Vehicle control method and device, equipment, storage medium, product and vehicle

Abstract

The invention discloses a vehicle control method and device, equipment, a storage medium, a product and a vehicle, and the method comprises the steps: detecting the rotation speed of each wheel of the vehicle in a vehicle driving process, and obtaining a plurality of detection values; if at least one detection value in the multiple detection values is located in a first abnormal range, the braking pressure of the vehicle is adjusted so as to increase the braking force borne by each wheel of the vehicle; if it is detected that the braking force borne by at least one wheel is within the second abnormal range, the vehicle is controlled to decelerate, whether the wheels are abnormal or not is judged through the braking force, and therefore the vehicle is controlled to decelerate, driving safety can be ensured, and accidents are reduced.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a vehicle control method, device, equipment, storage medium, product and vehicle. Background Art

[0002] In recent years, road traffic safety has become more and more the focus of people's attention. Among various types of traffic accidents, traffic accidents caused by problems with vehicle tires themselves have also increased year by year.

[0003] If an abnormal situation occurs to a wheel during driving, such as air leakage or falling off, the driver may be frightened, which may cause the driver to misoperate the vehicle and affect driving safety. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, equipment, storage medium, product and vehicle, which can determine whether there is an abnormality in the wheel by the braking force applied to the wheel, thereby controlling the vehicle to decelerate and ensure driving safety.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] During the driving of the vehicle, the rotation speed of each wheel of the vehicle is detected to obtain a plurality of detection values;

[0007] If at least one detection value among the plurality of detection values ​​is within a first abnormal range, adjusting the braking pressure of the vehicle to increase the braking force applied to each wheel of the vehicle;

[0008] If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, the vehicle is controlled to decelerate.

[0009] In an embodiment of the present application, if at least one detection value among the multiple detection values ​​is within the first abnormal range, adjusting the brake pressure of the vehicle includes:

[0010] If at least one detection value among the multiple detection values ​​is within the first abnormal range, obtaining the current driving speed of the vehicle;

[0011] Acquire a first duration corresponding to the current driving speed from a pre-acquired first corresponding relationship, wherein the first corresponding relationship includes a plurality of driving speeds and a duration corresponding to each driving speed;

[0012] During the first time period, a brake pressure regulator of the vehicle is controlled to adjust the brake pressure of the master brake cylinder according to a preset target brake pressure.

[0013] In an embodiment of the present application, if it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, controlling the vehicle to decelerate comprises:

[0014] If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, controlling the vehicle to decelerate until it stops by adjusting the gear position of the vehicle to the P gear;

[0015] or,

[0016] If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, obtaining the state information of the vehicle and the lane information of the lanes within a preset range;

[0017] The vehicle is controlled to decelerate according to the vehicle state information and the lane information.

[0018] In an embodiment of the present application, controlling the vehicle to decelerate according to the vehicle state information and the lane information includes:

[0019] According to the state information of the vehicle and the lane information, a first wheel of the vehicle is controlled to decelerate, and the braking force of the first wheel is not within the second abnormal range.

[0020] In an embodiment of the present application, the lane information includes a lane line; the vehicle status information includes a position of the first wheel and a position of a second wheel on the vehicle, and the braking force of the second wheel is within the second abnormal range;

[0021] The step of controlling the first wheel of the vehicle to decelerate according to the vehicle state information and the lane information comprises:

[0022] If the lane line is a straight line, obtaining a first adjustment value corresponding to the rotation speed of the first wheel from a pre-acquired second correspondence corresponding to the straight line according to the position of the first wheel and the position of the second wheel on the vehicle, the second correspondence including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel;

[0023] adjusting the rotation speed of the first wheel based on the first adjustment value to reduce the rotation speed of the first wheel;

[0024] or,

[0025] If the lane line is a curve line, then according to the position of the first wheel and the position of the second wheel on the vehicle, a second adjustment value corresponding to the rotation speed of the first wheel is obtained from a pre-acquired third correspondence corresponding to the curve line, wherein the third correspondence includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel;

[0026] The rotation speed of the first wheel is adjusted based on the second adjustment value to reduce the rotation speed of the first wheel.

[0027] In one embodiment of the present application, the detection value is obtained by a wheel speed sensor;

[0028] If at least one detection value among the plurality of detection values ​​is within the first abnormal range, after adjusting the brake pressure of the vehicle, the method further includes:

[0029] If it is detected that the braking force applied to each wheel is not within the second abnormal range, a prompt message is output, where the prompt message is used to indicate that the wheel speed sensor is abnormal.

