Vehicle instability monitoring method, control system, storage medium and electronic equipment

Abstract

The invention discloses a vehicle instability monitoring method, a control system, a storage medium and electronic equipment, and the method comprises the steps: obtaining the driving parameters of a vehicle, and setting an instability state judgment condition; according to the instability state judgment condition, whether prompt information of ESC module activation or instability state occurrence is received or not is monitored, and if yes, the ESC module is controlled to be activated for braking; through the design of judgment on the instability trend of the vehicle, multi-dimensional judgment is carried out according to set instability state judgment conditions, when the instability trend of the vehicle is monitored, the ESC module is adopted by the vehicle for auxiliary braking control, a driver is prompted, external vehicles and pedestrians are warned, and then public traffic hazards are prevented.

Description

Technical Field

[0001] The present invention relates to the field of automobile intelligent control, and in particular to a vehicle instability monitoring method, control system, storage medium and electronic equipment. Background Art

[0002] At present, when vehicles equipped with electronic stability control systems (ESC) on the market are subject to external forces or emergency braking in an emergency situation, if the deceleration is greater than a certain value, the vehicle will have a double flash warning and the body will deflect; when the vehicle encounters an emergency and needs to change lanes to avoid an accident, the vehicle will be subjected to a large lateral force, and the large yaw angular velocity will cause a potential hazard to the vehicle itself or pedestrians and other vehicles around the vehicle; when the vehicle accelerates and skids on a road with a lower adhesion coefficient or jumps from a road with a higher adhesion coefficient to a road with a lower adhesion coefficient, the vehicle will also skid, causing a potential hazard to the vehicle itself or pedestrians and other vehicles around the vehicle, and causing the vehicle to tend to become unstable. Only when this trend increases to a certain extent, the vehicle dynamic control (VDC) and traction control system (TCS) functions will actively intervene to control the vehicle to stabilize.

[0003] When the vehicle shows signs of instability or the ESC function is triggered but the system does not intervene in the control, the driver's ability to perceive the vehicle's dynamics is poor and it is difficult for the driver to understand that there are safety hazards in the current vehicle state. Once the driving operation is improper, it is easy to quickly expand the instability trend, and VDC and TCS are difficult to respond in time, which may cause traffic safety accidents. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a vehicle instability monitoring method, control system, storage medium and electronic equipment.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a vehicle instability monitoring method, comprising:

[0006] S1: Obtain the driving parameters of the vehicle and set the instability state judgment conditions;

[0007] S2: According to the unstable state judgment condition, monitoring whether the prompt information of ESC module activation or unstable state occurrence is received, if yes, controlling the ESC module to activate and brake.

[0008] As a further description of the above technical solution: the obtaining of the driving parameters of the vehicle includes: obtaining the driving parameters of the vehicle's wheel speed difference, lateral acceleration or yaw angular velocity through sensor monitoring.

[0009] As a further description of the above technical solution: the setting of the instability state judgment condition includes: setting a wheel speed difference threshold, a lateral acceleration threshold and a yaw angular velocity threshold as the instability state judgment condition. If the driving parameter is greater than the instability state judgment condition, it is judged as an instability state.

[0010] As a further description of the above technical solution: monitor whether the prompt information of ESC module activation is received, if yes, control the ESC module to activate and brake, if not, continue monitoring.

[0011] As a further description of the above technical solution: monitor whether a prompt message indicating an unstable state is received, if yes, determine that the vehicle is in an unstable state, control the ESC module to activate braking, and if no, continue monitoring.

[0012] As a further description of the above technical solution: the ESC module is activated to send warning information both inside and outside the vehicle.

[0013] As a further description of the above technical solution: the warning information sent to the vehicle includes: sending the instrument ESC working light prompt, the central control screen prompting the vehicle to enter the safety mode and the voice prompt;

[0014] The warning information sent to the outside of the vehicle includes: controlling the vehicle's double flash lights to flash as a reminder.

[0015] Also included is a control system, which is applicable to any monitoring method in the above technical solutions, including:

[0016] The monitoring module monitors the vehicle through sensors to obtain the vehicle's current driving parameters;

[0017] A judgment module receives the driving parameters sent by the monitoring module, compares them with the set instability state judgment conditions, and judges whether the vehicle is in an instability state;

[0018] ESC execution module, controls the vehicle to perform ESAC braking and sends warning information;

[0019] The warning module receives the warning information sent by the ESC execution module, gives prompts through the voice system and display system, and controls the flashing of the double flash lights outside the vehicle.

