Vehicle control method and device, computer equipment, storage medium and program product

Abstract

The invention relates to a vehicle control method which is executed by a vehicle comprising an electric power steering system, and relates to the field of vehicle safety control. The method comprises the steps of obtaining a tire pressure change value, a vehicle speed and a steering wheel rotating speed of a vehicle; the tire pressure change value is a pressure change value obtained by subtracting the tire pressure value of the previous signal period from the tire pressure value of the current signal period and dividing by the time period; in response to the tire pressure change value of the vehicle reaching the tire pressure change threshold value, generating an event type signal; generating a vehicle speed signal in response to the vehicle speed reaching the vehicle speed threshold value; generating an unexpected rotating speed signal screen of the steering wheel in response to the rotating speed of the steering wheel of the vehicle reaching the rotating speed threshold; under the condition that the event type signal, the vehicle speed signal and the steering wheel unexpected rotating speed signal are generated at the same time, the vehicle is controlled to execute steering operation through the electric power steering system; the steering operation is an operation of driving the vehicle back to the lane centerline at a specified speed. According to the scheme, the stability of vehicle control can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automobile safety technology, and in particular to a vehicle control method, device, computer equipment, storage medium and program product. Background Art

[0002] With the rapid development of passenger car technology, the safety performance of vehicles has received more and more attention, especially the safety control methods in emergency situations such as tire blowouts during medium and high-speed driving.

[0003] In the related technology, vehicles are usually equipped with a variety of advanced driver assistance systems, so that when the vehicle encounters a tire blowout during medium and high speed driving, the vehicle's braking and steering can be intervened through specific modules in the vehicle to achieve control of the vehicle in the event of a tire blowout.

[0004] However, in the above solution, the vehicle driving assistance system may have problems such as inaccurate tire blowout recognition and unstable vehicle control. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, computer equipment, storage medium and program product, which can improve the stability of vehicle steering control when a tire blows out. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method being performed by a vehicle including an electric power steering system, the method comprising:

[0007] Obtaining the tire pressure change value, vehicle speed, and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle and dividing it by the time period;

[0008] generating an event signal in response to a tire pressure change value of the vehicle reaching a tire pressure change threshold;

[0009] In response to a vehicle speed of the vehicle reaching a vehicle speed threshold, generating a vehicle speed signal;

[0010] In response to a rotation speed of a steering wheel of the vehicle reaching a rotation speed threshold, generating a steering wheel unexpected rotation speed signal;

[0011] When the event signal, the vehicle speed signal and the unexpected steering wheel speed signal are generated simultaneously, the vehicle is controlled by the electric power steering system to perform a steering operation; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

[0012] In another aspect, a vehicle control device is provided, the device comprising:

[0013] An information acquisition module, used to acquire the tire pressure change value, vehicle speed and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle and dividing it by the time period;

[0014] an event signal generating module, configured to generate an event signal in response to a tire pressure change value of the vehicle reaching a tire pressure change threshold;

[0015] A vehicle speed signal generating module, configured to generate a vehicle speed signal in response to the vehicle speed reaching a vehicle speed threshold;

[0016] a steering wheel unexpected speed signal generating module, configured to generate a steering wheel unexpected speed signal in response to the speed of the steering wheel of the vehicle reaching a speed threshold;

[0017] A steering operation module is used to control the vehicle to perform a steering operation through the electric power steering system when the event signal, the vehicle speed signal and the unexpected steering wheel speed signal are generated simultaneously; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

[0018] In some embodiments, the apparatus further comprises:

[0019] a position acquisition module, configured to acquire the position of the vehicle in the lane in response to the lane keeping assist module of the vehicle receiving the event signal, the vehicle speed signal and the unexpected steering wheel speed signal before the vehicle is controlled to perform a steering operation by the electric power steering system;

[0020] a request generation module, configured to generate a torque input request and a steering wheel control angle request based on the position of the vehicle in the lane before the electric power steering system is used to control the vehicle to perform a steering operation; the torque input request is used to request the electric power steering system to control the direction and force of the steering wheel rotation of the vehicle according to a specified torque; the steering wheel control angle request is used to request the electric power steering system to control the target angle of the steering wheel rotation of the vehicle according to a specified angle;

[0021] The steering operation execution module is used to control the vehicle to execute a steering operation according to the torque input request and the steering wheel control angle request through the electric power steering system.

[0022] In some embodiments, the apparatus further comprises:

[0023] The first steering operation exit module is used to control the electric power steering system to exit the steering operation in response to the steering wheel of the vehicle receiving an input torque that meets a torque threshold during the process of controlling the vehicle to perform a steering operation through the electric power steering system.

[0024] In some embodiments, the apparatus further comprises:

[0025] The second steering operation exit module is used to control the electric power steering system to exit the steering operation when the vehicle speed decreases to a specified threshold.

[0026] In some embodiments, the tire pressure change threshold is at least 0.1 MPa / millisecond, the vehicle speed threshold is at least 108 km / h, and the steering wheel unexpected speed threshold is at least 360 degrees / second.

[0027] In some embodiments, the speed of the steering operation is at least 720 degrees per second.

[0028] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle control method as described above.

[0029] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle control method as described above.

[0030] In another aspect, a computer program product is provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the vehicle control method provided in the above-mentioned various optional implementations.