[0030] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0031] A detection module, used to detect the rotation speed of each wheel of the vehicle during the driving process of the vehicle to obtain multiple detection values;

[0032] an adjusting module, configured to adjust the braking pressure of the vehicle to increase the braking force applied to each wheel of the vehicle if at least one of the plurality of detection values ​​is within a first abnormal range;

[0033] The control module is used to control the vehicle to decelerate if it is detected that the braking force applied to at least one of the wheels is within a second abnormal range.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions;

[0035] When the processor executes the computer program instructions, the vehicle control method as described in the first aspect is implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0037] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in the first aspect.

[0038] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device as described in the third aspect.

[0039] The vehicle control method, device, equipment, storage medium, product and vehicle of the embodiments of the present application detect the rotation speed of each wheel of the vehicle during driving to obtain multiple detection values. If at least one of the multiple detection values ​​is within a first abnormal range, the braking pressure of the vehicle is adjusted to increase the braking force of each wheel of the vehicle. When it is detected that a wheel may have an abnormality, the braking pressure of the vehicle is adjusted to increase the braking force. Whether the wheel has an abnormality is determined by the braking force, thereby controlling the vehicle to decelerate, thereby ensuring driving safety and reducing the occurrence of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0042] Figure 2 is another flow chart of the vehicle control method provided by an embodiment of the present application;

[0043] Figure 3 is another flow chart of the vehicle control method provided in the embodiment of the present application;

[0044] Figure 4 is another flow chart of the vehicle control method provided in the embodiment of the present application;

[0045] Figure 5 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0049] The vehicle may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0050] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle control method, device, equipment, storage medium, product and vehicle. The vehicle control method provided by the embodiments of the present application is first introduced below.

[0051] Figure 1 A schematic diagram of a vehicle control method provided by an embodiment of the present application is shown. Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applied to an electronic device and includes the following steps 101 to 103, wherein:

[0052] Step 101, during the driving process of the vehicle, the rotation speed of each wheel of the vehicle is detected to obtain a plurality of detection values.

[0053] Applied to electronic devices, such as vehicle-mounted devices. During the driving process of the vehicle, the rotation speed of each wheel of the vehicle is detected by the wheel speed sensor to obtain multiple detection values. Among them, the wheel speed sensor is mainly composed of a permanent magnet, a polar axis, an induction coil and a gear ring. The gear ring is usually installed on the wheel hub or the axle and rotates synchronously with the wheel.

[0054] Step 102: If at least one detection value among the multiple detection values ​​is within a first abnormal range, the braking pressure of the vehicle is adjusted to increase the braking force applied to each wheel of the vehicle.

[0055] In this embodiment, it is determined whether the multiple detection values ​​are within the first abnormal range, wherein the first abnormal range can be pre-set, and the minimum value of the first abnormal range can be set to 0, that is, the first abnormal range is [0, x], and x can be set according to actual needs.

[0056] When a vehicle is traveling at a constant speed and in a straight line, theoretically the rotation speed of each wheel should be basically the same. However, in actual driving, the road condition cannot be absolutely flat. There are slight ups and downs, potholes or different road friction coefficients, which will cause the rolling radius of the wheels to change, resulting in differences in wheel speeds. For example, when the left wheel passes over a small pothole, the rotation speed of the left wheel will drop briefly, while the speeds of the other wheels remain unchanged, resulting in different wheel rotation speeds, but the difference is small.

[0057] The first abnormal range is also determined based on the rotation speed of each wheel of the vehicle. The rotation speed of each wheel is compared, and the rotation speeds of several wheels with smaller rotation speed differences constitute the minimum and maximum values ​​of the first abnormal range.

[0058] If at least one of the multiple detection values ​​is within the first abnormal range, it means that the tire may have an abnormal condition such as a blowout, air leakage, or falling off, and the vehicle's brake pressure is adjusted to increase the braking force on each wheel of the vehicle.

[0059] Step 103: If it is detected that the braking force applied to at least one wheel is within a second abnormal range, the vehicle is controlled to decelerate.

[0060] In this embodiment, it is determined whether the braking force applied to the monitored wheels is within the second abnormal range. If it is detected that the braking force applied to at least one wheel is within the second abnormal range, and if a detection value is within the second abnormal range, it indicates that one of the wheels has an abnormal problem, and the vehicle is controlled to decelerate.

