Vehicle control method, electronic equipment and vehicle

Abstract

The invention provides a vehicle control method, electronic equipment and a vehicle, and is applied to the technical field of vehicle intelligent control. In response to the fact that the pattern depth is smaller than or equal to the preset depth, it is indicated that the tire is seriously abraded, and the strength of the tire is weakened, so that driving data of the vehicle in the driving process are obtained, and whether the vehicle meets the gravity center shifting condition or not is judged according to the driving data; and in response to determining that the vehicle meets the gravity center shift condition, determining that the vehicle has a tire burst risk, and adjusting the driving state of the vehicle so as to reduce the gravity center shift of the vehicle. According to the invention, the vehicle runs more stably, and the center-of-gravity shift is reduced, so that the pressure borne by the tire on one side is reduced, and the risk of tire burst is reduced. Traffic accidents caused by tire burst can be prevented, and the overall driving safety is improved.

Description

Technical Field

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

[0002] After long-term use, the tire pattern will gradually wear and become thinner. When worn to a certain extent, the tire strength will weaken, making it easy for a tire to blow out while driving, especially when the vehicle is in some special driving scenarios, such as turning, when the vehicle's center of gravity will shift. At this time, the pressure on one side of the vehicle's tire is greater, making it more prone to a tire blowout. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a vehicle control method, an electronic device and a vehicle to avoid a tire blowout of the vehicle.

[0004] Based on the above objectives, the present application provides a vehicle control method, comprising:

[0005] Determine the wheel's tread depth;

[0006] In response to determining that the pattern depth is less than or equal to a preset depth, obtaining driving data of the vehicle during driving, and determining whether the vehicle meets a center of gravity shift condition according to the driving data;

[0007] In response to determining that the vehicle satisfies a center of gravity shift condition, determining that the vehicle has a risk of tire blowout, adjusting the driving state of the vehicle so that the center of gravity shift of the vehicle is reduced.

[0008] Further, the environmental information includes an image of a road behind the vehicle; and predicting whether there is a risk of rear-end collision after reducing the driving speed of the vehicle based on the environmental information includes:

[0009] Identifying a target vehicle in the rear road image and determining a second distance between the target vehicle and the vehicle;

[0010] In response to determining that the second distance is less than or equal to a second preset distance, it is determined that there is a risk of rear-end collision.

[0011] By comparing the second distance with the second preset distance, it is determined whether the distance between the target vehicle and the vehicle is too close to determine whether there is a risk of rear-end collision. If there is a risk of rear-end collision, corresponding control measures can be taken. This helps to improve the driving safety of the vehicle, avoid potential rear-end collision accidents, and avoid tire blowouts, ensuring the smooth and safe driving of the vehicle.

[0012] Based on the same inventive concept, the present application also provides a vehicle control device comprising:

[0013] a judgment module configured to determine a tread depth of the wheel; in response to determining that the tread depth is less than or equal to a preset depth, obtain driving data of the vehicle during driving, and judge whether the vehicle meets a center of gravity shift condition according to the driving data;

[0014] The control module is configured to, in response to determining that the vehicle meets a gravity center shift condition and that the vehicle has a tire blowout risk, adjust the vehicle's driving state so that the vehicle reduces gravity center shift.

[0015] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0016] Based on the same inventive concept, the present application also provides a vehicle, which includes the above-mentioned electronic device.

[0017] As can be seen from the above, the vehicle control method, electronic device and vehicle provided by the present application include: determining the tread depth of the wheel; in response to determining that the tread depth is less than or equal to the preset depth, indicating that the tire is severely worn and the tire strength is weakened, thus obtaining the driving data of the vehicle during driving, and judging whether the vehicle meets the center of gravity offset condition according to the driving data; in response to determining that the vehicle meets the center of gravity offset condition, determining that the vehicle has a risk of tire blowout, adjusting the driving state of the vehicle to reduce the center of gravity offset of the vehicle, such as reducing the driving speed of the vehicle, adjusting the driving direction of the vehicle, so that the vehicle drives more smoothly, reduces the center of gravity offset, thereby reducing the pressure on one side of the tire, and reducing the risk of tire blowout. It is helpful to prevent traffic accidents caused by tire blowout and improve overall driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 The process of the vehicle control method of the embodiment of the present application is as follows Figure 1 ;

[0020] Figure 2 The process of the vehicle control method of the embodiment of the present application is as follows Figure 2 ;