[0031] The technical solution provided by this application may have the following beneficial effects:

[0032] When the vehicle detects that the tire pressure change exceeds the threshold, the vehicle speed exceeds the safety limit, and the steering wheel rotates unexpectedly at a high speed, the vehicle generates different signals corresponding to the above contents. When the vehicle generates event signals, vehicle speed signals, and unexpected steering wheel speed signals at the same time, the electric power steering system immediately performs specific steering operations to make the vehicle return to the center line of the lane at a predefined speed. The above method not only takes into account the current motion state of the vehicle, but also combines road environmental factors to ensure that the vehicle's steering adjustment is both quick and smooth, minimizes lateral deviation caused by tire blowout, avoids possible collision accidents, effectively improves the stability of the vehicle's steering control when a tire blows out, reduces the possibility of vehicle loss of control, and improves driving safety when the vehicle has a tire blowout.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 is a system configuration diagram of a vehicle control method according to an embodiment of the present application;

[0036] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0037] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0038] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0039] Figure 5 is a logical structure diagram of a vehicle control method provided by an embodiment of the present application;

[0040] Figure 6 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0041] Figure 7 is a logical structure diagram of a vehicle control method provided by an embodiment of the present application;

[0042] Figure 8 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0043] Fig. 9is a block diagram of a vehicle control device provided by an exemplary embodiment of the present application;

[0044] Fig.10 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0045] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0046] Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

[0047] Figure 1 1 is a system configuration diagram of a vehicle control method involved in an embodiment of the present application. The vehicle control method is executed by a vehicle 100 including an electric power steering system, and the vehicle 100 obtains the vehicle speed, the steering wheel speed, and a pressure change value indicating the tire pressure value of the current signal cycle minus the tire pressure value of the previous signal cycle divided by the time period, i.e., the tire pressure change value.

[0048] When the tire pressure change value reaches the tire pressure change threshold, the vehicle generates an event signal; when the vehicle speed reaches the speed threshold, a speed signal is generated; when the vehicle's steering wheel speed reaches the speed threshold, an unexpected steering wheel speed signal is generated.

[0049] When the event signal, the vehicle speed signal, and the unexpected steering wheel speed signal are generated simultaneously, the vehicle 100 controls the vehicle 100 to perform a steering operation to return the vehicle 100 to the center line of the lane at a designated speed through the electric power steering system.

[0050] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. The vehicle control method may be executed by a vehicle including an electric power steering system, for example, the vehicle may be Figure 1 The vehicle 100 in the embodiment. The vehicle control method may include steps 210, 220, 230, 240 and 250, which are specifically implemented as follows:

[0051] Step 210: Obtain the tire pressure change value, vehicle speed and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle, divided by the time period.

[0052] Among them, the above-mentioned signal period is the time period during which the vehicle obtains the above-mentioned tire pressure change value, vehicle speed and steering wheel speed according to a predetermined time period; the period length of the signal period is the time length between two consecutive time points when the vehicle obtains the above-mentioned tire pressure change value, vehicle speed and steering wheel speed.

[0053] The above-mentioned tire pressure value of the current signal cycle refers to the tire internal pressure value measured at a certain time point (ie, the current signal cycle).

[0054] The tire pressure value of the previous signal cycle refers to the tire internal pressure value measured at a time point in a signal cycle before the current signal cycle.

[0055] The vehicle speed mentioned above refers to the speed at which the vehicle is traveling, which can be obtained through a speed sensor of the vehicle.

[0056] The steering wheel speed refers to the speed at which the steering wheel rotates when the driver turns the steering wheel.

[0057] In the embodiment of the present application, the tire pressure change value is used to detect the occurrence of a tire blowout; the vehicle speed is used to determine whether the vehicle is in a dangerous speed range that is susceptible to a tire blowout; and the steering wheel speed is used to determine information about how the driver responds to a potential emergency.

[0058] Step 220: In response to the tire pressure change value of the vehicle reaching the tire pressure change threshold, generating an event signal.

[0059] The event signal is a specific type of digital signal or logic signal used to indicate that a preset condition has been met. In the embodiment of the present application, the event signal is used to indicate that the tire pressure change value of one or more tires of the vehicle reaches the tire pressure change threshold; the event signal can be a 1-bit signal bit, and in response to the tire pressure change value of the vehicle reaching the tire pressure change threshold, an event signal "1" is generated; otherwise, the event signal remains "0".

[0060] In an embodiment of the present application, the above-mentioned event-type signal can be generated by the electronic control unit of the vehicle after receiving data provided by the tire pressure monitoring system of the vehicle and analyzing the data.

[0061] Exemplarily, when the vehicle detects that the tire pressure change value of the vehicle reaches or exceeds the set tire pressure change threshold, an event signal "1" is generated by the electronic control unit, indicating that a possible tire blowout event has been detected; conversely, if the tire pressure change value does not reach the threshold, the event signal remains "0".

[0062] Step 230 : In response to the vehicle speed reaching a vehicle speed threshold, generate a vehicle speed signal.

[0063] The vehicle speed signal is a specific type of digital signal or logic signal used to indicate that a certain preset condition has been met. In the embodiment of the present application, the vehicle speed signal is used to indicate that the vehicle speed has reached a preset vehicle speed threshold; the vehicle speed signal can be a 1-bit signal bit, and in response to the vehicle speed reaching the vehicle speed threshold, a vehicle speed signal "1" is generated; otherwise, the vehicle speed signal remains "0".

