Vehicle sideslip out-of-control intervention method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle sideslip out-of-control intervention method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining environment parameters which comprise the obstacle distance between a vehicle body and an obstacle and the information of a road surface avoidance region; sideslip parameters of the vehicle are obtained, and the slip distance is obtained according to the sideslip parameters and the available braking time; according to comparison of the sliding distance and the obstacle distance, whether the vehicle will collide or not is determined; if yes, a target sideslip track is determined according to the target collision surface, and a control instruction corresponding to the target sideslip track is executed, so that collision occurs on the target collision surface; if not, the braking instruction is executed. By means of the method, the problem that in the prior art, track control cannot be conducted according to the actual situation when vehicle sideslip is out of control can be solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle sideslip loss-of-control intervention method, device, computer equipment and storage medium. Background Art

[0002] During vehicle driving, due to wet road surface or a lot of fine sand and gravel particles, the vehicle tires lose grip stability when driving at high speed or turning, causing the vehicle body to skid and cause the vehicle to lose control.

[0003] At present, the body stability system can automatically intervene and control the vehicle when the vehicle tends to skid to avoid skidding accidents, or provide specific braking control in the event of skidding. However, it cannot control the trajectory according to the actual situation, and the losses or risks caused by skidding are uncontrollable. Summary of the invention

[0004] Based on this, a vehicle skidding out of control intervention method, device, computer equipment and storage medium are provided to improve the problem in the prior art that trajectory control cannot be performed according to actual conditions when the vehicle skids out of control.

[0005] In one aspect, a vehicle skidding out-of-control intervention method is provided, comprising:

[0006] Acquiring environmental parameters, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information;

[0007] Acquiring a side slip parameter of the vehicle, and obtaining a slip distance according to the side slip parameter and an available braking time, wherein the side slip parameter at least includes a yaw angular velocity;

[0008] Determining whether a vehicle will collide based on a comparison between the slip distance and the obstacle distance;

[0009] If yes, determining a target sideslip trajectory according to the target collision surface and the road avoidance area information, and executing a control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface;

[0010] If not, the braking command is executed.

[0011] In one embodiment, obtaining the slip distance according to the sideslip parameter and the available braking time includes:

[0012] When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0013] When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0014] When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

[0015] In one embodiment, before determining the target sideslip trajectory according to the target collision surface and the road avoidance area information, the method includes:

[0016] The target collision surface is determined according to the in-vehicle occupant parameters, wherein the in-vehicle occupant parameters at least include occupant distribution parameters.

[0017] In one embodiment, the executing control instruction corresponding to the target sideslip trajectory includes:

[0018] Determining a steering trend of trajectory control according to the target sideslip trajectory, wherein the steering trend includes understeering or oversteering;

[0019] When understeer occurs, apply braking force to the rear wheel on the inside of the turn;

[0020] When oversteer occurs, apply braking force to the front wheel on the outside of the turn.

[0021] In one embodiment, executing the braking instruction includes:

[0022] Obtain target braking force of vehicle stability system;

[0023] Executing a motor reverse braking command according to the target braking force and obtaining an actual braking force;

[0024] When the actual braking force is less than the target braking force, a brake pedal braking command is executed to assist braking.

[0025] In one embodiment, before obtaining the environmental parameters, the method further includes:

[0026] Get the side slip direction of the rear axle of the vehicle;

[0027] Determining the sideslip direction of the rear axle of the vehicle as the target steering direction of the steering wheel;

[0028] Acquire the driver's active steering torque;

[0029] Obtaining a target steering torque for the steering motor to steer in a target steering direction;

[0030] The actual steering torque of the steering motor is determined according to the active steering torque and the target steering torque, so that the steering wheel is steered according to the target steering direction.

[0031] In one embodiment, before obtaining the environmental parameters, the method further includes:

[0032] Execute power reduction or power interruption command.

[0033] In another aspect, a vehicle sideslip out-of-control intervention device is provided, the device comprising:

[0034] A spatial analysis module, used to obtain environmental parameters and sideslip parameters of the vehicle, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information, and the sideslip parameters include at least a yaw angular velocity, and a slip distance is obtained according to the sideslip parameters and available braking time;

[0035] A collision judgment module, used to determine whether the vehicle collides based on a comparison between the slip distance and the obstacle distance;

[0036] The control module is used to determine the target sideslip trajectory according to the target collision surface and the road avoidance area information when a collision occurs, and execute the control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface; or execute the braking instruction when the collision does not occur.