[0061] In this embodiment, during the driving of the vehicle, the rotation speed of each wheel of the vehicle is detected to obtain multiple detection values. If at least one of the multiple detection values ​​is within the first abnormal range, the braking pressure of the vehicle is adjusted to increase the braking force of each wheel of the vehicle. When it is detected that a wheel may have an abnormality, the braking pressure of the vehicle is adjusted to increase the braking force. It is determined whether the wheel has an abnormality through the braking force, thereby controlling the vehicle to decelerate, thereby ensuring driving safety and reducing the occurrence of accidents.

[0062] In one embodiment of the present application, specifically, in step 102, if at least one detection value among the multiple detection values ​​is within the first abnormal range, adjusting the brake pressure of the vehicle includes:

[0063] If at least one of the multiple detection values ​​is within the first abnormal range, obtaining the current driving speed of the vehicle;

[0064] Acquire a first duration corresponding to the current driving speed from a pre-acquired first corresponding relationship, where the first corresponding relationship includes a plurality of driving speeds and a duration corresponding to each driving speed;

[0065] During a first time period, a brake pressure regulator of the vehicle is controlled to adjust a brake pressure of a master brake cylinder according to a preset target brake pressure.

[0066] In this embodiment, if at least one detection value among multiple detection values ​​is within the first abnormal range, the current driving speed of the vehicle is obtained, and a first time duration corresponding to the current driving speed is obtained from a pre-acquired first corresponding relationship, wherein the first corresponding relationship includes multiple driving speeds and a time duration corresponding to each driving speed, and can be adapted to different vehicle speeds. For example, if the driving speed is relatively slow, the corresponding time duration is relatively long; if the driving speed is relatively fast, the corresponding time duration is relatively short. Within the first time duration, the brake pressure regulator of the vehicle is controlled to adjust the brake pressure of the brake master cylinder according to the target brake pressure. Specifically, the brake pressure regulator of the vehicle is controlled to pressurize the brake fluid so that the piston in the brake master cylinder pushes the brake pad to contact the brake disc, thereby achieving short-time brake pressure buildup, which is equivalent to the feeling of lightly stepping on the brake for the user.

[0067] Specifically, the target brake pressure is determined in the following manner: the target brake pressure is pre-set, and the brake pressure corresponding to the current driving speed is obtained from the acquired mapping relationship as the target brake pressure, and the mapping relationship includes multiple driving speeds and the brake pressure corresponding to each driving speed, which can be adapted to different vehicle speeds. Alternatively, a brake pressure is selected from a pre-set brake pressure range as the target brake pressure.

[0068] By adjusting the brake pressure of the master cylinder, the braking force on each wheel is increased. The detected braking force on the wheel can accurately determine whether there is any abnormality in the wheel. In the event of an abnormality, the vehicle will automatically slow down to reduce the possibility of accidents caused by driver error.

[0069] In one embodiment of the present application, specifically, in step 103, if it is detected that the braking force applied to at least one wheel is within the second abnormal range, controlling the vehicle to decelerate includes:

[0070] If it is detected that the braking force applied to at least one wheel is within the second abnormal range, the vehicle is controlled to decelerate until it stops by adjusting the gear position of the vehicle to the P gear;

[0071] or,

[0072] If it is detected that the braking force on at least one wheel is within a second abnormal range, obtaining vehicle status information and lane information of lanes within a preset range;

[0073] According to the vehicle status information and lane information, the vehicle is controlled to slow down.

[0074] In this embodiment, if it is detected that the braking force applied to at least one wheel is within the second abnormal range, the vehicle gear is adjusted to the P gear to control the vehicle to slow down and stop, which is suitable for fuel vehicles.

[0075] Alternatively, if it is detected that the braking force on at least one wheel is within the second abnormal range, the vehicle status information and lane information of the lanes within the preset range are obtained through the vehicle camera and sensor. Further, the vehicle is controlled to decelerate according to the vehicle status information and lane information. It is suitable for vehicles equipped with intelligent sensors, which can accurately capture and identify the current load road conditions. The high-precision sensors are like the vehicle's keen vision and perception organs. By transmitting and receiving various signals, whether it is the flatness of the road ahead, whether there are potholes or bumps, or the position, speed, and driving direction of surrounding vehicles, it provides a detailed and reliable data basis for the vehicle's intelligent decision-making system to ensure the safety and efficiency of the vehicle during driving. Controlling the vehicle's deceleration can cope with sudden abnormalities of the wheels, so as to give the driver a buffer time and facilitate the driver to take over the control of the vehicle later.

[0076] Adaptable to different vehicles, whether fuel vehicles or smart vehicles, it can provide corresponding measures to reduce vehicle speed and ensure user safety.