[0064] In an embodiment of the present application, the vehicle speed signal may be generated by the electronic control unit of the vehicle after receiving the vehicle speed data provided by the speed sensor of the vehicle and analyzing and judging the data.

[0065] For example, when the vehicle detects that the speed reaches or exceeds the set speed threshold, a speed signal "1" is generated by the electronic control unit, indicating that the vehicle has entered a speed range where the risk of tire blowout needs to be paid attention to; conversely, if the speed is lower than the threshold, the speed signal remains at "0".

[0066] Step 240 : In response to the rotation speed of the steering wheel of the vehicle reaching a rotation speed threshold, generating a steering wheel unexpected rotation speed signal.

[0067] The above-mentioned unexpected steering wheel speed signal is a specific type of digital signal or logic signal, which is used to indicate that a certain preset condition has been met. In the embodiment of the present application, the above-mentioned unexpected steering wheel speed signal is used to indicate that the steering wheel speed of the vehicle has reached a preset speed threshold; the above-mentioned unexpected steering wheel speed signal can be a 1-bit signal bit, and in response to the steering wheel speed of the vehicle reaching or exceeding the speed threshold, the unexpected steering wheel speed signal "1" is generated; otherwise, the unexpected steering wheel speed signal remains "0".

[0068] In an embodiment of the present application, the above-mentioned unexpected steering wheel speed signal can be generated by the vehicle's electronic control unit after receiving data provided by the vehicle's steering wheel speed sensor and analyzing and judging the data.

[0069] For example, when the vehicle detects that the steering wheel speed reaches or exceeds the set speed threshold, an unexpected steering wheel speed signal "1" is generated by the electronic control unit, indicating that the driver may be performing an unexpected rapid steering operation; conversely, if the steering wheel speed is lower than the threshold, the unexpected steering wheel speed signal remains at "0".

[0070] Step 250: When the event signal, the vehicle speed signal, and the unexpected steering wheel speed signal are generated simultaneously, the vehicle is controlled by the electric power steering system to perform a steering operation; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

[0071] In an embodiment of the present application, when the vehicle simultaneously generates an event signal, a vehicle speed signal, and an unexpected steering wheel speed signal, it indicates that the tire pressure of the vehicle drops sharply in a short period of time, exceeds a preset tire pressure change threshold, the vehicle is in a high-speed driving state, and the driver is performing an unexpected rapid steering operation; the above three characteristics all indicate that the current vehicle is very likely to have a tire blowout.

[0072] When the above three conditions are met at the same time, the vehicle can immediately activate the electric power steering system through the electronic control unit, and the electric power steering system controls the vehicle to automatically execute the operation of returning the vehicle to the center line of the lane at a specified speed. The center line of the lane is the middle of the lane where the vehicle is currently traveling.

[0073] In some embodiments, when the vehicle performs steering operations through the electric power steering system, a reminder message can be issued to instruct the driver to pay attention to the current tire blowout situation, for example, by using a dashboard warning light or a sound alarm to remind the driver to pay attention to the current situation.

[0074] In some embodiments, when the vehicle simultaneously generates an event signal, a vehicle speed signal, and an unexpected steering wheel speed signal, the vehicle controls the vehicle to perform steering operations through the electric power steering system while continuing to detect and record relevant data during the tire blowout, including but not limited to timestamps, vehicle speed, and steering wheel speed.

[0075] In an embodiment of the present application, when the vehicle simultaneously detects that the event signal, the vehicle speed signal, and the unexpected steering wheel speed signal are all "1", the electric power steering system controls the vehicle to perform a specific steering operation, so that the vehicle returns to the center line of the lane at a specified speed, effectively combining data from multiple sensors to ensure that the vehicle responds quickly and accurately to emergencies, thereby ensuring driving safety.

[0076] In an embodiment of the present application, when the vehicle detects that the tire pressure change exceeds a threshold, the vehicle speed exceeds a safety limit, and the steering wheel rotates unexpectedly at a high speed, the vehicle generates different signals corresponding to the above contents. When the vehicle simultaneously generates an event signal, a vehicle speed signal, and an unexpected steering wheel speed signal, the electric power steering system immediately performs a specific steering operation to return the vehicle to the center line of the lane at a predefined speed. The above method not only takes into account the current motion state of the vehicle, but also combines road environmental factors to ensure that the vehicle's steering adjustment is both rapid and smooth, minimizes lateral deviation caused by a tire blowout, avoids possible collision accidents, effectively improves the stability of the vehicle's steering control when a tire blows out, reduces the possibility of vehicle loss of control, and improves driving safety when the vehicle has a tire blowout.

[0077] based on Figure 2 , please refer to Figure 3 , Figure 3 This is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 2 Before step 230 in the embodiment, step 222 and step 224 are also included; the above step 230 can be implemented as step 230a, which is as follows:

[0078] Step 222: In response to the lane keeping assist module of the vehicle receiving the event signal, the vehicle speed signal, and the unexpected steering wheel speed signal, the position of the vehicle in the lane is obtained.

[0079] Among them, the above-mentioned lane keeping assist module is part of the active safety system inside the vehicle. The lane keeping assist module monitors the position of the vehicle relative to the lane markings by using cameras, radars or other sensors, and issues a warning or makes slight steering corrections when it detects that the vehicle is about to deviate from the lane, helping the driver keep the vehicle in the current lane.