[0037] In yet another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the method is implemented when the processor executes the computer program.

[0038] A computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the method described above is implemented.

[0039] The above-mentioned vehicle skidding out-of-control intervention method, device, computer equipment and storage medium obtain the obstacle distance between the vehicle body and the obstacle, the road avoidance area information, and the skidding parameters, and obtain the slip distance based on the skidding parameters and the available braking time, so as to judge whether the vehicle will collide. If a collision occurs, the trajectory control instruction is executed to make the collision occur on the target collision surface and avoid the road avoidance area, so that the collision loss is within expectations. If no collision occurs, the braking instruction is executed to stabilize the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a flow chart of a method for intervening in a vehicle sideslip out of control according to an embodiment;

[0041] Figure 2 is a structural block diagram of a vehicle sideslip out-of-control intervention device in one embodiment;

[0042] Figure 3 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] When a car's wheels on one or both axles move laterally due to braking, rotational inertia or other reasons, it is called side skidding. Side skidding poses a serious threat to driving safety, especially side skidding of the rear wheels, which often leads to serious traffic accidents such as collisions and rollovers.

[0045] Currently, vehicles use a series of sensors to monitor the vehicle status and actively intervene to optimize vehicle stability. They use wheel speed sensors, steering angle sensors, lateral acceleration sensors, etc. to monitor in real time whether the wheels are slipping and whether the vehicle has a tendency to skid. When slipping occurs, the braking force of the four wheels will be independently controlled, and slight braking will be applied to the wheels that are about to lose or have lost grip, thereby maintaining vehicle stability.

[0046] However, the current vehicle stability control cannot be adjusted according to the actual situation, and the losses or risks caused by skidding are uncontrollable.

[0047] The present invention provides a vehicle skidding out-of-control intervention method, which is applied when skidding out-of-control occurs. It judges whether a collision occurs based on the actual situation, and then adopts different intervention strategies. When it is determined that a collision will occur, trajectory control is performed so that the collision occurs on the target collision surface, thereby reducing unexpected losses.

[0048] For example, a vehicle sideslip out-of-control intervention method provided in one embodiment is as follows: Figure 1 As shown, the following steps are included:

[0049] Step 110, obtaining environmental parameters, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle, and road avoidance area information.

[0050] During the actual implementation process, the vehicle is equipped with a spatial distance analysis system, which includes at least a radar sensor. The radar sensor can sense the current safe space where the vehicle body can move, and feedback the obstacle distance between the vehicle body and the surrounding obstacles. For example, the radar sensor can sense the surrounding environment by transmitting and receiving radio waves, and determine the location, speed, shape and other characteristics of the object by analyzing the time, frequency and phase of the reflected wave. The radar sensor can be installed on the front and rear bumpers, sides and roof of the car, and determine the safe space around the car body by continuously scanning the surrounding environment and analyzing the data.

[0051] It can be understood that the obstacle indicated in this embodiment is an obstacle in the side sliding direction, and the obstacle distance is, for example, the shortest distance between the side plane of the vehicle body and the obstacle.

[0052] Road avoidance area information, such as the area range, coordinates, distance from the wheels, etc. of gravel roads, slippery roads, muddy roads and other areas with low ground friction in the side slip direction. Radar sensors, image sensors, etc. collect road information, and the spatial information analysis system analyzes and identifies the road type, divides the area that needs to be avoided, and extracts the above information.

[0053] Step 120 , obtaining a side slip parameter of the vehicle, and obtaining a slip distance according to the side slip parameter and the available braking time.

[0054] Side slip parameters refer to the state parameters of the vehicle when it skids, such as yaw angular velocity, vehicle body yaw angle direction, current vehicle speed, slip speed, tire grip, tire speed, steering wheel angle, pitch angle, roll angle and other parameters.

[0055] The available braking time refers to the time available for running the intervention program before a collision occurs. The spatial distance analysis system first calculates the available braking time in the vehicle length and width directions based on the distance between the vehicle body and the surrounding space fed back by the vehicle body radar sensor and the current vehicle speed and slip speed, and selects the available braking time in the vehicle width direction as the basis for subsequent braking force distribution on each wheel and for selecting the brake wheel as the basis for controlling the slip direction of the vehicle body, thereby adjusting the lateral slip of the vehicle in a limited space.

