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

Abstract

The application discloses a vehicle control method, device, equipment, storage medium, product and vehicle, wherein the method comprises the following steps: detecting the rotating speed of each wheel of the vehicle during the driving of the vehicle to obtain a plurality of detection values; if at least one detection value in the plurality of detection values is located in a first abnormal range, adjusting the brake pressure of the vehicle to increase the brake force received by each wheel of the vehicle; and if it is detected that at least one brake force received by the wheel is located in a second abnormal range, controlling the vehicle to decelerate, so that whether the wheel is abnormal can be judged through the brake force, and the vehicle can be controlled to decelerate, so that the driving safety can be ensured and the occurrence of accidents can be reduced.

Description

Technical Field

[0001] This 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 Technology

[0002] In recent years, road traffic safety has become an increasingly important focus of public attention. Among various traffic accidents, those caused by problems with vehicle tires have been increasing year by year.

[0003] If a vehicle experiences an abnormal situation while in motion, such as a flat tire or a tire coming off, the driver may be startled, which could lead to misoperation of the vehicle and affect driving safety. Summary of the Invention

[0004] This application provides a vehicle control method, device, equipment, storage medium, product, and vehicle, which determines whether there is an abnormality in the wheels by measuring the braking force on the wheels, thereby controlling the vehicle to decelerate and ensuring driving safety.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] During vehicle operation, the rotational speed of each wheel of the vehicle is detected, and multiple detection values ​​are obtained;

[0007] 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 on each wheel of the vehicle.

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

[0009] In one embodiment of this application, adjusting the vehicle's braking pressure if at least one of the plurality of detection values ​​falls within a first abnormal range includes:

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

[0011] Obtain the first duration corresponding to the current driving speed from the pre-acquired first correspondence, wherein the first correspondence includes multiple driving speeds and the duration corresponding to each driving speed;

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

[0013] In one embodiment of this application, the step of controlling the vehicle to decelerate if the braking force on at least one of the wheels is detected to be within a second abnormal range includes:

[0014] If it is detected that the braking force on at least one of the wheels is within the second abnormal range, the vehicle is controlled to decelerate until it stops by adjusting the gear of the vehicle to P gear.

[0015] or,

[0016] If it is detected that the braking force on at least one of the wheels is within the second abnormal range, then the vehicle's status information and lane information of the lanes within the preset range are obtained.

[0017] Based on the vehicle's status information and the lane information, the vehicle is controlled to decelerate.

[0018] In one embodiment of this application, controlling the vehicle to decelerate based on the vehicle's state information and the lane information includes:

[0019] Based on the vehicle's status information and the lane information, 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.

[0020] In one embodiment of this application, the lane information includes lane lines; the vehicle status information includes the position of the first wheel and the position of the 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 based on the vehicle's status information and lane information includes:

[0022] If the lane line is a straight line, then based on the position of the first wheel and the position of the second wheel on the vehicle, the first adjustment value corresponding to the rotation speed of the first wheel is obtained from the second correspondence corresponding to the pre-obtained straight line. The second 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.

[0023] The rotational speed of the first wheel is adjusted based on the first adjustment value to reduce the rotational speed of the first wheel.

[0024] or,

[0025] If the lane line is a curve line, then based on the position of the first wheel and the position of the second wheel on the vehicle, the second adjustment value corresponding to the rotation speed of the first wheel is obtained from the third correspondence corresponding to the pre-obtained curve 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.

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

[0027] In one embodiment of this application, the detected value is obtained through a wheel speed sensor;

[0028] If at least one of the plurality of detected values ​​falls within a first abnormal range, then after adjusting the vehicle's braking pressure, the method further includes:

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

[0030] Secondly, embodiments of this application provide a vehicle control device, the device comprising:

[0031] The detection module is used to detect the rotational speed of each wheel of the vehicle during vehicle operation and obtain multiple detection values.

[0032] An adjustment module is used to adjust the braking pressure of the vehicle to increase the braking force on 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 configured to control the vehicle to decelerate if it detects that the braking force on at least one of the wheels is within a second abnormal range.

[0034] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory storing computer program instructions;

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

[0036] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle control method as described in the first aspect.

[0037] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect.

[0038] Sixthly, embodiments of this application provide a vehicle including the electronic equipment described in the third aspect.

[0039] The vehicle control method, apparatus, device, storage medium, product, and vehicle of this application embodiment detect the rotational speed of each wheel of the vehicle during vehicle operation, obtaining 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. If a wheel abnormality is detected, the braking pressure of the vehicle is adjusted to increase the braking force. The braking force is used to determine whether a wheel abnormality has occurred, thereby controlling the vehicle to decelerate, which can ensure driving safety and reduce the occurrence of accidents. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0042] Figure 2 This is another schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0043] Figure 3 This is another schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0044] Figure 4 This is another schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0045] Figure 5 This is a schematic diagram of the vehicle control device provided in the embodiments of this application;

[0046] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0047] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0049] The vehicles can be private cars, such as sedans, SUVs, MPVs, or pickup trucks. They can also be commercial vehicles, such as vans, buses, small trucks, or large semi-trailers. Vehicles can be either gasoline-powered or new energy vehicles. When a vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0050] To address the problems of the prior art, embodiments of this application provide a vehicle control method, apparatus, device, storage medium, product, and vehicle. The vehicle control method provided in this application embodiment will be described first below.

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

[0052] Step 101: During the vehicle's operation, the rotational speed of each wheel of the vehicle is detected, and multiple detection values ​​are obtained.