[0021] Figure 3 A schematic diagram of a vehicle control device according to an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0025] In the related technologies, in the modern automobile industry, improving vehicle safety has always been an important goal of research and development. With the increase in traffic flow and the complexity of the driving environment, the safety challenges faced by vehicles during driving are also increasing. In particular, as the only contact part between the vehicle and the ground, the performance of the tire directly affects the vehicle's handling stability and safety. For example, uneven tire pressure and wear of the tread depth may lead to instability in vehicle driving, which in turn may cause traffic accidents. Tire tread depth is one of the key indicators of tire performance. After long-term use, the tire pattern will gradually wear and become thinner, and the grip and drainage performance will decrease. When worn to a certain extent, the tire strength is weakened, and it is easy to have a tire blowout during driving, especially when the vehicle is in some special driving scenarios, such as when turning, the center of gravity of the vehicle will shift, and the pressure on one side of the vehicle tire will be greater, which is more likely to cause a tire blowout. Therefore, timely detection and evaluation of tire tread depth is of great significance for preventing accidents. With the development of vehicle intelligent technology, more and more sensors and data processing technologies are being applied to vehicle safety systems. How to integrate multiple sensor data, including tire data, vehicle dynamic information and environmental perception data, to more comprehensively assess the risk of tire blowout during driving and control the vehicle to ensure vehicle safety is an urgent problem to be solved.

[0026] Based on the above problems, the applicant found that: determine the wheel tread depth; in response to determining that the tread depth is less than or equal to the preset depth, it indicates that the tire is severely worn and the tire strength is weakened, so the driving data of the vehicle during driving is obtained, and whether the vehicle meets the center of gravity offset condition is determined according to the driving data; in response to determining that the vehicle meets the center of gravity offset condition, it is determined that the vehicle has a risk of tire blowout, and the driving state of the vehicle is adjusted to reduce the center of gravity offset of the vehicle, make the vehicle drive more smoothly, reduce the center of gravity offset, thereby reducing the pressure on one side of the tire and reducing the risk of tire blowout. It helps to prevent traffic accidents caused by tire blowout and improve overall driving safety.

[0027] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0028] The present application provides a vehicle control method, such as Figure 1 As shown, in some embodiments, the method is executed by a vehicle controller or a data processor independently provided by the vehicle controller. The subsequent embodiments are all illustrated by taking the vehicle controller as an example; the method includes:

[0029] S101, determining the tread depth of the wheel;

[0030] In practice, vehicles are usually equipped with various types of sensors, such as laser sensors, optical sensors, or ultrasonic sensors, which can be used to measure the tread depth of tires. The sensor scans the tire surface and calculates the depth of the tread based on the reflected or echoed signal. Tire tread depth can also be detected using cameras and image processing technology. The camera takes a high-resolution image of the tire, and then analyzes the tread depth through image processing algorithms. Insufficient tire tread depth can lead to weakened tire strength and prone to tire blowouts during driving. Therefore, timely detection and evaluation of tread depth can help prevent potential safety hazards.

[0031] S102, in response to determining that the pattern depth is less than or equal to a preset depth, obtaining driving data of the vehicle during driving, and determining whether the vehicle meets a center of gravity shift condition according to the driving data;

[0032] In specific implementation, if it is determined that the tread depth is less than or equal to a preset depth (for example, the preset depth can be set to 2.5 mm), it indicates that the tire has some wear and the tire strength is weakened, so various driving data are obtained during the vehicle driving process. And according to the driving data, it is determined whether the vehicle meets the center of gravity shift condition, for example: the tire pressure of the tires on both sides of the vehicle during driving is obtained through the tire pressure monitoring system. If the tire pressure difference between the tires on both sides is large, it indicates that the center of gravity of the vehicle is greatly offset, and the center of gravity shift condition is met. In addition, combined with the situation of insufficient tread depth, it is more likely to cause excessive pressure on one side of the tire and tire blowout.

[0033] S103: In response to determining that the vehicle meets the center of gravity shift condition, determining that the vehicle has a risk of tire blowout, adjusting the driving state of the vehicle to reduce the center of gravity shift of the vehicle.

[0034] In specific implementation, the vehicle meets the center of gravity shift condition by analyzing the driving data (such as tire pressure, tire height, etc.). The center of gravity shift indicates that the center of gravity of the vehicle is no longer evenly distributed, and some tires are under more pressure. Combined with the insufficient tire tread depth and the center of gravity shift, it is determined that the vehicle is at risk of tire blowout. To ensure the safety of the vehicle and passengers, the main control measures include adjusting the driving state of the vehicle to reduce the center of gravity shift of the vehicle, such as reducing the driving speed of the vehicle and adjusting the driving direction of the vehicle. The speed of the vehicle can be reduced by controlling the output power of the engine or directly activating the braking system. Since the center of gravity shift of the vehicle is usually caused by driving faster on a turning road, deceleration can reduce the pressure on one side of the tire and reduce the risk of tire blowout. The driving direction of the vehicle can also be changed by adjusting the steering angle to reduce the degree of center of gravity shift. By slightly adjusting the steering angle to increase the turning radius while ensuring driving safety, the vehicle can drive more smoothly, reduce the center of gravity shift, thereby reducing the pressure on one side of the tire and reducing the risk of tire blowout.

[0035] In this embodiment, after judging that the vehicle meets the center of gravity shift condition and there is a risk of tire blowout according to the driving data, effective control measures are taken quickly to adjust the driving state of the vehicle so as to reduce the center of gravity shift of the vehicle, for example, by reducing the driving speed and adjusting the driving direction to make the vehicle drive more smoothly and reduce the center of gravity shift, thereby reducing the pressure on one side of the tire and reducing the risk of tire blowout. This helps to prevent traffic accidents caused by tire blowout and improve overall driving safety.