[0056] The slip distance can be understood as the expected distance that the vehicle body will slide sideways before adjusting from an unstable state to a stable state. During the side sliding process of the vehicle, the side sliding motion of the vehicle can be regarded as a rotational motion, and the arc distance of the rotation can be regarded as a straight line distance. For example, the following slip distance calculation process is provided:

[0057] First, the wheel speed sensor, steering angle sensor, lateral acceleration sensor, etc. are used to monitor and determine the slipping wheel. For example, the wheel speed sensor monitors the rotation speed of each wheel. When one side of the wheel rotates too fast and the other side rotates slower, the system will determine that there are signs of skidding.

[0058] When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated (for example, when skidding to the left, the left front wheel is used as the center);

[0059] When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0060] When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

[0061] When calculating the slip distance, the aforementioned available braking time is divided into several short time periods, and the entire rotational motion is decomposed into linear motion within small time intervals. In the current short time period t0, the arc length of the rotation is calculated according to the current yaw angular velocity and the short time period duration, the aforementioned rotation center, and the radius, and is equivalent to the straight-line distance to obtain the distance d0. The subsequent yaw angular velocity changes according to a preset rule, and the distances d1, d2, d3, etc. in each short time period are calculated, and finally the slip distance D is accumulated, wherein the preset rule for the change of yaw angular velocity can be the law of change of yaw angular velocity when the system adopts an existing intervention method for control, which can be obtained based on calibration.

[0062] Step 130: Determine whether the vehicle collides based on a comparison between the slip distance and the obstacle distance.

[0063] When the slip distance is greater than or equal to the obstacle distance, a collision will occur.

[0064] When the slip distance is less than the obstacle distance, it means there is enough time for braking and steering.

[0065] Step 140: adopt a corresponding control strategy according to the judgment result.

[0066] If it is determined that a collision will occur, it is necessary to control the size and direction of the lateral force of each tire by controlling the braking force and steering force of the tires, and select the target collision surface with the least loss or risk for collision.

[0067] The target collision surface is understood to be a certain area on the periphery of the vehicle that is suitable for collision. For example, the vehicle body is divided into left front, right front, left rear, and right rear areas, and different areas are selected as the target collision surface in different situations.

[0068] Exemplarily, the target collision surface is determined based on the vehicle occupant parameters, such as the occupant distribution parameters, for example, the occupants in the vehicle are only distributed in the front row of the cabin (for example, there is only one driver), the occupants in the vehicle are distributed on one side of the cabin, etc. The vehicle occupant parameters also include the number of occupants in the vehicle, the risk resistance of the occupants in the vehicle (for example, infants and young children have lower ability, adults have higher ability), etc.

[0069] For example, when the occupants of the vehicle are only distributed in the front row of the cabin, the rear of the vehicle (on the side close to the obstacle) can be selected as the target collision surface.

[0070] The target collision surface can also be selected based on factors such as the impact resistance and cost of different positions of the vehicle, so that corresponding priority levels can be set in advance for different positions, and selection can be made based on the priority level when skidding occurs.

[0071] After the target collision surface is determined, the target sideslip trajectory is determined according to the target collision surface and the road avoidance area information, and the control instruction corresponding to the target sideslip trajectory is executed so that the collision occurs on the target collision surface.

[0072] The sideslip trajectory can be predetermined based on a calibration process under different parameter conditions. For example, under various sideslip conditions, the vehicle is controlled to execute different braking commands and steering commands, and the sideslip trajectory of the vehicle is recorded. For example, the recorded sideslip trajectory is configured as a function of the change of parameters such as the body posture parameters (such as the body angle), the velocity vector parameters of the body center, and the sideslip path with respect to time. In the actual implementation process, based on the current sideslip state, the sideslip trajectory that needs to be executed in the current sideslip is found from the stored sideslip trajectories as the target sideslip trajectory.

[0073] Exemplarily, when determining the target trajectory according to the target collision surface, the minimum distance between the target collision surface and the obstacle in each preset sideslip trajectory is calculated, and the trajectory with the minimum distance reaching zero is selected as the desired target sideslip trajectory.

[0074] On the other hand, it is hoped that the selected sideslip trajectory can avoid gravel roads, slippery roads, muddy roads and other areas. The obtained road avoidance area information of the vehicle includes, for example, the distance between the wheels and the edge of the area to be avoided (hereinafter referred to as the avoidance distance). When the avoidance distance is less than a certain threshold, it can be considered that the area cannot be avoided; if the avoidance distance exceeds the threshold, the wheels can be made to avoid the area by adjusting the body posture, for example, calculating the avoidance distance at the next moment in each sideslip trajectory, and selecting the sideslip trajectory that can increase the avoidance distance, or minimize the reduction, as the executable target sideslip trajectory.