[0077] In one embodiment of the present application, controlling the vehicle to decelerate according to the vehicle state information and lane information includes:

[0078] According to the state information and lane information of the vehicle, the first wheel of the vehicle is controlled to decelerate, and the braking force of the first wheel is not within the second abnormal range.

[0079] In this embodiment, the braking pressure of the vehicle is adjusted to increase the braking force applied to each wheel of the vehicle, and the braking force applied to each wheel is detected. If the braking force of the wheel is not within the second abnormal range, it means that there is no abnormal problem with the tire, and the wheel without the problem is controlled to decelerate. Specifically, the first wheel of the vehicle is decelerated according to the vehicle status information and lane information control cabinet, and the first wheel is a wheel whose braking force is not within the second abnormal range, so as to decelerate the vehicle.

[0080] By determining whether the braking force is within the corresponding abnormal range, the abnormal wheels and normal wheels can be accurately located, and the normal vehicle can be controlled to decelerate.

[0081] In one embodiment of the present application, the lane information includes a lane line; the vehicle status information includes a position of a first wheel and a position of a second wheel on the vehicle, and the braking force of the second wheel is within a second abnormal range;

[0082] Controlling a first wheel of the vehicle to decelerate according to the vehicle state information and lane information includes:

[0083] If the lane line is a straight line, then according to the position of the first wheel and the position of the second wheel on the vehicle, a first adjustment value corresponding to the rotation speed of the first wheel is obtained from a pre-acquired second correspondence corresponding to the straight line, the second correspondence including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel;

[0084] adjusting the rotation speed of the first wheel based on the first adjustment value to reduce the rotation speed of the first wheel;

[0085] or,

[0086] If the lane line is a curve line, then according to the position of the first wheel and the position of the second wheel on the vehicle, a second adjustment value corresponding to the rotation speed of the first wheel is obtained from a pre-acquired third correspondence corresponding to the curve line, the third correspondence including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel;

[0087] The rotation speed of the first wheel is adjusted based on the second adjustment value to reduce the rotation speed of the first wheel.

[0088] In this embodiment, the lane information includes the slope of the lane line. The lane line is identified by the vehicle's camera to obtain the slope of the lane line. The slope of the lane line is used to determine whether the lane line is a curve line or a straight line. Specifically, if the slope of the lane line is less than a preset slope, the lane line is a straight line; if the slope of the lane line is greater than or equal to the preset slope, the lane line is a curve line.

[0089] The vehicle status information includes the position of the first wheel and the position of the second wheel on the vehicle. The second wheel is a wheel other than the first wheel, that is, the wheel whose braking force is within the second abnormal range is the second wheel.

[0090] One situation: if the lane line is a straight line, it is necessary to determine the adjustment value of the rotation speed of the first wheel, and obtain a second corresponding relationship corresponding to the straight line. The second corresponding relationship includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel. The braking force of the abnormal wheel is within the second abnormal range, and the braking force of the normal wheel is not within the second abnormal range. The first adjustment value corresponding to the rotation speed of the first wheel is obtained from the second corresponding relationship. Further, the rotation speed of the first wheel is adjusted based on the first adjustment value, thereby reducing the driving speed of the vehicle and adjusting through the rotation speed of the wheel.

[0091] Another situation: If the lane line is a curve line, it is necessary to determine the adjustment value of the rotation speed of the first wheel, and obtain the third correspondence corresponding to the straight line. The third correspondence includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel. The second adjustment value corresponding to the rotation speed of the first wheel is obtained from the third correspondence. Further, the rotation speed of the first wheel is adjusted based on the second adjustment value to reduce the driving speed of the vehicle. By adjusting the rotation speed of the wheel, the vehicle can smoothly pass the curve while slowing down.

[0092] By controlling the vehicle's deceleration through the vehicle's status information and lane information, driving safety can be ensured.

[0093] Figure 2 Another schematic diagram of a vehicle control method provided by an embodiment of the present application is shown. Figure 2 As shown, the vehicle control method provided in the embodiment of the present application is applied to an electronic device and includes the following steps 201 to 204, wherein:

[0094] Step 201 , during the driving process of the vehicle, the rotation speed of each wheel of the vehicle is detected to obtain a plurality of detection values.

[0095] During the driving process of the vehicle, the rotation speed of each wheel of the vehicle is detected by the wheel speed sensor to obtain multiple detection values. Among them, the wheel speed sensor is mainly composed of a permanent magnet, a polar axis, an induction coil and a gear ring. The gear ring is usually installed on the wheel hub or the axle and rotates synchronously with the wheel.