[0080] In some embodiments, in response to the vehicle's lane keeping assist module receiving an event signal, a vehicle speed signal, and an unexpected steering wheel speed signal, the vehicle's lane keeping assist module collects lane information and vehicle information of the lane in which the vehicle is located through vehicle sensors to obtain the vehicle's position in the lane, and the lane information includes at least the position of the lane line corresponding to the lane.

[0081] In an embodiment of the present application, after the vehicle generates an event signal, a vehicle speed signal and an unexpected steering wheel speed signal through an electronic control unit, the event signal, the vehicle speed signal and the unexpected steering wheel speed signal are sent to the lane keeping assist module of the vehicle. After the lane keeping assist module receives the above three signals, the lane keeping assist module of the vehicle can monitor the position of the vehicle relative to the lane line in real time by using sensors such as a front camera, radar or lidar. For example, the lane keeping assist module can collect the lane line marking (such as the solid lane line) where the current vehicle is located and the distance of the vehicle compared to the lane line through sensors, determine whether the vehicle is currently deviating from the center line of the lane, and calculate the lateral distance and angular deviation of the vehicle relative to the lane boundary.

[0082] Step 224: Generate a torque input request and a steering wheel control angle request based on the position of the vehicle in the lane; the torque input request is used to request the electric power steering system to control the direction and force of the vehicle's steering wheel rotation according to the specified torque; the steering wheel control angle request is used to request the electric power steering system to control the vehicle's steering wheel rotation target angle according to the specified angle.

[0083] In an embodiment of the present application, after the vehicle obtains the position of the vehicle in the lane through the lane keeping assist module, different steering wheel turning torques and steering wheel turning angles are generated according to information such as the position and angle of the vehicle compared to the center line of the lane.

[0084] The position of the vehicle in the lane includes but is not limited to the following information: lateral deviation (i.e., the deviation distance of the vehicle from the center line of the lane) and yaw angle (i.e., the deviation angle of the vehicle's driving direction from the lane direction).

[0085] In some embodiments, the torque corresponding to the torque input request is positively correlated with the deviation distance of the vehicle from the center line of the lane. The greater the deviation distance of the vehicle from the center line of the lane, the greater the torque corresponding to the torque input request; conversely, the smaller the deviation distance of the vehicle from the center line of the lane, the smaller the torque corresponding to the torque input request.

[0086] For example, when the vehicle deviates a greater distance from the center line of the lane, the vehicle generates a torque input request for requesting a greater torque.

[0087] In other embodiments, the torque corresponding to the torque input request is positively correlated with the deviation angle of the vehicle's driving direction from the lane direction. The greater the deviation angle of the vehicle's driving direction from the lane direction, the greater the torque corresponding to the torque input request; conversely, the smaller the deviation angle of the vehicle's driving direction from the lane direction, the smaller the torque corresponding to the torque input request.

[0088] For example, when the deviation angle of the vehicle's traveling direction from the lane direction is large, the vehicle generates a torque input request for requesting a larger torque.

[0089] In an embodiment of the present application, when the vehicle slightly deviates from the center line of the lane, the vehicle generates a steering wheel control angle request for requesting a smaller angle; when the vehicle severely deviates from the center line of the lane, the vehicle generates a steering wheel control angle request for requesting a larger angle.

[0090] In some embodiments, after obtaining the position of the vehicle in the lane, the vehicle can dynamically adjust and generate different torque input requests and steering wheel control angle requests according to the relationship between the position of the vehicle and the lane while the vehicle is traveling.

[0091] Step 230a: Control the vehicle to perform a steering operation according to the torque input request and the steering wheel control angle request through the electric power steering system.

[0092] In an embodiment of the present application, after the vehicle receives the torque input request and the steering wheel control angle request generated by the lane keeping assist module through the electric power steering system, the vehicle obtains the specified torque value in the torque input request and the specified angle in the steering wheel control angle request, respectively, increases or decreases the steering assist accordingly based on the specified torque value in the torque input request, and adjusts the steering wheel angle based on the specified angle in the steering wheel control angle request.

[0093] In an embodiment of the present application, after the vehicle detects a tire blowout event signal, a vehicle speed signal, and an unexpected steering wheel speed signal, a more precise control strategy is formulated based on the vehicle's current position. When the vehicle deviates from the center line of the lane, a torque input request and a steering wheel control angle request are generated based on the acquired vehicle position information. The torque input request ensures that the steering operation performed by the vehicle has sufficient force to correct the vehicle's path; the steering wheel control angle request specifies the vehicle's specific steering angle. Combined with the specified torque and the specified angle to control the vehicle, the accuracy of vehicle control in the event of a tire blowout can be effectively guaranteed.

[0094] based on Figure 2 , please refer to Figure 4 , Figure 4 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. The above vehicle control method also includes step 260, which is as follows:

[0095] Step 260: During the process of controlling the vehicle to perform a steering operation through the electric power steering system, in response to the steering wheel of the vehicle receiving an input torque that meets a torque threshold, controlling the electric power steering system to exit the steering operation.

[0096] The torque threshold is a preset torque critical value used to determine whether the driver attempts to perform a manual steering operation.