[0075] Combining the above two judgment criteria, the most appropriate side sliding trajectory is selected, and it can be understood that the purpose of making the collision occur on the target collision has a higher priority.

[0076] By controlling the magnitude and direction of the braking force of each tire, the vehicle side slip is affected. In this embodiment, the following control process is provided as an example:

[0077] Firstly, an executable and desired target sideslip trajectory is analyzed and selected from the calibrated sideslip trajectories according to the current target collision surface and road avoidance area information of the vehicle.

[0078] It is understandable that the goal of selecting a sideslip trajectory is to enable the collision to occur on the target collision surface. When the vehicle sideslips, if it is not actively controlled, the current posture of the vehicle may not cause the collision to occur on the target collision surface. It is necessary to actively adjust the vehicle body so that the target collision surface faces the obstacle or is on the sliding path.

[0079] In one implementation, when calibrating the sideslip trajectory, the control instructions corresponding to the sideslip trajectory are synchronously recorded, and after the target sideslip trajectory is determined, the control instructions corresponding to the target sideslip trajectory are executed.

[0080] In another embodiment, real-time control is performed based on the actual situation of the vehicle, and the steering trend of the trajectory control is determined according to the target sideslip trajectory. For example, the target sideslip trajectory and the expected body angle of the vehicle under the target sideslip trajectory are calculated based on the relative position of the obstacle and the target collision surface, and the expected body angle is compared with the current body angle. When the current body angle is less than the expected body angle, it indicates understeering, and when the current body angle is greater than the expected body angle, it indicates oversteering.

[0081] On the other hand, facing the identified area to be avoided, if the avoidance effect can be achieved by further steering, it indicates that the current state is understeering; if the avoidance effect can be achieved by reducing the body steering, it indicates that the current state is oversteering.

[0082] The following is a feasible control strategy:

[0083] When the vehicle tends to understeer, the system can apply braking force to the rear wheel on the inside of the turn. Due to the increase in the longitudinal force of this wheel (the force along the rolling direction of the tire), the lateral force (the force perpendicular to the rolling direction of the tire) that can be provided is reduced, thereby generating a torque on the vehicle body to help steering. When the vehicle tends to oversteer, the system can apply braking force to the front wheel on the outside of the turn. Due to the increase in the longitudinal force of this wheel, the lateral force that can be provided is reduced, thereby generating a torque on the vehicle body to resist steering, thereby ensuring driving stability.

[0084] It is understandable that the trajectory control during sideslip may also include the direction control of the steering wheel and the like.

[0085] On the other hand, intervention in steering wheel rotation control is also provided to handle the irrational steering force of the driver, and to apply steering force to the steering wheel at a specific time. Exemplarily, the vehicle sideslip out-of-control intervention method provided in this embodiment also includes:

[0086] When the wheels on the rear axle of the vehicle skid, the skidding direction of the rear axle of the vehicle is obtained; the skidding direction of the rear axle of the vehicle is determined as the target steering direction of the steering wheel, and the driver's active steering torque is obtained based on devices such as a steering angle sensor; the target steering torque of the target motor provided by the vehicle body stability system is obtained; and the actual steering torque of the steering motor is determined based on the active steering torque and the target steering torque, so that the steering wheel is steered according to the target steering direction.

[0087] On the other hand, when the wheels on the front axle of the vehicle skid, in general, the opposite direction of the front axle skidding direction is used as the target steering direction of the steering wheel. For example, if the front axle turns left, in order to stabilize the vehicle body, the recommended steering direction is right.

[0088] During the actual implementation process, the sideslip direction can be obtained based on sensing units such as yaw angular velocity sensors; when sideslip occurs, the driver irrationally adjusts the steering wheel after the stress reaction in an attempt to save the vehicle from sideslipping and out of control, which may further aggravate the out-of-control state. At this time, a target steering torque suitable for the current state is issued according to the calculation. If there is no irrational operation by the driver, the steering motor executes the target steering torque to make the wheels turn in the target steering direction. If the driver has irrational operation, the steering motor provides a steering force to meet the actual steering needs while offsetting the driver's irrational steering, so that the steering wheel and wheels turn in the target steering direction.