[0020] It also includes a computer-readable storage medium storing a computer program for running the monitoring method, wherein the computer program enables a computer to execute the monitoring method as described in any one of the above technical solutions.

[0021] Also included is an electronic device, comprising:

[0022] one or more processors; memory; and

[0023] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing a monitoring method as described in any one of the above technical solutions.

[0024] The above technical solution has the following advantages or beneficial effects:

[0025] By designing the judgment of the vehicle's instability trend, multi-dimensional judgment is performed according to the set instability state judgment conditions. When the vehicle's instability trend is detected, the vehicle will adopt ESC module auxiliary braking control, prompt the driver, and warn external vehicles and pedestrians, thereby preventing public transportation hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A flow chart of the monitoring method proposed by the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the control system proposed by the present invention.

[0028] Legend:

[0029] 1. Monitoring module; 2. Judgment module; 3. ESC execution module; 4. Warning module. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Reference Figure 1 , an embodiment of the present invention provides: a vehicle instability monitoring method, comprising:

[0032] S1: Obtain the driving parameters of the vehicle and set the instability state judgment conditions;

[0033] S2: Based on the instability state judgment condition, monitoring whether the ESC module is activated or the prompt information of the instability state is received, if yes, controlling the ESC module to activate and brake.

[0034] In this embodiment, the driving state of the vehicle is monitored by acquiring the driving parameters of the vehicle, and a multi-dimensional judgment is performed according to the set instability state judgment conditions to monitor whether the vehicle is in an unstable state. When an instability trend of the vehicle is detected, the vehicle will adopt ESC module auxiliary braking control, prompt the driver, and warn external vehicles and pedestrians, thereby preventing public transportation hazards.

[0035] The driving parameters of the vehicle can be obtained through a variety of on-board sensors, including speed sensors, acceleration sensors, gyroscopes or wheel speed sensors, etc. The setting of the instability judgment condition needs to comprehensively consider the various characteristics of the vehicle and the common situations in actual driving scenarios. The ESC (electronic stability control system) module is an important system to ensure the stability of the vehicle. Its activation or not and the prompt information of whether the vehicle is in an unstable state can directly reflect the current danger level of the vehicle. When the ESC module is activated, it will send a corresponding signal to the dashboard through the vehicle's electronic control unit (ECU), so that the ESC working light on the dashboard lights up, and it may also display relevant prompt text on the vehicle's information display screen (such as "ESC system has been activated, please drive carefully"). The vehicle's electronic control system will also monitor the vehicle's driving parameters in real time and make internal judgments based on the pre-set instability judgment conditions. When it is judged that the vehicle may be in an unstable state, it will also send corresponding prompt information to the dashboard to inform the driver of the current state of the vehicle.

[0036] After being activated, the ESC module will brake the vehicle in a variety of ways, including selective wheel braking: depending on the instability of the vehicle, such as when the vehicle is deviating to the left and has a tendency to become unstable, the ESC module may moderately brake the right wheel, generating a rightward braking torque to correct the vehicle's deviation direction and return the vehicle to a stable state. This selective wheel braking can accurately adjust the vehicle's driving posture without affecting the vehicle's overall power output.

[0037] Adjusting power output: While braking, the ESC module will also adjust the engine output power according to the actual situation of the vehicle. If the vehicle is in an unstable state and the speed is high, the engine output power may be appropriately reduced to reduce the vehicle's driving force, thereby cooperating with braking measures to enable the vehicle to decelerate more smoothly and restore stability.

[0038] Acquiring the driving parameters of the vehicle includes: acquiring the driving parameters of the wheel speed difference, lateral acceleration or yaw angular velocity of the vehicle through sensor monitoring.

[0039] Specifically, setting the instability state judgment condition includes: setting a wheel speed difference threshold, a lateral acceleration threshold and a yaw angular velocity threshold as the instability state judgment condition. If the driving parameter is greater than the instability state judgment condition, it is judged to be an instability state.

[0040] In this embodiment, the instability state judgment conditions are set as follows:

[0041] 1. The vehicle ESC module detects the driving wheel speed and non-driving wheel speed in real time based on the four-wheel speed sensor. When the difference between the driving wheel speed and the non-driving wheel speed is greater than 5m / s, the instability state is judged to be established.

[0042] 2. The inertial measurement unit (IMU) in the vehicle's ESC module monitors the lateral acceleration in real time. When the lateral acceleration exceeds 0.4g, the instability state is judged to be established.