[0096] Step 202: If at least one detection value among the multiple detection values ​​is within the first abnormal range, the braking pressure of the vehicle is adjusted to increase the braking force applied to each wheel of the vehicle.

[0097] In this embodiment, it is determined whether the multiple detection values ​​are within the first abnormal range, wherein the first abnormal range can be pre-set, and the minimum value of the first abnormal range can be set to 0, that is, the first abnormal range is [0, x], and x can be set according to actual needs.

[0098] When a vehicle is traveling at a constant speed and in a straight line, theoretically the rotation speed of each wheel should be basically the same. However, in actual driving, the road condition cannot be absolutely flat. There are slight ups and downs, potholes or different road friction coefficients, which will cause the rolling radius of the wheels to change, resulting in differences in wheel speeds. For example, when the left wheel passes over a small pothole, the rotation speed of the left wheel will drop briefly, while the speeds of the other wheels remain unchanged, resulting in different wheel rotation speeds, but the difference is small.

[0099] The first abnormal range is also determined based on the rotation speed of each wheel of the vehicle. The rotation speed of each wheel is compared, and the rotation speeds of several wheels with smaller rotation speed differences constitute the minimum and maximum values ​​of the first abnormal range.

[0100] If at least one of the multiple detection values ​​is within the first abnormal range, it means that the tire may have an abnormal condition such as a blowout, air leakage, or falling off, and the vehicle's brake pressure is adjusted to increase the braking force on each wheel of the vehicle.

[0101] Step 203: If it is detected that the braking force applied to at least one wheel is within the second abnormal range, the vehicle is controlled to decelerate.

[0102] In this embodiment, it is determined whether the braking force applied to the monitored wheels is within the second abnormal range. If it is detected that the braking force applied to at least one wheel is within the second abnormal range, and if a detection value is within the second abnormal range, it indicates that one of the wheels has an abnormal problem, and the vehicle is controlled to decelerate.

[0103] Step 204: If it is detected that the braking force applied to each wheel is not within the second abnormal range, a prompt message is output, where the prompt message is used to indicate that the wheel speed sensor is abnormal.

[0104] In this embodiment, if it is monitored that the prescribed force on each wheel is within the second abnormal range, it means that there is no problem with each wheel. Eliminating the problem with the wheel means that the wheel speed sensor has failed. The vehicle is then controlled to output a prompt message, which may be output in the form of a voice broadcast prompt message, and / or the prompt message may be displayed on the vehicle computer. The prompt message is used to indicate that the wheel speed sensor is abnormal, so as to promptly remind the user that there is an abnormality in the wheel speed sensor of the vehicle.

[0105] When a possible wheel abnormality is detected, the vehicle's brake pressure is adjusted to increase the braking force, and the braking force is used to determine whether the wheel is abnormal, thereby controlling the vehicle's deceleration, ensuring driving safety and reducing the occurrence of accidents. Moreover, after eliminating the wheel problem, the wheel speed sensor is prompted to be abnormal, so as to promptly remind the user that the vehicle's wheel speed sensor has an abnormality.

[0106] The following is an example of the vehicle control method provided in the embodiment of the present application. Figure 3 Another flow chart of an embodiment of the vehicle control method provided by the present application is shown as follows: Figure 3 As shown, the vehicle control method includes:

[0107] Step 301: During the driving of the vehicle, the rotation speed of each wheel of the vehicle is detected by a wheel speed sensor to obtain a plurality of detection values.

[0108] In this embodiment, during the entire process of vehicle operation, the wheel speed sensor detects the wheel speed corresponding to each wheel in real time and continuously to determine whether the detection value fed back by the wheel speed sensor is an abnormal value, such as 0.

[0109] Step 302: If the detected value is an abnormal value, the brake pressure building function is started.

[0110] In this embodiment, if the detection value is an abnormal value, the vehicle starts the brake pressure building function (that is, if at least one detection value among the multiple detection values ​​is within the first abnormal range, the vehicle's brake pressure is adjusted).

[0111] Step 303, determining whether each wheel can achieve brake pressure building.

[0112] In this embodiment, the oil pressure corresponding to each wheel, that is, the oil pressure of the brake system corresponding to the wheel is detected by the brake caliper oil pressure sensor. If it is detected that the oil pressure corresponding to at least one wheel is within the preset abnormal range, the oil pressure and the braking force are positively correlated. The oil pressure is within the preset abnormal range, which can reflect that the power of the wheel is also abnormal, that is, the braking force applied to at least one wheel is within the abnormal range (that is, the braking force applied to at least one wheel is within the second abnormal range in the above text), then it is determined that the wheel cannot achieve brake pressure buildup; if it is detected that the oil pressure corresponding to each wheel is not within the preset abnormal range (that is, if it is detected that the braking force applied to each wheel is not within the second abnormal range in the above text), then it is determined that each wheel can achieve brake pressure buildup.