[0036] The adjustment of the driving state of the vehicle is described in detail based on the following embodiments, so as to reduce the influence of the center of gravity shift on the vehicle stability and reduce the risk of tire blowout by decelerating and adjusting the driving direction. Figure 2 As shown, the center of gravity offset condition includes a slight offset condition and a severe offset condition; and the adjusting the driving state of the vehicle includes:

[0037] S201, obtaining environmental information of the vehicle, and predicting whether there is a risk of being rear-ended after reducing the driving speed of the vehicle based on the environmental information;

[0038] During specific implementation, the camera can be used to capture the rear road image of the vehicle, identify the rear vehicle in the rear road image, detect and measure the distance between the rear vehicle and the vehicle through a radar sensor, simulate the speed change during deceleration based on the current vehicle speed and the speed to be reduced, and determine whether the vehicle is at risk of being rear-ended during deceleration.

[0039] S202A, in response to determining that there is no risk of rear-end collision and the vehicle meets a slight deviation condition, reducing the driving speed of the vehicle;

[0040] In specific implementation, if it is determined that there is no risk of rear-end collision and the vehicle meets the mild offset condition (mild offset means that the center of gravity of the vehicle is offset within a smaller range. Although there is a certain offset, it has not yet reached the level that seriously affects the stability of the vehicle), only deceleration measures can be taken at this time. Reducing the vehicle's driving speed can effectively reduce the impact of the center of gravity offset and reduce the pressure on the tires. A suitable deceleration range can be determined based on the current driving speed, road conditions and the degree of mild offset. The deceleration range needs to be large enough to reduce the center of gravity offset, but not too drastic to avoid affecting the smooth driving of the vehicle.

[0041] S202B, in response to determining that there is no risk of rear-end collision and the vehicle meets the severe deviation condition, reducing the driving speed of the vehicle and adjusting the driving direction of the vehicle;

[0042] In specific implementation, if it is determined that there is no risk of rear-end collision and the vehicle meets the severe offset condition (severe offset usually means that the center of gravity of the vehicle is offset beyond the safe range, which may seriously affect the stability and handling of the vehicle), then reduce the vehicle's speed and adjust the vehicle's driving direction. Deceleration can effectively reduce the pressure on the tires and reduce the impact of the center of gravity offset. However, in the case of severe offset, simple deceleration may not be enough to restore the stability of the vehicle. Therefore, it is necessary to further reduce the impact of the center of gravity offset by adjusting the vehicle's driving direction, that is, by slightly adjusting the steering angle to increase the turning radius while ensuring driving safety, the vehicle can drive more smoothly and reduce the center of gravity offset.

[0043] S202C: In response to determining that there is a risk of rear-end collision, adjusting the driving direction of the vehicle.

[0044] In specific implementation, if there is a risk of rear-end collision, it is not safe to reduce the vehicle's speed. In this case, the vehicle's driving direction is adjusted to increase the turning radius, so that the vehicle can drive more smoothly and reduce the center of gravity shift. If new risks or changes are detected during the steering process (such as changes in road conditions or other vehicles approaching), the steering strategy can be adjusted to adapt to the new situation. For example, if there is an obstacle or vehicle ahead, the driving direction is replanned and a safer driving direction is selected.

[0045] In this embodiment, if it is determined that the vehicle does not have a risk of being rear-ended and the vehicle meets the corresponding offset conditions, measures such as deceleration and adjustment of the driving direction can be taken to effectively reduce the impact of the center of gravity offset and reduce the pressure on the tires. If it is determined that there is a risk of being rear-ended, only the driving direction of the vehicle is adjusted to ensure that no rear-end collision occurs during the deceleration process, thereby improving driving safety. By decelerating and adjusting the driving direction, the impact of the center of gravity offset on the vehicle stability is reduced, ensuring the stability of the vehicle during driving. Deceleration and steering adjustment help balance the pressure on the tires and reduce the risk of tire blowouts.

[0046] The method of determining whether the vehicle meets the center of gravity shift condition based on the driving data is described in detail based on the following embodiments, so as to identify and prevent potential serious tire blowout risks in advance and maintain the stability and driving safety of the vehicle. The preset depth includes a first preset depth and a second preset depth, and the first preset depth is greater than the second preset depth; the driving data includes the tire pressure of the tires on both sides of the vehicle during driving; the method of determining whether the vehicle meets the center of gravity shift condition based on the driving data includes:

[0047] Determining a first difference in tire pressures on both sides of the vehicle;

[0048] In specific implementation, the vehicle is usually equipped with a tire pressure monitoring system, which monitors the tire pressure in real time through sensors installed on each tire, and determines the first difference in tire pressure on both sides of the vehicle. The tire pressure data on the left and right sides of the vehicle can be processed separately, and the average tire pressure values ​​of the left tire and the right tire are calculated respectively, that is, the average tire pressure of the left front wheel and the left rear wheel is calculated, and the average tire pressure of the right front wheel and the right rear wheel is calculated. The first difference is obtained by calculating the difference between the average tire pressure values ​​of the left and right tires. Ideally, the tire pressure of the left and right tires of the vehicle should be basically the same, and the first difference should be within a small range. If the first difference is large, it may indicate that the center of gravity of the vehicle has shifted.