[0043] 3. The inertial measurement unit in the vehicle's ESC module monitors the yaw rate in real time. When the yaw rate exceeds 7Deg / s, the instability state is judged to be established.

[0044] When any of the above conditions is met, the algorithm will determine that the vehicle is in an unstable state, and the ESC module will believe that the vehicle will have an unstable trend, and will execute internal and external warning operations.

[0045] In a specific embodiment, for example, when the distance to the vehicle in front is very small on a highway and the vehicle in front suddenly brakes, our vehicle needs to perform a single lane change to avoid an accident. The vehicle will generate a large yaw angular velocity and lateral acceleration. At this time, the instability state is judged to be established, the ESC module will also be activated, the ESC working indicator light on the instrument will light up, the central control screen will prompt the vehicle to enter the safety mode, the voice prompts the driver to drive carefully, and the external hazard lights will turn on to alert the rear vehicle that there is an emergency ahead, thereby reducing the probability of accidents.

[0046] Monitor whether the prompt information of ESC module activation is received. If yes, control the ESC module to activate and brake. If no, continue monitoring.

[0047] In this embodiment, when the ESC function is not activated, the vehicle has no prompt. When the ESC function is activated, any of the ABS anti-lock braking system, TCS traction control system or VDC vehicle dynamic control system is activated and started, the ESC working light on the vehicle's internal instrument prompts, the central control screen prompts the vehicle to enter safety mode, and a voice prompts the driver to drive carefully; the vehicle's external double flash lights flash as a warning.

[0048] When the ESC module is activated, it sends a specific signal to the vehicle's electronic control unit (ECU). As the core control component of the vehicle, the electronic control unit (ECU) is responsible for receiving and processing information from various sensors and other control systems. In this case, the ECU will receive the activation signal sent by the ESC module and convert it into an information format that can be recognized by other systems of the vehicle, such as the instrument display system, the braking system, etc. When the ECU receives the activation signal of the ESC module, it will notify the instrument display system to light up the ESC working light on the dashboard, and may display relevant prompt text on the vehicle's information display screen to ensure that the vehicle is effectively controlled in a timely manner when there is a trend of instability, and to ensure the stability and safety of the vehicle.

[0049] Monitor whether a prompt message indicating an unstable state is received. If yes, determine that the vehicle is in an unstable state and control the ESC module to activate braking. If no, continue monitoring.

[0050] In this embodiment, when the vehicle is not in an unstable state, the vehicle does not prompt. When the instability is determined, the ESC working light of the vehicle's internal instrument prompts, the central control screen prompts the vehicle to enter the safety mode, and the voice prompts the driver to drive carefully; the double flash lights on the vehicle's exterior flash as a warning

[0051] The ESC module is activated, sending warning messages both inside and outside the vehicle.

[0052] Warning messages sent to the vehicle include: ESC working light prompts, central control screen prompts that the vehicle has entered safety mode, and voice prompts;

[0053] The warning information sent to the outside of the vehicle includes: controlling the vehicle's double flash lights to flash as a reminder.

[0054] In this embodiment, when the ESC module is activated, it means that the vehicle is in a trend of instability, encountering slipping when driving on special roads, etc. The driver in the car needs to be aware of the current special state of the vehicle in time so as to take corresponding measures. Sending warning information outside the car can enable other vehicles, pedestrians and other traffic participants around to quickly realize that the vehicle is in a special situation, so as to make preparations in advance.

[0055] In a more specific experiment, a vehicle equipped with the monitoring method of this embodiment was placed on a slippery road with an initial speed of 30 km / h and the accelerator pedal was depressed 80% and kept constant. The vehicle drove through a slippery basalt or white porcelain road with a length of 50 meters. During the whole process, the ESC control function was activated and the ESC working indicator light on the dashboard was lit, the double flash lights outside the vehicle were lit, the car computer inside the vehicle prompted the vehicle to enter the safety mode, and the voice prompted the driver to drive carefully. Encountering such scenes and situations on public transportation roads will greatly reduce the probability of traffic safety accidents.

[0056] When driving a vehicle not equipped with this monitoring method through a slippery road under the same conditions, the ESC working indicator light on the dashboard lights up, the double flash lights outside the vehicle do not light up, there is no prompt on the central control instrument inside the vehicle, there is no voice prompt, the driver does not subjectively perceive the vehicle's instability trend, and a traffic safety accident may occur.