[0113] Step 304: If each wheel can achieve brake pressure build-up, then output a prompt message indicating that the wheel speed sensor is abnormal.

[0114] In this embodiment, if each wheel can achieve brake pressure building, it means that the wheel has not fallen off or other abnormal problems, indicating that there is a problem with the wheel speed sensor, and a prompt message of the wheel speed sensor abnormality (i.e., the output prompt message mentioned above) is output.

[0115] Step 305: If the wheels cannot build up brake pressure, the vehicle gear is adjusted to the P gear to control the vehicle to slow down until it stops.

[0116] In this embodiment, if there is a wheel that cannot build up brake pressure, it means that there is an abnormal problem with the wheel. The vehicle gear is adjusted to P gear to control the vehicle to slow down until it stops. The wheel is acted upon by the braking force and the vehicle begins to gradually slow down. The whole process is smooth and efficient, bringing a safe and reliable parking experience to the driver and passengers.

[0117] Applicable to fuel vehicles, if one or more wheels have abnormal problems, such as being detached from the vehicle due to a collision, the wheels will be affected by the braking force through the above method, and the vehicle will gradually slow down. The whole process is smooth and efficient, bringing a safe and reliable parking experience to the driver and passengers.

[0118] The following is an example of the vehicle control method provided in the embodiment of the present application. Figure 4 Another flow chart of an embodiment of the vehicle control method provided by the present application is shown as follows: Figure 4 As shown, the vehicle control method includes:

[0119] Step 401 , during the driving of the vehicle, the rotation speed of each wheel of the vehicle is detected by a wheel speed sensor to obtain a plurality of detection values.

[0120] In this embodiment, during the entire process of vehicle operation, the wheel speed sensor detects the wheel speed corresponding to each wheel in real time and continuously to determine whether the detection value fed back by the wheel speed sensor is an abnormal value, such as 0.

[0121] Step 402: If the detected value is an abnormal value, the brake pressure building function is started.

[0122] In this embodiment, if the detection value is an abnormal value, the vehicle starts the brake pressure building function (that is, if at least one detection value among the multiple detection values ​​is within the first abnormal range, the vehicle's brake pressure is adjusted).

[0123] Step 403, determining whether each wheel can achieve brake pressure buildup.

[0124] In this embodiment, the oil pressure corresponding to each wheel is detected by the brake caliper oil pressure sensor. If it is detected that the oil pressure corresponding to at least one wheel is within the preset abnormal range, the oil pressure and the braking force are positively correlated. The oil pressure is within the preset abnormal range, which can reflect that the power of the wheel is also abnormal, that is, the braking force applied to at least one wheel is within the abnormal range (that is, the braking force applied to at least one wheel is within the second abnormal range in the above text), then it is determined that the wheel cannot achieve brake pressure buildup; if it is detected that the oil pressure corresponding to each wheel is not within the preset abnormal range (that is, if it is detected that the braking force applied to each wheel is not within the second abnormal range in the above text), then it is determined that each wheel can achieve brake pressure buildup.

[0125] Step 404: If each wheel can achieve brake pressure buildup, then a prompt message indicating that the wheel speed sensor is abnormal is output.

[0126] In this embodiment, if each wheel can achieve brake pressure building, it means that the wheel has not fallen off or other abnormal problems, indicating that there is a problem with the wheel speed sensor, and a prompt message of the wheel speed sensor abnormality (i.e., the output prompt message mentioned above) is output.

[0127] Step 405: If the wheel cannot achieve brake pressure building, the lane condition is determined based on the slope of the lane line.

[0128] In this embodiment, if there is a wheel that cannot achieve brake pressure building, it means that the wheel is damaged, and then it is determined whether the lane is a straight road or a curve based on the slope of the lane line.

[0129] Step 406: If the lane is a straight road, control the first wheel of the vehicle to decelerate.

[0130] In this embodiment, if the lane is a straight road (i.e., if the lane line is a straight line as mentioned above), then based on the position of the first wheel and the position of the second wheel on the vehicle, a first adjustment value corresponding to the rotation speed of the first wheel is obtained from a second correspondence relationship corresponding to the straight line that is pre-acquired, and the second correspondence relationship includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; the rotation speed of the first wheel is adjusted based on the first adjustment value to reduce the rotation speed of the first wheel.