[0049] In response to determining that the first difference is greater than or equal to a first preset difference, and the tread depth is less than or equal to a first preset depth and greater than a second preset depth, determining that the vehicle meets a mild deviation condition;

[0050] In specific implementation, if it is determined that the first difference is greater than or equal to the first preset difference (for example, the first preset difference can be set to 0.1 bar), it indicates that there is a significant difference in tire pressure on both sides of the vehicle, which may be caused by the center of gravity shift. Because the center of gravity shift will cause one side of the vehicle to have a greater weight, resulting in a large difference in the average tire pressure values ​​of the left and right tires. At the same time, if the pattern depth is less than or equal to the first preset depth and greater than the second preset depth (for example, the first preset depth can be set to 2.5mm and the second preset depth can be set to 2mm), it indicates that the tire is slightly worn and the tire strength is weakened. At this time, it can be determined that the vehicle meets the slight offset condition.

[0051] In response to determining that the first difference is greater than or equal to a first preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

[0052] In specific implementation, if it is determined that the first difference is greater than or equal to the first preset difference (for example, the first preset difference can be set to 0.1 bar), it indicates that there is a significant difference in tire pressure on both sides of the vehicle, which may be caused by the center of gravity offset. At the same time, if the pattern depth is less than or equal to the second preset depth (for example, the second preset depth can be set to 2 mm), it indicates that the tire is severely worn and the tire strength is relatively weaker, then it is determined that the vehicle meets the severe offset condition.

[0053] In this embodiment, the degree of the vehicle's center of gravity offset can be determined by the first difference in tire pressure on both sides of the vehicle and the tread depth. If it is determined that the first difference is greater than or equal to the first preset difference, it means that there is a significant difference in tire pressure on both sides of the vehicle. If the tread depth is less than or equal to the second preset depth, it is determined that the vehicle meets the severe offset condition. If the tread depth is less than or equal to the first preset depth and greater than the second preset depth, it is determined that the vehicle meets the mild offset condition. Corresponding emergency control measures can be taken, such as reducing the vehicle's driving speed and adjusting the vehicle's driving direction, to ensure the vehicle's driving safety and avoid tire blowouts. This helps to identify and prevent potential serious tire blowout risks in advance and maintain the stability and driving safety of the vehicle.

[0054] The method of determining whether the vehicle meets the center of gravity shift condition based on the driving data is described in detail based on the following embodiments, so as to identify and prevent potential serious tire blowout risks in advance and maintain the stability and driving safety of the vehicle. The preset depth includes a first preset depth and a second preset depth, and the first preset depth is greater than the second preset depth; the driving data includes image data of tires on both sides of the vehicle during driving; determining whether the vehicle meets the center of gravity shift condition based on the driving data includes:

[0055] Determine the heights of the tires on both sides of the vehicle according to the image data of the tires on both sides, and determine a second difference in the heights of the tires on both sides;

[0056] In specific implementation, the vehicle can be equipped with multiple cameras for capturing image data of the tires in real time. These cameras are usually installed on the front and rear sides of the vehicle to ensure that the image of the tire can be clearly captured. Through the image processing algorithm, the tire area in the image is identified and the relevant features of the tire are extracted. By analyzing the feature points in the tire image, the height of the tire is calculated. The height of the tire can be the distance from the lower edge of the tire (the part that contacts the ground) to the upper edge of the tire, and can also be defined as the sidewall height, that is, the height of the sidewall of the tire from the edge of the rim to the tread. Calculate the average height of the left front wheel and the left rear wheel and the average height of the right front wheel and the right rear wheel. The second difference in the height of the tires on both sides is obtained by the average height values ​​of the left and right tires. If the second difference is large, it means that there is a significant difference in the height of the tires on both sides of the vehicle, which may be caused by the center of gravity offset.

[0057] In response to determining that the second difference is greater than or equal to a second preset difference, and the tread depth is less than or equal to a first preset depth and greater than a second preset depth, determining that the vehicle meets a mild deviation condition;

[0058] In specific implementation, if it is determined that the second difference is greater than or equal to the second preset difference (for example, the second preset difference can be set to 1 cm), it indicates that there is a significant difference in the height of the tires on both sides of the vehicle, which may be caused by the shift of the center of gravity. Because the shift of the center of gravity will cause one side of the vehicle to have a greater weight, resulting in a large difference in the average height values ​​of the tires on the left and right sides. At the same time, if the pattern depth is less than or equal to the first preset depth and greater than the second preset depth (for example, the first preset depth can be set to 2.5 mm, and the second preset depth can be set to 2 mm), it indicates that the tire is slightly worn and the tire strength is weakened. At this time, it can be determined that the vehicle meets the slight offset condition.