[0089] It is understandable that the calculation of the target steering torque and the calculation of the steering angle can be calculated using existing methods, which will not be described in detail here.

[0090] In the above process, the intervention process when a collision occurs is described, and the intervention process when a collision does not occur is described below.

[0091] When a collision is unlikely to occur, the braking command is executed. For electric vehicles, the braking force applied to the wheel end can be changed by executing the motor reverse braking command. At this time, it is necessary to avoid the driver's irrational braking signal, and give priority to motor reverse braking. If the braking force requirement cannot be met at this time, the auxiliary brake motor needs to apply braking force; this method can avoid the impact of the driver's irrational braking on the vehicle body stability and sliding path to the greatest extent.

[0092] To illustrate by way of example, in one implementation mode, the system calculates the target braking force of each wheel of the vehicle based on an existing method; the motor reverse braking command is executed preferentially according to the target braking force, and the actual braking force of the wheel end is obtained by monitoring the changes in parameters such as the rotational speed of the wheel end. In some cases, the motor reverse braking cannot fully meet the braking demand. For example, when the motor braking force reaches its limit, if the actual braking force is less than the target braking force, the brake pedal braking command is executed to assist braking.

[0093] The brake pedal braking force command includes responding to the request for auxiliary braking, controlling the action of the brake pump, transferring the brake fluid to the braking system, and controlling the brake to provide braking force so that the actual braking force meets the requirements.

[0094] On the basis of sufficient braking time and steering time, it is necessary to constantly collect road information, such as identifying the road surface information of the current road based on radar images, distinguishing specific road areas, so that the sliding trajectory avoids passing through gravel roads, slippery roads, muddy roads and other areas with low ground friction; through steering and braking, the sliding direction of the vehicle body and the sliding speed in this direction are controlled, and then the sliding route is determined.

[0095] In another embodiment, when slip occurs, the power source (engine or drive motor) reduces or even interrupts power output to reduce the driving force of the vehicle in the forward direction, prevent the tires from being subjected to large driving force or braking force in the longitudinal direction, reduce the sudden longitudinal force of the tires, cause a sudden change in the lateral force of the tires, and reduce the risk of secondary sideslip.

[0096] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0097] In one embodiment, Figure 2 As shown, a vehicle skidding out-of-control intervention device is provided, comprising: a space analysis module 210, a collision judgment module 220 and a control module 230. Exemplarily, the space analysis module 210, the collision judgment module 220 and the control module 230 are integrated in a vehicle body stability system. When skidding occurs, the vehicle body stability system calls corresponding modules for logical operations and control, wherein:

[0098] The spatial analysis module 210 is used to obtain environmental parameters and sideslip parameters of the vehicle, wherein the environmental parameters include the obstacle distance between the vehicle body and the obstacle and road avoidance area information, and the sideslip parameters include at least the yaw angular velocity, and the slip distance is obtained according to the sideslip parameters and the available braking time;

[0099] A collision judgment module 220, for determining whether a vehicle collides based on a comparison between the slip distance and the obstacle distance;

[0100] The control module 230 is used to determine the target sideslip trajectory according to the target collision surface and the road avoidance area information when a collision occurs, and execute the control instructions corresponding to the target sideslip trajectory so that the collision occurs at the target collision surface; or execute the motor reverse braking instruction when the collision does not occur.

[0101] The above-mentioned device obtains the obstacle distance between the vehicle body and the obstacle, the road avoidance area information, and the sideslip parameters, and obtains the slip distance based on the sideslip parameters and the available braking time, so as to judge whether the vehicle will collide. If a collision occurs, the trajectory control instruction is executed to make the collision occur on the target collision surface and avoid the road avoidance area, so that the collision loss is within expectations. If no collision occurs, the braking instruction is executed to stabilize the vehicle.

[0102] In one embodiment, the spatial analysis module 210 obtains the slip distance according to the sideslip parameter and the available braking time, including:

[0103] When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0104] When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0105] When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

[0106] In one embodiment, the control module 230 further determines the target collision surface according to the in-vehicle occupant parameters, where the in-vehicle occupant parameters at least include occupant distribution parameters.

[0107] In one embodiment, the control module 230 executes the side sliding trajectory control instruction, including:

[0108] Determining a steering trend of trajectory control according to the target sideslip trajectory, wherein the steering trend includes understeering or oversteering;

[0109] When understeer occurs, apply braking force to the rear wheel on the inside of the turn;

[0110] When oversteer occurs, apply braking force to the front wheel on the outside of the turn.