[0097] In an embodiment of the present application, in response to an input torque received by a steering wheel of the vehicle exceeding a torque threshold, the vehicle determines that the driver intentionally controls the steering wheel, exits the steering operation, and no longer controls the vehicle to automatically perform the steering operation.

[0098] In an embodiment of the present application, when the vehicle receives an input torque that meets the torque threshold, it indicates that the driver begins to actively apply torque, that is, the driver manually performs a steering operation, and the vehicle controls the electric power steering system to exit the steering operation, enabling the driver to effectively control the vehicle, effectively ensuring the stability of vehicle control when the vehicle has a tire blowout.

[0099] Based on the solutions shown in any one or more of the above-mentioned embodiments, when the vehicle speed drops to a specified threshold, the vehicle controls the electric power steering system to exit the steering operation.

[0100] The vehicle speed threshold is a preset critical speed value used to determine whether the vehicle has decelerated to a level that does not require automatic steering intervention.

[0101] In an embodiment of the present application, while the vehicle is performing a steering operation through an electric power steering system, the vehicle can continuously monitor the vehicle speed through the vehicle's speed sensor. When it is detected that the vehicle speed drops to or below a specified threshold, the vehicle controls the electric power steering system to exit the current steering operation and no longer controls the vehicle to automatically perform the steering operation.

[0102] In some embodiments, when the vehicle speed drops to a specified threshold, the vehicle controls the electric power steering system to exit the steering operation and sends a prompt message to remind the driver that the vehicle has exited the automatic steering operation. For example, the vehicle can remind the driver that the vehicle has exited the automatic steering operation through a dashboard warning light or a sound alarm.

[0103] In an embodiment of the present application, when the vehicle speed drops to a specified threshold, indicating that the vehicle has had a tire blowout, the vehicle-controlled electric power steering system has controlled the vehicle speed to a stable state and no further control is required. The steering operation is exited and can be manually operated by the driver, thereby improving the stability of the vehicle after the steering operation after a tire blowout.

[0104] Based on the scheme shown in any one or more of the above embodiments, the tire pressure change threshold is at least 0.1 MPa / millisecond, the vehicle speed threshold is at least 108 kilometers / hour, and the steering wheel unexpected speed threshold is at least 360 degrees / second.

[0105] In an embodiment of the present application, when the vehicle monitors that the tire pressure change exceeds 0.1 MPa / millisecond, the vehicle immediately generates an event signal "1", indicating that the vehicle may have a tire blowout; when the vehicle speed reaches or exceeds 108 kilometers per hour, the vehicle speed signal "1" is immediately generated, indicating that the vehicle has entered a safe speed range that requires special attention; when the steering wheel speed exceeds 360 degrees per second, the steering wheel unexpected speed signal "1" is immediately generated, indicating that an emergency may exist.

[0106] In the embodiment of the present application, the above scheme can more accurately identify the vehicle's tire blowout by setting specific tire pressure change thresholds, vehicle speed thresholds, and steering wheel unexpected speed thresholds, thereby effectively improving the accuracy and speed of vehicle control when a tire blows out.

[0107] Based on the solutions shown in any one or more of the above embodiments, the speed of the steering operation is at least 720 degrees per second.

[0108] The above-mentioned steering operation speed means that the steering wheel can be rotated more than two circles (360 degrees is one circle) in less than one second.

[0109] In the embodiment of the present application, by setting a threshold for high-speed steering operations, it is helpful for the vehicle to make adjustments in a very short time. Through fast and precise steering adjustments, when the vehicle has a tire blowout, the vehicle can quickly return to the correct driving trajectory, thereby enhancing the stability and controllability of the vehicle and effectively improving the stability of the vehicle when it has a tire blowout.

[0110] Based on the above Figures 2 to 4 The steps in the embodiment of the present application show a method for steering control when a tire bursts, which is specifically as follows.

[0111] In this embodiment, a logic is set for EPS (Electric Power Steering). If the current vehicle speed reaches a specified threshold, the tire pressure reduction speed of the vehicle reaches a specified threshold, and the non-active steering speed of the vehicle's steering wheel reaches a specified threshold, EPS determines through signal input that the current vehicle has a tire blowout, and immediately starts the steering control function to control the vehicle's steering wheel to return to the center position at a specified speed. After maintaining this state for a few seconds or the input torque of the steering wheel reaches a specified value, EPS exits vehicle control and hands over control to the driver to ensure that the steering system can instantly ensure straight driving after a tire blowout.

[0112] For example, please refer to Figure 5 , Figure 5 It is a logical structure diagram of a vehicle control method provided by an embodiment of the present application.

[0113] like Figure 5 As shown, when the vehicle's tire pressure change reaches a specified threshold and the vehicle speed reaches a specified threshold, the MCU (Microcontroller Unit) generates an event signal and a vehicle speed signal respectively. When the unexpected steering wheel speed reaches a specified threshold, the EPS generates an unexpected steering wheel speed signal. When the EPS receives the above three signals at the same time, it executes the vehicle steering operation.

[0114] Working conditions are: ① The signal matrix defines that the MCU receives tire pressure data and calculates the tire pressure change rate in real time, that is, the tire pressure value P1 of the current signal cycle minus the tire pressure value P0 of the previous signal cycle, divided by the time period is the pressure change value, that is, (P1-P0) / δt, a positive value indicates an increase in tire pressure, and a negative value indicates a decrease in tire pressure. When the difference in the value of the tire pressure decrease reaches the set threshold (such as defined as ≥0.1MPa / ms), several frames of event-type signals are continuously output to EPS, which is arbitrated by EPS.