[0059] In response to determining that the second difference is greater than or equal to a second preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

[0060] In specific implementation, if it is determined that the second difference is greater than or equal to the second preset difference, it indicates that there is a significant difference in the height of the tires on both sides of the vehicle, which may be caused by the shift of the center of gravity. At the same time, if the pattern depth is less than or equal to the second preset depth (exemplarily, the second preset depth can be set to 2mm), it indicates that the tire is severely worn and the tire strength is relatively weaker, then it is determined that the vehicle meets the severe offset condition.

[0061] In this embodiment, the degree of the vehicle's center of gravity shift can be determined by the second difference in the height of the tires on both sides and the tread depth. If it is determined that the second difference is greater than or equal to the second preset difference, it indicates that there is a significant difference in the height of the tires on both sides of the vehicle. If the tread depth is less than or equal to the first preset depth and greater than the second preset depth, it is determined that the vehicle meets the mild shift condition. If the tread depth is less than or equal to the second preset depth, it is determined that the vehicle meets the severe shift condition. Corresponding emergency control measures can be taken to adjust the vehicle's driving state so that the vehicle reduces the center of gravity shift, thereby ensuring the vehicle's driving safety and avoiding tire blowouts. This helps to identify and prevent potential serious tire blowout risks in advance and maintain the stability and driving safety of the vehicle.

[0062] The adjustment of the driving direction of the vehicle is described in detail based on the following embodiments, so as to improve the stability and safety of the vehicle during turning and driving, reduce the risk of center of gravity shift, ensure the smooth driving of the vehicle, and avoid the risk of tire blowout. The adjustment of the driving direction of the vehicle includes:

[0063] Determining a turning radius of the vehicle, and determining a target driving direction of the vehicle based on the turning radius, wherein the target driving direction is a driving direction that increases the turning radius of the vehicle;

[0064] Adjust the vehicle from the current driving direction to the target driving direction.

[0065] In specific implementation, the turning radius refers to the turning radius of the outer front wheel of the vehicle when turning. It reflects the flexibility of the vehicle's steering and the compactness of the turn. Modern vehicles are equipped with a variety of sensors, such as steering angle sensors, vehicle speed sensors, and yaw rate sensors, which can provide data such as the vehicle's steering angle, driving speed, and yaw rate in real time. By comprehensively analyzing these sensor data, the current turning radius is calculated. The target driving direction refers to the new driving direction that the vehicle is expected to adjust to achieve a specific control goal. In this example, the target driving direction is the driving direction that increases the turning radius of the vehicle. Increasing the turning radius usually means that the vehicle turns more smoothly, which can reduce the lateral force of the tires and reduce the risk of center of gravity shift, thereby improving the stability and safety of the vehicle and avoiding tire blowouts. Analyze the current steering angle to determine the current turning direction of the vehicle (left turn or right turn). Calculate the target steering angle that needs to be adjusted to increase the turning radius. For example, if the vehicle is currently turning left, the target steering angle will slightly reduce the left turn angle; if the vehicle is currently turning right, the target steering angle will slightly reduce the right turn angle. The target driving direction of the vehicle, that is, the adjusted driving direction, is determined based on the target steering angle. After determining the target driving direction of the vehicle, the vehicle is adjusted from the current driving direction to the target driving direction.

[0066] In this embodiment, the target driving direction of the vehicle is determined based on the turning radius, and the target driving direction is the driving direction that increases the turning radius of the vehicle. The vehicle is adjusted from the current driving direction to the target driving direction. The vehicle turns more smoothly, which can reduce the lateral force of the tires and the risk of center of gravity shift, helping to improve the stability and safety of the vehicle during turning and driving, ensuring the smooth driving of the vehicle and avoiding the risk of tire blowout.

[0067] Based on the following embodiments, the determination of the collision risk of the vehicle is described in detail to improve the driving safety of the vehicle, avoid potential collision accidents, and ensure the smooth and safe driving of the vehicle. Before adjusting the vehicle from the current driving direction to the target driving direction, it also includes:

[0068] Predicting, based on the environmental information, whether there is a risk of collision after the vehicle is adjusted from the current driving direction to the target driving direction;

[0069] In specific implementation, the sensors equipped on the vehicle (such as radar, lidar, camera and ultrasonic sensor) collect information about the surrounding environment in real time, fuse the data from different sensors, and generate a comprehensive environmental model. Through image processing and machine learning algorithms, objects in the environment are detected and classified, and tracked and their trajectories are predicted. Based on the current driving direction and the target driving direction, the vehicle's driving path is predicted and compared with the object trajectory in the environmental model to detect whether there is a path intersection.

[0070] The time it takes for vehicles and other objects to arrive at the intersection is calculated to assess whether they arrive at the same time. If both arrive at the intersection at the same time, there is a risk of collision.