[0131] Step 407: If the lane is a curve, control the first wheel of the vehicle to decelerate.

[0132] In this embodiment, if the lane is a curve (i.e., if the lane line is a curve line as mentioned above), then based on the position of the first wheel and the position of the second wheel on the vehicle, a second adjustment value corresponding to the rotation speed of the first wheel is obtained from a third correspondence corresponding to the pre-acquired curve line, the third correspondence including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; the rotation speed of the first wheel is adjusted based on the second adjustment value to reduce the rotation speed of the first wheel.

[0133] Through continuous and flexible dynamic adjustments, the vehicle can always maintain good handling and stability, ensuring that the entire cornering process is completed safely and smoothly, providing the driver and passengers with a smooth and comfortable cornering experience, while demonstrating the advantages of new energy vehicles in the integration of intelligent technology and energy-saving technology.

[0134] Applicable to new energy vehicles, it ensures that the vehicle can decelerate smoothly during braking, and will not run off the track, drift or skid due to uneven distribution of braking force. This ensures that the vehicle can always maintain a safe, stable and efficient operating state whether it is normal cruising or braking operation when driving on a straight road, providing a comfortable and secure travel experience for the driver and passengers.

[0135] Figure 5 FIG. 1 shows a structural diagram of a vehicle control device provided in an embodiment of the present application. Figure 5 As shown, the vehicle control device 500 includes:

[0136] The detection module 501 is used to detect the rotation speed of each wheel of the vehicle during the driving process of the vehicle to obtain multiple detection values;

[0137] An adjusting module 502, configured to adjust the braking pressure of the vehicle to increase the braking force applied to each wheel of the vehicle if at least one of the plurality of detection values ​​is within a first abnormal range;

[0138] The control module 503 is configured to control the vehicle to decelerate if it is detected that the braking force applied to at least one wheel is within a second abnormal range.

[0139] In one embodiment of the present application, the detection module 501 is also used to obtain the current driving speed of the vehicle if at least one detection value among multiple detection values ​​is within a first abnormal range; obtain a first time duration corresponding to the current driving speed from a pre-acquired first corresponding relationship, the first corresponding relationship including multiple driving speeds and a time duration corresponding to each driving speed; and control the vehicle's brake pressure regulator to adjust the brake pressure of the brake master cylinder according to a preset target brake pressure within the first time duration.

[0140] In one embodiment of the present application, the control module 503 is also used to control the vehicle to decelerate until it stops by adjusting the gear of the vehicle to the P gear if it is detected that the braking force applied to at least one wheel is within the second abnormal range; or, if it is detected that the braking force applied to at least one wheel is within the second abnormal range, obtain the vehicle status information and the lane information of the lane within a preset range; and control the vehicle to decelerate according to the vehicle status information and the lane information.

[0141] In one embodiment of the present application, the control module 503 is further used to control the first wheel of the vehicle to decelerate according to the vehicle status information and lane information, and the braking force of the first wheel is not within the second abnormal range.

[0142] In an embodiment of the present application, the vehicle control device further includes: an acquisition module; the control module further includes a first control submodule and a second control submodule;

[0143] an acquisition module, configured to acquire, if the lane line is a straight line, a first adjustment value corresponding to the rotation speed of the first wheel from a second correspondence relationship corresponding to the straight line acquired in advance according to the position of the first wheel and the position of the second wheel on the vehicle, the second correspondence relationship including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; and a first control submodule, configured to adjust the rotation speed of the first wheel based on the first adjustment value to reduce the rotation speed of the first wheel;

[0144] The acquisition module is also used to obtain, if the lane line is a curve line, a second adjustment value corresponding to the rotation speed of the first wheel from a third corresponding relationship corresponding to the pre-acquired curve line according to the position of the first wheel and the position of the second wheel on the vehicle, the third corresponding relationship including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; the second control submodule is used to adjust the rotation speed of the first wheel based on the second adjustment value to reduce the rotation speed of the first wheel.

[0145] In one embodiment of the present application, the vehicle control device further includes: an output module;

[0146] The output module is used to output a prompt message if it is detected that the braking force applied to each wheel is not within the second abnormal range, and the prompt message is used to indicate that the wheel speed sensor is abnormal.

[0147] The vehicle control device 500 provided in the embodiment of the present application can implement the various processes implemented in the aforementioned vehicle control method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0148] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0149] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0150] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0151] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid-state memory.

[0152] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect or the second aspect of the present disclosure.