[0115] Working condition ②: The vehicle identifies the speed. When the speed reaches the specified threshold (such as ≥60 yards), a speed signal is generated. The speed signal can be sent to EPS directly or indirectly through a gateway.

[0116] Working condition ③: When the unexpected steering wheel speed reaches a certain threshold (such as defined as ≥360° / s), the EPSTAS (Torque Angle Speed) sensor sends an unexpected steering wheel speed signal.

[0117] When the signals indicated by ①, ②, and ③ above occur simultaneously, EPS identifies that the vehicle tire has a sharp loss of pressure, that is, a tire blowout occurs, triggering the steering return function, and quickly returns the steering wheel to the initial calibration of 0 at a certain speed (defined as ≥720° / s), that is, the steering wheel is initially calibrated for a period of time (such as 5s) to give the driver time to react and control the vehicle's braking and steering. During this period of time, if the driver actively manipulates the steering wheel, that is, inputs steering torque to the steering wheel, the steering stability control function will exit. However, considering that the driver may be nervous and misoperate the steering wheel or manipulate the steering wheel randomly, the exit of the steering stability control function at this time requires setting a relatively large torque input, such as when receiving a steering wheel input torque ≥5Nm, the steering stability control function will exit.

[0118] For example, please refer to Figure 6 , Figure 6 This is a flow chart of a vehicle control method provided by an embodiment of the present application.

[0119] Step 61: EPS assists work normally.

[0120] Step 62: Receive an event signal, an unexpected steering wheel speed signal, and a vehicle speed signal.

[0121] Step 63: EPS starts the steering stability control function.

[0122] Step 64: EPS resumes normal power assist operation.

[0123] In the embodiment of the present application, EPS assists the vehicle normally. After receiving three signals, namely, a reception event signal, an unexpected steering wheel speed signal, and a vehicle speed signal, the vehicle starts the steering stability control function to implement the steering control operation. When the vehicle receives steering wheel force or the vehicle speed is reduced to a specified speed, EPS exits the steering control operation and resumes normal assist work.

[0124] The above is an extension of the EPS steering deviation compensation function. The steering system ECU (Electronic Control Unit) can obtain CAN (Controller Area Network) signal input and internal angle sensor input to immediately perform the steering return function. This function only needs to be expanded on the steering system function, and no separate external module is required for control, which saves costs and is conducive to the needs of integration and lightweight.

[0125] In other embodiments, the tire blowout control method may be implemented by LKA (Lane Keeping Assist), as follows.

[0126] In this embodiment, a logic is set for LKA. When the vehicle speed reaches above a specified threshold, the tire pressure drop speed reaches a specified threshold, and the steering wheel non-active steering speed reaches a specified threshold, LKA determines that the vehicle has a tire blowout through signal input, and immediately starts the LKA control function. The vehicle position in the lane is determined through radar and camera, and a torque / angle request is input to EPS. EPS performs the steering function to keep the vehicle within the lane line until the vehicle speed drops to less than 60 yards or the steering wheel input torque reaches a certain value, then exits the control and transfers control to the driver to ensure that the steering system can instantly ensure that the vehicle goes straight after a tire blowout.

[0127] For example, please refer to Figure 7 , Figure 7 It is a logical structure diagram of a vehicle control method provided by an embodiment of the present application.

[0128] like Figure 7 As shown, when the tire pressure change of the vehicle reaches a specified threshold and the vehicle speed reaches a specified threshold, the MCU generates an event signal and a vehicle speed signal respectively. When the unexpected steering wheel speed reaches a specified threshold, the EPS generates an unexpected steering wheel speed signal. After the LKA receives the above three signals at the same time, arbitration is performed according to the signal content, and the EPS performs the vehicle steering operation according to the arbitration result.

[0129] Working conditions are: ① The signal matrix defines that the MCU receives tire pressure data and calculates the tire pressure change rate in real time, that is, the tire pressure value P1 of the current signal cycle minus the tire pressure value P0 of the previous signal cycle, divided by the time period is the pressure change value, that is, (P1-P0) / δt, a positive value indicates an increase in tire pressure, and a negative value indicates a decrease in tire pressure. When the difference in the value of the tire pressure decrease reaches the set threshold (such as defined as ≥0.1MPa / ms), several frames of event-type signals are continuously output to EPS, which is arbitrated by EPS.

[0130] Working condition ②: The vehicle identifies the speed. When the speed reaches the specified threshold (such as ≥60 yards), a speed signal is generated. The speed signal can be sent to EPS directly or indirectly through a gateway.

[0131] Working condition ③: When the unexpected steering wheel speed reaches a certain threshold (such as definition ≥360° / s), the EPSTAS sensor sends an unexpected steering wheel speed signal.

[0132] When the signals indicated by ①, ②, and ③ above occur simultaneously, the LKA module recognizes that the vehicle tire has a sharp loss of pressure, that is, a tire blowout occurs, and the LKA function is activated. The vehicle's position in the lane is determined by radar and camera, and a torque / angle request is input to EPS. EPS performs the steering function and quickly returns the vehicle to the center line of the lane at a certain speed (defined as ≥720° / s) to ensure vehicle driving stability. At the same time, the driver is given time to react and control the vehicle's braking and steering. During this time period, if the driver actively manipulates the steering wheel, that is, inputs steering torque to the steering wheel, the steering stability control function exits.