[0111] In one embodiment, the control module 230 executes the motor reverse braking instruction, including:

[0112] Obtain target braking force of vehicle stability system;

[0113] Executing a motor reverse braking command according to the target braking force and obtaining an actual braking force;

[0114] When the actual braking force is less than the target braking force, a brake pedal braking command is executed to assist braking.

[0115] In one embodiment, when slipping occurs, the control module 230 is also used to avoid irrational steering. For example, the spatial analysis module 210 is used to obtain the sideslip direction of the rear axle of the vehicle, and the control module 230 determines the sideslip direction of the rear axle of the vehicle as the target steering direction of the steering wheel. The control module 230 obtains the driver's active steering torque; obtains the target steering torque for the steering motor to steer in the target steering direction; and determines the actual steering torque of the steering motor based on the active steering torque and the target steering torque, so that the steering wheel steers in the target steering direction.

[0116] In one embodiment, when slip occurs, the control module 230 is further configured to execute a power reduction or power interruption command.

[0117] The specific definition of the vehicle sideslip uncontrollable intervention device can be found in the definition of the vehicle sideslip uncontrollable intervention method mentioned above, which will not be repeated here. Each module in the above-mentioned vehicle sideslip uncontrollable intervention device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0118] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle sideslip loss of control intervention method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0119] Those skilled in the art will understand that Figure 3The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0120] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0121] Acquiring environmental parameters, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information;

[0122] Acquiring a side slip parameter of the vehicle, and obtaining a slip distance according to the side slip parameter and an available braking time, wherein the side slip parameter at least includes a yaw angular velocity;

[0123] Determining whether a vehicle will collide based on a comparison between the slip distance and the obstacle distance;

[0124] If yes, determining a target sideslip trajectory according to the target collision surface and the road avoidance area information, and executing a control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface;

[0125] If not, the braking command is executed.

[0126] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0127] The obtaining of the slip distance according to the sideslip parameter and the available braking time comprises:

[0128] When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0129] When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0130] When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] Before determining the target sideslip trajectory according to the target collision surface and the road avoidance area information, the method includes: determining the target collision surface according to the in-vehicle occupant parameters, wherein the in-vehicle occupant parameters at least include occupant distribution parameters.

[0133] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0134] The control instruction corresponding to the target sideslip trajectory is executed, including:

[0135] Determining a steering trend of trajectory control according to the target sideslip trajectory, wherein the steering trend includes understeering or oversteering;

[0136] When understeer occurs, apply braking force to the rear wheel on the inside of the turn;

[0137] When oversteer occurs, apply braking force to the front wheel on the outside of the turn.

[0138] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0139] The executing braking instruction comprises:

[0140] Obtain target braking force of vehicle stability system;

[0141] Executing a motor reverse braking command according to the target braking force and obtaining an actual braking force;

[0142] When the actual braking force is less than the target braking force, a brake pedal braking command is executed to assist braking.

[0143] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0144] Get the side slip direction of the rear axle of the vehicle;

[0145] Determining the sideslip direction of the rear axle of the vehicle as the target steering direction of the steering wheel;

[0146] Acquire the driver's active steering torque;

[0147] Obtaining a target steering torque for the steering motor to steer in a target steering direction;

[0148] The actual steering torque of the steering motor is determined according to the active steering torque and the target steering torque, so that the steering wheel is steered according to the target steering direction.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] Execute power reduction or power interruption command.

[0151] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0152] Acquiring environmental parameters, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information;

[0153] Acquiring a side slip parameter of the vehicle, and obtaining a slip distance according to the side slip parameter and an available braking time, wherein the side slip parameter at least includes a yaw angular velocity;

[0154] Determining whether a vehicle will collide based on a comparison between the slip distance and the obstacle distance;

[0155] If yes, determining a target sideslip trajectory according to the target collision surface and the road avoidance area information, and executing a control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface;

[0156] If not, the braking command is executed.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0159] When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated;

[0160] When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

[0161] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0162] The target collision surface is determined according to the in-vehicle occupant parameters, wherein the in-vehicle occupant parameters at least include occupant distribution parameters.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] Determining a steering trend of trajectory control according to the target sideslip trajectory, wherein the steering trend includes understeering or oversteering;

[0165] When understeer occurs, apply braking force to the rear wheel on the inside of the turn;