[0071] In response to determining that there is a risk of collision, adjusting the driving direction of the vehicle is prohibited so that the vehicle maintains the current driving direction.

[0072] In specific implementation, when it is determined that there is a risk of collision, it is prohibited to adjust the vehicle's driving direction so that the vehicle maintains its current driving direction to reduce the possibility of collision. The driver may also be warned through the in-vehicle display or voice prompts to inform him of the current collision risk and the control measures to be taken.

[0073] In this embodiment, through the above process, the vehicle control system can prohibit adjusting the driving direction of the vehicle when it is determined that there is a risk of collision, so that the vehicle maintains the current driving direction. This helps to improve the driving safety of the vehicle, avoid potential collision accidents, and ensure the smooth and safe driving of the vehicle.

[0074] Based on the following embodiments, the prediction based on the environmental information of whether there is a collision risk after the vehicle is adjusted from the current driving direction to the target driving direction is described in detail to improve the driving safety of the vehicle, avoid potential collision accidents, and ensure the smooth and safe driving of the vehicle. The environmental information includes the movement direction and movement speed of objects around the vehicle; the prediction based on the environmental information of whether there is a collision risk after the vehicle is adjusted from the current driving direction to the target driving direction includes:

[0075] Determining a first position that the vehicle will reach after adjusting the vehicle from the current driving direction to the target driving direction and a time when the vehicle reaches the first position;

[0076] Determine a second position that the surrounding object will reach at the moment based on the movement direction and the movement speed, and determine a first distance between the first position and the second position;

[0077] In specific implementation, based on the current speed of the vehicle and the time required to adjust the vehicle from the current driving direction to the target driving direction, the first position that the vehicle will reach after adjusting the vehicle from the current driving direction to the target driving direction and the time of arriving at the first position are determined, and based on the movement direction and movement speed, the second position that the surrounding objects will reach at the moment is determined, and the distance between the vehicle and the object is calculated, so as to evaluate the collision risk.

[0078] In response to determining that the first distance is less than or equal to a first preset distance, it is determined that there is a collision risk.

[0079] In specific implementation, if it is determined that the first distance is less than or equal to the first preset distance (for example, the first preset distance can be set to 5m), it indicates that after the vehicle is adjusted from the current driving direction to the target driving direction, the distance between the vehicle and the surrounding objects is too close and there is a risk of collision.

[0080] In this embodiment, by comparing the first distance with the first preset distance, it is determined whether there is a risk of collision between the vehicle and surrounding objects after the vehicle is adjusted from the current driving direction to the target driving direction. If there is a risk of collision, corresponding control measures are taken, such as prohibiting the adjustment of the vehicle's driving direction. This helps to improve the driving safety of the vehicle, avoid potential collision accidents, and ensure the smooth and safe driving of the vehicle.

[0081] Based on the following embodiments, the prediction of whether there is a risk of being rear-ended after reducing the speed of the vehicle based on the environmental information is described in detail, thereby improving the driving safety of the vehicle, avoiding potential rear-end collisions, and avoiding tire blowouts, thereby ensuring the smooth and safe driving of the vehicle. The environmental information includes an image of the road behind the vehicle; the prediction of whether there is a risk of being rear-ended after reducing the speed of the vehicle based on the environmental information includes:

[0082] Identifying a target vehicle in the rear road image and determining a second distance between the target vehicle and the vehicle;

[0083] In response to determining that the second distance is less than or equal to a second preset distance, it is determined that there is a risk of rear-end collision.

[0084] In specific implementation, the vehicle is equipped with a rear-view camera or a surround-view camera system, which can capture images of the road behind the vehicle in real time. Use a target detection algorithm, such as a convolutional neural network, YOLO (You Only Look Once) or SSD (Single Shot MultiBox Detector), to detect and identify the target vehicle in the image. After the target vehicle is identified, a radar sensor can be used to determine the second distance between the target vehicle and the vehicle. If the second distance is less than or equal to the second preset distance (exemplarily, the second preset distance can be set to 10m), it indicates that the distance between the target vehicle and the vehicle is too close, and there is a possibility of a rear-end collision.

[0085] In this embodiment, by comparing the second distance with the second preset distance, it is determined whether the distance between the target vehicle and the vehicle is too close, so as to determine whether there is a risk of rear-end collision, and take corresponding control measures if there is a risk of rear-end collision. This helps to improve the driving safety of the vehicle, avoid potential rear-end collision accidents, and avoid tire blowouts, ensuring the smooth and safe driving of the vehicle.

[0086] The method of reducing the speed of the vehicle and adjusting the direction of travel of the vehicle is described in detail based on the following embodiments, so as to reduce the pressure on the tire on one side and reduce the risk of tire blowout. The method of reducing the speed of the vehicle and adjusting the direction of travel of the vehicle includes:

[0087] Determining a target acceleration based on the current driving speed of the vehicle, and reducing the driving speed of the vehicle according to the target acceleration; wherein the absolute value of the target acceleration is proportional to the current driving speed of the vehicle;

[0088] In response to determining that the driving speed of the vehicle is reduced to the target vehicle speed, determining a turning radius of the vehicle, and determining a target driving direction of the vehicle based on the turning radius, the target driving direction being a driving direction that increases the turning radius of the vehicle;

[0089] Adjust the vehicle from the current driving direction to the target driving direction.