[0133] However, considering that the driver may be nervous and operate the steering wheel incorrectly or randomly, the exit of the steering stability control function at this time requires setting a relatively large torque input. For example, when the steering wheel input torque ≥5Nm is received, the steering stability control function is exited.

[0134] For example, please refer to Figure 8 , Figure 8 This is a flow chart of a vehicle control method provided by an embodiment of the present application.

[0135] Step 81: The LKA function is turned off.

[0136] Step 82: Receive an event signal, a steering wheel unexpected speed signal, and a vehicle speed signal.

[0137] Step 83: The LKA function is started.

[0138] Step 84: EPS performs forced steering.

[0139] In the embodiment of the present application, the LKA function is in an off state. After the vehicle receives three signals, namely, a reception event signal, an unexpected steering wheel speed signal, and a vehicle speed signal, the LKA function is activated and the EPS performs forced steering. When the vehicle receives steering wheel force or the vehicle speed drops to a specified speed, the LKA function is turned off and the steering control operation is exited.

[0140] The above is an extension of the LKA module. When the vehicle is driving and the LKA function is not turned on (generally the LKA function is integrated in the adaptive cruise control module), the CAN signal input can be obtained through the vehicle controller and EPS to turn on the LKA function separately. At this time, LKA determines the position of the vehicle in the lane through radar and camera, inputs torque / angle request to EPS, and EPS performs the steering function to ensure that the vehicle drives within the lane line. This function only needs to be expanded on the LKA function, and no separate external module is required to control it, which saves costs and is conducive to the needs of integration and lightweight.

[0141] The above is only an embodiment of the present application and should not be regarded as limiting the present application. Professionals should understand that various deformations and modifications can be made to the embodiments to adapt to different application requirements. Therefore, the scope of the present application should be limited by the claims attached to the claims.

[0142] Please refer to Fig. 9 , which shows a block diagram of a vehicle control device provided by an exemplary embodiment of the present application. The data processing device can be implemented as all or part of a computer device by hardware or a combination of hardware and software to achieve the above Figures 2 to 4 All or part of the steps in the embodiments shown. Fig. 9 As shown, the vehicle control device includes:

[0143] The information acquisition module 901 is used to obtain the tire pressure change value, vehicle speed and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle and dividing it by the time period;

[0144] An event signal generating module 902, configured to generate an event signal in response to a tire pressure change value of the vehicle reaching a tire pressure change threshold;

[0145] A vehicle speed signal generating module 903, for generating a vehicle speed signal in response to the vehicle speed reaching a vehicle speed threshold;

[0146] A steering wheel unexpected speed signal generating module 904, configured to generate a steering wheel unexpected speed signal in response to the speed of the steering wheel of the vehicle reaching a speed threshold;

[0147] The steering operation module 905 is used to control the vehicle to perform a steering operation through the electric power steering system when an event signal, a vehicle speed signal and an unexpected steering wheel speed signal are generated simultaneously; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

[0148] In some embodiments, the apparatus further comprises:

[0149] A position acquisition module, used for acquiring the position of the vehicle in the lane in response to the lane keeping assist module of the vehicle receiving the event signal, the vehicle speed signal and the steering wheel unexpected speed signal before the vehicle is controlled to perform a steering operation through the electric power steering system;

[0150] A request generation module, used for generating a torque input request and a steering wheel control angle request based on the position of the vehicle in the lane before the electric power steering system controls the vehicle to perform a steering operation; the torque input request is used to request the electric power steering system to control the direction and force of the steering wheel rotation of the vehicle according to a specified torque; the steering wheel control angle request is used to request the electric power steering system to control the target angle of the steering wheel rotation of the vehicle according to a specified angle;

[0151] The steering operation execution module is used to control the vehicle to execute the steering operation according to the torque input request and the steering wheel control angle request through the electric power steering system.

[0152] In some embodiments, the apparatus further comprises:

[0153] The first steering operation exit module is used to control the electric power steering system to exit the steering operation in response to the steering wheel of the vehicle receiving an input torque that meets a torque threshold during the process of controlling the vehicle to perform a steering operation through the electric power steering system.

[0154] In some embodiments, the apparatus further comprises:

[0155] The second steering operation exit module is used to control the electric power steering system to exit the steering operation when the vehicle speed decreases to a specified threshold.

[0156] In some embodiments, the tire pressure change threshold is at least 0.1 MPa / millisecond, the vehicle speed threshold is at least 108 km / h, and the steering wheel unexpected speed threshold is at least 360 degrees / second.

[0157] In some embodiments, the speed of the steering operation is at least 720 degrees per second.

[0158] Please refer to Fig.10 , Fig.101 is a schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application. The computer device 1000 includes a central processing unit (CPU) 1001, a system memory 1004 including a random access memory (RAM) 1002 and a read-only memory (ROM) 1003, and a system bus 1005 connecting the system memory 1004 and the central processing unit 1001. The computer device 1000 also includes a basic input / output system (I / O system) 1006 for helping to transmit information between various devices in the computer, and a large-capacity storage device 1007 for storing an operating system 1013, application programs 1014 and other program modules 1015.