[0057] Reference Figure 2 , also includes an embodiment of a control system, the control system is applicable to any monitoring method in the above technical solution, including:

[0058] Monitoring module 1 monitors the vehicle through sensors to obtain the current driving parameters of the vehicle;

[0059] The judgment module 2 receives the driving parameters sent by the monitoring module, compares them with the set instability state judgment conditions, and judges whether the vehicle is in an instability state;

[0060] ESC execution module 3 controls the vehicle to perform ESAC braking and sends warning information;

[0061] The warning module 4 receives the warning information sent by the ESC execution module, gives a prompt through the voice system and the display system, and controls the double flash lights outside the vehicle to flash as a prompt.

[0062] It is understandable that the control system provided in the embodiment of the present invention corresponds to the above-mentioned monitoring method, and the explanations, examples, beneficial effects and other parts of the relevant contents can refer to the corresponding contents in the monitoring method, which will not be repeated here.

[0063] In another embodiment, a computer-readable storage medium is further included, which stores a computer program for running the monitoring method, wherein the computer program causes the computer to execute the following steps:

[0064] S1: Obtain the driving parameters of the vehicle and set the instability state judgment conditions;

[0065] S2: Based on the instability state judgment condition, monitoring whether the ESC module is activated or the prompt information of the instability state is received, if yes, controlling the ESC module to activate and brake.

[0066] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0067] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0068] In another embodiment, an electronic device is also included, including:

[0069] one or more processors; memory; and

[0070] One or more programs, wherein the one or more programs are stored in a memory and configured to be executed by one or more processors, the programs comprising steps for performing the following steps:

[0071] S1: Obtain the driving parameters of the vehicle and set the instability state judgment conditions;

[0072] S2: Based on the instability state judgment condition, monitoring whether the ESC module is activated or the prompt information of the instability state is received, if yes, controlling the ESC module to activate and brake.

[0073] Memory is used to store computer programs. The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0074] A processor is used to execute a computer program stored in a memory to implement the monitoring method in the above embodiment. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or the processor can be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0075] Optionally, the memory can be independent or integrated with the processor.

[0076] When the memory is a device independent of the processor, the electronic device may further include a bus. The bus is used to connect the memory and the processor. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like.

[0077] It should be noted that, through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment. In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0078] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for monitoring vehicle instability, characterized in that: include: S1: Obtain the driving parameters of the vehicle and set the instability state judgment conditions; S2: According to the unstable state judgment condition, monitoring whether the prompt information of ESC module activation or unstable state occurrence is received, if yes, controlling the ESC module to activate and brake.

2. The monitoring method according to claim 1, characterized in that: The obtaining of the driving parameters of the vehicle includes: obtaining the driving parameters of the wheel speed difference, lateral acceleration or yaw angular velocity of the vehicle through sensor monitoring.

3. The monitoring method according to claim 1, characterized in that: The setting of the instability state judgment condition includes: setting a wheel speed difference threshold, a lateral acceleration threshold and a yaw angular velocity threshold as the instability state judgment condition. If the driving parameter is greater than the instability state judgment condition, it is judged to be an instability state.

4. The monitoring method according to claim 1, characterized in that: Monitor whether the prompt information of ESC module activation is received, if yes, control the ESC module to activate and brake, if not, continue monitoring.

5. The monitoring method according to claim 1, characterized in that: Monitor whether a prompt message indicating an unstable state is received. If yes, determine that the vehicle is in an unstable state, control the ESC module to activate braking, and if no, continue monitoring.

6. The monitoring method according to claim 1, characterized in that: The ESC module is activated to send warning information both inside and outside the vehicle.

7. The monitoring method according to claim 6, characterized in that: Warning messages sent to the vehicle include: ESC working light prompts, central control screen prompts that the vehicle has entered safety mode, and voice prompts; The warning information sent to the outside of the vehicle includes: controlling the vehicle's double flash lights to flash as a reminder.

8. A control system, characterized in that: The control system is applicable to any one of the monitoring methods in claims 1 to 7 above, including: The monitoring module monitors the vehicle through sensors to obtain the vehicle's current driving parameters; A judgment module receives the driving parameters sent by the monitoring module, compares them with the set instability state judgment conditions, and judges whether the vehicle is in an instability state; ESC execution module, controls the vehicle to perform ESAC braking and sends warning information; The warning module receives the warning information sent by the ESC execution module, gives prompts through the voice system and display system, and controls the flashing of the double flash lights outside the vehicle.

9. A computer-readable storage medium, characterized in that: It stores a computer program for running the monitoring method, wherein the computer program enables a computer to execute the monitoring method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, the programs comprising instructions for executing the monitoring method according to any one of claims 1 to 7.

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