[0153] The processor 601 implements any one of the information auditing methods in the above embodiments by reading and executing computer program instructions stored in the memory 602 .

[0154] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0155] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0156] Bus 610 includes hardware, software or both, and the parts of information audit method or verification equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In suitable cases, bus 610 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0157] In addition, in combination with the vehicle control method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the vehicle control methods in the above embodiment is implemented.

[0158] In addition, the embodiments of the present application may be implemented by providing a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device implements any one of the vehicle control methods in the above embodiments.

[0159] In addition, in combination with the electronic device in the above embodiment, an embodiment of the present application may provide a vehicle, which includes the electronic device in the above embodiment.

[0160] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiment, several specific steps are described as examples. However, the method process of the present application is not limited to the specific steps described, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0161] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0162] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0163] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0164] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle control method, characterized in that: The method comprises: During the driving of the vehicle, the rotation speed of each wheel of the vehicle is detected to obtain a plurality of detection values; If at least one detection value among the plurality of detection values ​​is within a first abnormal range, adjusting the braking pressure of the vehicle to increase the braking force applied to each wheel of the vehicle; If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, the vehicle is controlled to decelerate.

2. The vehicle control method according to claim 1, characterized in that: If at least one detection value among the plurality of detection values ​​is within the first abnormal range, adjusting the braking pressure of the vehicle comprises: If at least one detection value among the multiple detection values ​​is within the first abnormal range, obtaining the current driving speed of the vehicle; Acquire a first duration corresponding to the current driving speed from a pre-acquired first corresponding relationship, wherein the first corresponding relationship includes a plurality of driving speeds and a duration corresponding to each driving speed; During the first time period, a brake pressure regulator of the vehicle is controlled to adjust the brake pressure of the master brake cylinder according to a preset target brake pressure.

3. The vehicle control method according to claim 1, characterized in that: If it is detected that the braking force applied to at least one of the wheels is within the second abnormal range, controlling the vehicle to decelerate, comprises: If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, controlling the vehicle to decelerate until it stops by adjusting the gear position of the vehicle to the P gear; or, If it is detected that the braking force applied to at least one of the wheels is within a second abnormal range, obtaining the state information of the vehicle and the lane information of the lanes within a preset range; The vehicle is controlled to decelerate according to the vehicle state information and the lane information.

4. The vehicle control method according to claim 3, characterized in that: The step of controlling the vehicle to decelerate according to the vehicle state information and the lane information includes: According to the state information of the vehicle and the lane information, a first wheel of the vehicle is controlled to decelerate, and the braking force of the first wheel is not within the second abnormal range.

5. The vehicle control method according to claim 4, characterized in that: The lane information includes a lane line; the vehicle status information includes a position of the first wheel and a position of the second wheel on the vehicle, and the braking force of the second wheel is within the second abnormal range; The step of controlling the first wheel of the vehicle to decelerate according to the vehicle state information and the lane information comprises: If the lane line is a straight line, obtaining a first adjustment value corresponding to the rotation speed of the first wheel from a pre-acquired second correspondence corresponding to the straight line according to the position of the first wheel and the position of the second wheel on the vehicle, the second correspondence including the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; adjusting the rotation speed of the first wheel based on the first adjustment value to reduce the rotation speed of the first wheel; or, If the lane line is a curve line, then according to the position of the first wheel and the position of the second wheel on the vehicle, a second adjustment value corresponding to the rotation speed of the first wheel is obtained from a pre-acquired third correspondence corresponding to the curve line, wherein the third correspondence includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotation speed of the normal wheel; The rotation speed of the first wheel is adjusted based on the second adjustment value to reduce the rotation speed of the first wheel.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: The detection value is obtained by a wheel speed sensor; If at least one detection value among the plurality of detection values ​​is within the first abnormal range, after adjusting the brake pressure of the vehicle, the method further includes: If it is detected that the braking force applied to each wheel is not within the second abnormal range, a prompt message is output, where the prompt message is used to indicate that the wheel speed sensor is abnormal.

7. A vehicle control device, characterized in that: The device comprises: A detection module, used to detect the rotation speed of each wheel of the vehicle during the driving process of the vehicle to obtain multiple detection values; an adjusting module, configured to adjust the braking pressure of the vehicle to increase the braking force applied to each wheel of the vehicle if at least one of the plurality of detection values ​​is within a first abnormal range; The control module is used to control the vehicle to decelerate if it is detected that the braking force applied to at least one of the wheels is within a second abnormal range.

8. An electronic device, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle control method as described in any one of claims 1-6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in any one of claims 1 to 6.

11. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 8.

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