[0166] When oversteer occurs, apply braking force to the front wheel on the outside of the turn.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] Obtain target braking force of vehicle stability system;

[0169] Executing a motor reverse braking command according to the target braking force and obtaining an actual braking force;

[0170] When the actual braking force is less than the target braking force, a brake pedal braking command is executed to assist braking.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0172] Get the side slip direction of the rear axle of the vehicle;

[0173] Determining the sideslip direction of the rear axle of the vehicle as the target steering direction of the steering wheel;

[0174] Acquire the driver's active steering torque;

[0175] Obtaining a target steering torque for the steering motor to steer in a target steering direction;

[0176] The actual steering torque of the steering motor is determined according to the active steering torque and the target steering torque, so that the steering wheel is steered according to the target steering direction.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] Execute power reduction or power interruption command.

[0179] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0180] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0181] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle sideslip out-of-control intervention method, characterized in that: include: Acquiring environmental parameters, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information; Acquiring a side slip parameter of the vehicle, and obtaining a slip distance according to the side slip parameter and an available braking time, wherein the side slip parameter at least includes a yaw angular velocity; Determining whether a vehicle will collide based on a comparison between the slip distance and the obstacle distance; If yes, determining a target sideslip trajectory according to the target collision surface and the road avoidance area information, and executing a control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface; If not, the braking command is executed.

2. The vehicle sideslip out-of-control intervention method according to claim 1, characterized in that: The obtaining of the slip distance according to the sideslip parameter and the available braking time comprises: When the rear wheel skids but the front wheel does not skid, a skid model is established with the front wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated; When the front wheel skids but the rear wheel does not skid, a skid model is established with the rear wheel in the skid direction as the center and the vehicle length as the radius, and the skid distance is calculated; When the whole vehicle slips, a side slip model is established with the wheel with the smallest tire braking force as the center and the diagonal length of the vehicle as the radius to calculate the slip distance.

3. The vehicle sideslip out-of-control intervention method according to claim 1, characterized in that: Before determining the target sideslip trajectory according to the target collision surface and the road avoidance area information, the method includes: The target collision surface is determined according to in-vehicle occupant parameters, where the in-vehicle occupant parameters at least include occupant distribution parameters.

4. The vehicle sideslip out-of-control intervention method according to claim 1, characterized in that: The control instruction corresponding to the target sideslip trajectory is executed, including: Determining a steering trend of trajectory control according to the target sideslip trajectory, wherein the steering trend includes understeering or oversteering; When understeer occurs, apply braking force to the rear wheel on the inside of the turn; When oversteer occurs, apply braking force to the front wheel on the outside of the turn.

5. The vehicle sideslip out-of-control intervention method according to claim 1, characterized in that: The executing braking instruction comprises: Obtain target braking force of vehicle stability system; Executing a motor reverse braking command according to the target braking force and obtaining an actual braking force; When the actual braking force is less than the target braking force, a brake pedal braking command is executed to assist braking.

6. The vehicle sideslip out-of-control intervention method according to claim 1, characterized in that: Before obtaining the environmental parameters, the method further includes: Get the side slip direction of the rear axle of the vehicle; Determining the sideslip direction of the rear axle of the vehicle as the target steering direction of the steering wheel; Acquire the driver's active steering torque; Obtaining a target steering torque for the steering motor to steer in a target steering direction; The actual steering torque of the steering motor is determined according to the active steering torque and the target steering torque, so that the steering wheel is steered according to the target steering direction.

7. The vehicle sideslip out-of-control intervention method according to any one of claims 1 to 6, characterized in that: Before obtaining the environmental parameters, the method further includes: Execute power reduction or power interruption command.

8. A vehicle sideslip out-of-control intervention device, characterized in that: The device comprises: A spatial analysis module, used to obtain environmental parameters and sideslip parameters of the vehicle, wherein the environmental parameters include an obstacle distance between the vehicle body and the obstacle and road avoidance area information, and the sideslip parameters include at least a yaw angular velocity, and a slip distance is obtained according to the sideslip parameters and available braking time; A collision judgment module, used to determine whether the vehicle collides based on a comparison between the slip distance and the obstacle distance; The control module is used to determine the target sideslip trajectory according to the target collision surface and the road avoidance area information when a collision occurs, and execute the control instruction corresponding to the target sideslip trajectory so that the collision occurs on the target collision surface; or execute the braking instruction when the collision does not occur.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images