[0090] In specific implementation, the target acceleration is determined based on the current speed of the vehicle, and the absolute value of the target acceleration is proportional to the current speed of the vehicle, ensuring that the higher the speed, the greater the deceleration force, so as to more effectively control the speed to deal with emergency situations or center of gravity shift. The speed of the vehicle is gradually reduced according to the target acceleration until a safer target speed is reached (exemplarily, the target speed can be set to 60% of the current speed). After the speed is reduced to a certain extent, the turning radius of the vehicle is determined in time, and the target driving direction of the vehicle is determined based on the turning radius. The target driving direction is the driving direction that increases the turning radius of the vehicle, because the reduction in speed usually allows the vehicle to adopt a larger turning radius, thereby increasing the driving stability and avoiding the center of gravity shift of the vehicle.

[0091] In this embodiment, by reducing the vehicle's speed to a relatively safe level, the center of gravity shift caused by excessive speed is reduced. At the same time, by increasing the turning radius, the vehicle is more stable when driving, especially when turning or avoiding, the vehicle can be more effectively controlled to further avoid the center of gravity shift, thereby reducing the pressure on one side of the tire and reducing the risk of tire blowout. This helps prevent traffic accidents caused by tire blowout and improves overall driving safety.

[0092] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0093] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0094] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle control device.

[0095] refer to Figure 3 , the vehicle control device comprises:

[0096] A judgment module 701 is configured to determine a tread depth of a wheel; in response to determining that the tread depth is less than or equal to a preset depth, obtain driving data of the vehicle during driving, and determine whether the vehicle meets a center of gravity shift condition according to the driving data;

[0097] The control module 702 is configured to, in response to determining that the vehicle meets a gravity center shift condition and that the vehicle has a tire blowout risk, adjust the vehicle's driving state so that the vehicle reduces gravity center shift.

[0098] Further, the control module 702 is specifically used for:

[0099] Acquiring environmental information of the vehicle, and predicting whether there is a risk of being rear-ended after reducing the speed of the vehicle based on the environmental information;

[0100] In response to determining that there is no risk of rear-end collision and the vehicle satisfies a slight deviation condition, reducing the driving speed of the vehicle;

[0101] In response to determining that there is no risk of rear-end collision and the vehicle meets a severe deviation condition, reducing the driving speed of the vehicle and adjusting the driving direction of the vehicle;

[0102] In response to determining that there is a risk of being rear-ended, adjusting the driving direction of the vehicle.

[0103] Further, the judging module 701 is specifically used for:

[0104] Determining a first difference in tire pressures on both sides of the vehicle;

[0105] In response to determining that the first difference is greater than or equal to a first preset difference, and the tread depth is less than or equal to a first preset depth and greater than a second preset depth, determining that the vehicle meets a mild deviation condition;

[0106] In response to determining that the first difference is greater than or equal to a first preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

[0107] Furthermore, the judging module 701 is further configured to:

[0108] Determine the heights of the tires on both sides of the vehicle according to the image data of the tires on both sides, and determine a second difference in the heights of the tires on both sides;

[0109] In response to determining that the second difference is greater than or equal to a second preset difference, and the tread depth is less than or equal to a first preset depth and greater than a second preset depth, determining that the vehicle meets a mild deviation condition;

[0110] In response to determining that the second difference is greater than or equal to a second preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

[0111] Furthermore, the control module 702 is further specifically configured to:

[0112] Determining a turning radius of the vehicle, and determining a target driving direction of the vehicle based on the turning radius, wherein the target driving direction is a driving direction that increases the turning radius of the vehicle;

[0113] Adjust the vehicle from the current driving direction to the target driving direction.

[0114] Furthermore, the control module 702 is further specifically configured to:

[0115] Predicting, based on the environmental information, whether there is a risk of collision after the vehicle is adjusted from the current driving direction to the target driving direction;

[0116] In response to determining that there is a risk of collision, adjusting the driving direction of the vehicle is prohibited so that the vehicle maintains the current driving direction.

[0117] Furthermore, the control module 702 is further specifically configured to:

[0118] Determining a first position that the vehicle will reach after adjusting the vehicle from the current driving direction to the target driving direction and a time when the vehicle reaches the first position;

[0119] Determine a second position that the surrounding object will reach at the moment based on the movement direction and the movement speed, and determine a first distance between the first position and the second position;

[0120] In response to determining that the first distance is less than or equal to a first preset distance, it is determined that there is a collision risk.

[0121] Furthermore, the control module 702 is further specifically configured to:

[0122] Identifying a target vehicle in the rear road image and determining a second distance between the target vehicle and the vehicle;

[0123] In response to determining that the second distance is less than or equal to a second preset distance, it is determined that there is a risk of rear-end collision.