[0159] The basic input / output system 1006 includes a display 1008 for displaying information and an input device 1009 such as a mouse and a keyboard for user inputting information. The display 1008 and the input device 1009 are connected to the central processing unit 1001 through an input / output controller 1010 connected to the system bus 1005. The basic input / output system 1006 may also include an input / output controller 1010 for receiving and processing inputs from a plurality of other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 1010 also provides output to a display screen, a printer, or other types of output devices.

[0160] The mass storage device 1007 is connected to the central processing unit 1001 through a mass storage controller (not shown) connected to the system bus 1005. The mass storage device 1007 and its associated computer readable media provide non-volatile storage for the computer device 1000. That is, the mass storage device 1007 may include a computer readable medium (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0161] Without loss of generality, computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc) or other optical storage, cassettes, magnetic tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media are not limited to the above. The above-mentioned system memory 1004 and mass storage device 1007 can be collectively referred to as memory.

[0162] The computer device 1000 can be connected to the Internet or other network devices through a network interface unit 1011 connected to the system bus 1005 .

[0163] The memory also includes one or more programs, one or more programs are stored in the memory, and the central processing unit 1001 implements the one or more programs by executing the one or more programs. Figures 2 to 4 All or part of the steps in the method shown.

[0164] In an exemplary embodiment, a chip is also provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a computer device, it is used to implement all or part of the steps of the method shown in the above embodiments of the present application.

[0165] In an exemplary embodiment, a computer program product is also provided, the computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement all or part of the steps of the method shown in the above-mentioned various embodiments of the present application.

[0166] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement all or part of the steps of the method shown in the above-mentioned embodiments of the present application.

[0167] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program. The above program may be stored in a computer-readable storage medium. The above storage medium may be a read-only memory, a disk or an optical disk, etc.

[0168] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0169] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method is performed by a vehicle including an electric power steering system, and the method comprises: Obtaining the tire pressure change value, vehicle speed, and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle and dividing it by the time period; generating an event signal in response to a tire pressure change value of the vehicle reaching a tire pressure change threshold; In response to a vehicle speed of the vehicle reaching a vehicle speed threshold, generating a vehicle speed signal; In response to a rotation speed of a steering wheel of the vehicle reaching a rotation speed threshold, generating a steering wheel unexpected rotation speed signal; When the event signal, the vehicle speed signal and the unexpected steering wheel speed signal are generated simultaneously, the vehicle is controlled by the electric power steering system to perform a steering operation; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

2. The method according to claim 1, characterized in that Before controlling the vehicle to perform a steering operation by the electric power steering system, the method further includes: In response to the lane keeping assist module of the vehicle receiving the event signal, the vehicle speed signal and the unexpected steering wheel speed signal, obtaining the position of the vehicle in the lane; generating a torque input request and a steering wheel control angle request based on the position of the vehicle in the lane; the torque input request is used to request the electric power steering system to control the direction and force of the steering wheel rotation of the vehicle according to a specified torque; the steering wheel control angle request is used to request the electric power steering system to control the target angle of the steering wheel rotation of the vehicle according to a specified angle; The step of controlling the vehicle to perform a steering operation by the electric power steering system comprises: The vehicle is controlled by the electric power steering system to perform a steering operation according to the torque input request and the steering wheel control angle request.

3. The method according to claim 1, characterized in that The method further comprises: During the process of controlling the vehicle to perform a steering operation through the electric power steering system, in response to the steering wheel of the vehicle receiving an input torque that meets a torque threshold, the electric power steering system is controlled to exit the steering operation.

4. The method according to claim 1, characterized in that: The method further comprises: When the vehicle speed of the vehicle decreases to a specified threshold, the electric power steering system is controlled to exit the steering operation.

5. The method according to any one of claims 1 to 4, characterized in that: The tire pressure change threshold is at least 0.1 MPa / millisecond, the vehicle speed threshold is at least 108 km / h, and the steering wheel unexpected speed threshold is at least 360 degrees / second.

6. The method according to any one of claims 1 to 4, characterized in that: The speed of the steering operation is at least 720 degrees per second.

7. A vehicle control device, characterized in that: The device comprises: An information acquisition module, used to acquire the tire pressure change value, vehicle speed and steering wheel speed of the vehicle; the tire pressure change value refers to the pressure change value obtained by subtracting the tire pressure value of the previous signal cycle from the tire pressure value of the current signal cycle and dividing it by the time period; an event signal generating module, configured to generate an event signal in response to a tire pressure change value of the vehicle reaching a tire pressure change threshold; A vehicle speed signal generating module, configured to generate a vehicle speed signal in response to the vehicle speed reaching a vehicle speed threshold; a steering wheel unexpected speed signal generating module, configured to generate a steering wheel unexpected speed signal in response to the speed of the steering wheel of the vehicle reaching a speed threshold; A steering operation module is used to control the vehicle to perform a steering operation through the electric power steering system when the event signal, the vehicle speed signal and the unexpected steering wheel speed signal are generated simultaneously; the steering operation is an operation to return the vehicle to the center line of the lane at a specified speed.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein instructions are stored in the memory, and the instructions are executed by the processor to implement the vehicle control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores instructions, and the instructions are executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium; the computer instructions are read and executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 6.

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