torque corresponding to the normal driving mode.

12. A control device, comprising a processor and a storage device, said storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the vehicle tire blowout control method according to any one of claims 1 to 9.

13. A vehicle, characterized in that, It includes the vehicle tire blowout control system as described in any one of claims 10-11, or the control device as described in claim 12.

14. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the vehicle tire blowout control method according to any one of claims 1 to 9.

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