[0124] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0125] The device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0126] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method described in any of the above embodiments is implemented.

[0127] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0128] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0129] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0130] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0131] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0132] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0133] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0134] The electronic device of the above embodiment is used to implement the corresponding vehicle control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0135] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle control method described in any of the above embodiments.

[0136] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0137] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0138] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0139] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0140] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0141] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0142] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0143] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0144] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0145] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0146] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Determine the wheel's tread depth; In response to determining that the pattern depth is less than or equal to a preset depth, obtaining driving data of the vehicle during driving, and determining whether the vehicle meets a center of gravity shift condition according to the driving data; In response to determining that the vehicle satisfies a center of gravity shift condition, determining that the vehicle has a risk of tire blowout, adjusting the driving state of the vehicle so that the center of gravity shift of the vehicle is reduced.

2. The vehicle control method according to claim 1, characterized in that: The center of gravity offset condition includes a slight offset condition and a severe offset condition; and the adjusting the driving state of the vehicle includes: Acquiring environmental information of the vehicle, and predicting whether there is a risk of being rear-ended after reducing the speed of the vehicle based on the environmental information; In response to determining that there is no risk of rear-end collision and the vehicle satisfies a slight deviation condition, reducing the driving speed of the vehicle; In response to determining that there is no risk of rear-end collision and the vehicle meets a severe deviation condition, reducing the driving speed of the vehicle and adjusting the driving direction of the vehicle; In response to determining that there is a risk of being rear-ended, adjusting the driving direction of the vehicle.

3. The vehicle control method according to claim 2, characterized in that: The preset depth includes a first preset depth and a second preset depth, and the first preset depth is greater than the second preset depth; the driving data includes tire pressures of tires on both sides of the vehicle during driving; The determining, based on the driving data, whether the vehicle satisfies a center of gravity shift condition comprises: Determining a first difference in tire pressures on both sides of the vehicle; In response to determining that the first difference is greater than or equal to a first preset difference, and the tread depth is less than or equal to the first preset depth and greater than the second preset depth, determining that the vehicle meets a slight deviation condition; In response to determining that the first difference is greater than or equal to a first preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

4. The vehicle control method according to claim 2, characterized in that: The preset depth includes a first preset depth and a second preset depth, and the first preset depth is greater than the second preset depth; the driving data includes image data of tires on both sides of the vehicle during driving; The determining, based on the driving data, whether the vehicle satisfies a center of gravity shift condition comprises: Determine the heights of the tires on both sides of the vehicle according to the image data of the tires on both sides, and determine a second difference in the heights of the tires on both sides; In response to determining that the second difference is greater than or equal to a second preset difference, and the tread depth is less than or equal to a first preset depth and greater than a second preset depth, determining that the vehicle meets a mild deviation condition; In response to determining that the second difference is greater than or equal to a second preset difference and the tread depth is less than or equal to a second preset depth, it is determined that the vehicle meets a severe deviation condition.

5. The vehicle control method according to claim 2, characterized in that: The adjusting the driving direction of the vehicle comprises: Determining a turning radius of the vehicle, and determining a target driving direction of the vehicle based on the turning radius, wherein the target driving direction is a driving direction that increases the turning radius of the vehicle; Adjust the vehicle from the current driving direction to the target driving direction.

6. The vehicle control method according to claim 5, characterized in that: Also includes: Predicting, based on the environmental information, whether there is a risk of collision after the vehicle is adjusted from the current driving direction to the target driving direction; In response to determining that there is a risk of collision, adjusting the driving direction of the vehicle is prohibited so that the vehicle maintains the current driving direction.

7. The vehicle control method according to claim 6, characterized in that: The environmental information includes the movement direction and movement speed of objects around the vehicle; and the prediction based on the environmental information of whether there is a collision risk after the vehicle is adjusted from the current driving direction to the target driving direction includes: Determining a first position that the vehicle will reach after adjusting the vehicle from the current driving direction to the target driving direction and a time when the vehicle reaches the first position; Determine a second position that the surrounding object will reach at the moment based on the movement direction and the movement speed, and determine a first distance between the first position and the second position; In response to determining that the first distance is less than or equal to a first preset distance, it is determined that there is a collision risk.

8. The vehicle control method according to claim 2, characterized in that: The reducing the driving speed of the vehicle and adjusting the driving direction of the vehicle comprises: Determining a target acceleration based on the current driving speed of the vehicle, and reducing the driving speed of the vehicle according to the target acceleration; wherein the absolute value of the target acceleration is proportional to the current driving speed of the vehicle; In response to determining that the driving speed of the vehicle is reduced to the target vehicle speed, determining a turning radius of the vehicle, and determining a target driving direction of the vehicle based on the turning radius, the target driving direction being a driving direction that increases the turning radius of the vehicle; Adjust the vehicle from the current driving direction to the target driving direction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

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