[0053] Applications include electronic devices, such as in-vehicle systems. During vehicle operation, wheel speed sensors detect the rotational speed of each wheel, obtaining multiple values. The wheel speed sensor primarily consists of a permanent magnet, a polar shaft, an induction coil, and a gear ring, which is typically mounted on the wheel hub or axle and rotates synchronously with the wheel.

[0054] Step 102: If at least one of the multiple detection values ​​is within the first abnormal range, adjust the vehicle's braking pressure to increase the braking force on each wheel of the vehicle.

[0055] In this embodiment, it is determined whether the multiple detection values ​​are within the first abnormal range. The first abnormal range can be preset, 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 travels at a constant speed and in a straight line, theoretically, the rotational speed of each wheel should be basically the same. However, in actual driving, the road surface is never perfectly smooth. There are slight undulations, potholes, or different coefficients of friction, which will cause the rolling radius of the wheels to change, thus causing differences in wheel rotational speed. For example, if the left wheel goes over a small pothole, the rotational speed of the left wheel will decrease briefly, while the speed of the other wheels remains unchanged, resulting in different wheel rotational speeds, although the difference is small.

[0057] The first abnormal range is also determined based on the rotational speed of each wheel of the vehicle. The rotational speed of each wheel is compared, and the minimum and maximum values ​​of the first abnormal range are formed by the rotational speeds of several wheels with small differences in rotational speed.

[0058] If at least one of the multiple detection values ​​falls within the first abnormal range, it indicates that the tire may have experienced an abnormality such as a blowout, air leak, or detachment. In this case, the vehicle's braking pressure is adjusted to increase the braking force on each wheel.

[0059] Step 103: If the braking force on at least one wheel is detected to be within the second abnormal range, then control the vehicle to decelerate.

[0060] In this embodiment, it is determined whether the braking force on the monitored wheel is within the second abnormal range. If the braking force on at least one wheel is detected to be 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 vehicle operation, the rotational speed of each wheel of the vehicle is detected, and multiple detection values ​​are obtained. 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. If a wheel abnormality is detected, the braking pressure of the vehicle is adjusted to increase the braking force. The braking force is used to determine whether a wheel abnormality has occurred, thereby controlling the vehicle to decelerate, which can ensure driving safety and reduce the occurrence of accidents.

[0062] In one embodiment of this application, specifically, step 102, if at least one of the multiple detection values ​​is within a first abnormal range, then adjusting the vehicle's braking pressure includes:

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

[0064] Obtain the first duration corresponding to the current driving speed from the pre-acquired first correspondence. The first correspondence includes multiple driving speeds and the duration corresponding to each driving speed.

[0065] Within the first duration, the vehicle's brake pressure regulator adjusts the brake pressure of the master cylinder according to the preset target brake pressure.

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

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

[0068] By adjusting the braking pressure of the master cylinder, the braking force on each wheel is increased. The detected braking force on the wheels can accurately determine whether there is an abnormality in the wheels. If an abnormality occurs, the vehicle will automatically decelerate, reducing the possibility of accidents caused by driver error.

[0069] In one embodiment of this application, specifically, step 103, if the braking force on at least one wheel is detected to be within a second abnormal range, then controlling the vehicle to decelerate includes:

[0070] If the braking force on at least one wheel is detected to be within the second abnormal range, the vehicle is controlled to decelerate until it stops by shifting the vehicle to P gear.

[0071] or,

[0072] If the braking force on at least one wheel is detected to be within the second abnormal range, the vehicle's status information and lane information of the lanes within the preset range are obtained.

[0073] Based on vehicle status information and lane information, control the vehicle to slow down.

[0074] In this embodiment, if the braking force on at least one wheel is detected to be within the second abnormal range, the vehicle is controlled to decelerate to a stop by adjusting the vehicle's gear to P gear, which is applicable to fuel vehicles.

[0075] Alternatively, if the braking force on at least one wheel is detected to be within a second abnormal range, the vehicle's status information and lane information within a preset range are acquired through the vehicle's camera and sensors. Further, based on the vehicle's status and lane information, the vehicle is controlled to decelerate. This is suitable for vehicles equipped with intelligent sensors, which can accurately capture and identify the current road conditions. These high-precision sensors act like the vehicle's keen visual and perceptual organs, transmitting and receiving various signals—whether it's the smoothness of the road ahead, the presence of potholes or bumps, or the position, speed, and direction of surrounding vehicles—providing a detailed and reliable data foundation for the vehicle's intelligent decision-making system to ensure the vehicle's safety and efficiency during operation. Controlling vehicle deceleration can handle sudden wheel abnormalities, giving the driver a buffer time to take over control of the vehicle.

[0076] It is compatible with different vehicles, whether they are fuel-powered or equipped with intelligent systems, and can provide corresponding measures to reduce vehicle speed and ensure user safety.

[0077] In one embodiment of this application, controlling a vehicle to decelerate based on vehicle status information and lane information includes:

[0078] Based on the vehicle's status information and lane information, the vehicle's first wheel 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 on each wheel of the vehicle. The braking force on each wheel is detected. If the braking force of the wheel is not within the second abnormal range, it indicates that there is no abnormality in the tire. The wheel without the problem is controlled to decelerate. Specifically, the first wheel of the vehicle is controlled to decelerate according to the vehicle status information and lane information. The first wheel is the 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, it is possible to accurately locate abnormal wheels and normal wheels, and control normal vehicles to decelerate.

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

[0082] Based on vehicle status information and lane information, control the vehicle's first wheel to decelerate, including:

[0083] If the lane line is a straight line, then based on the position of the first wheel and the position of the second wheel on the vehicle, the first adjustment value corresponding to the rotation speed of the first wheel is obtained from the second correspondence corresponding to the pre-obtained straight line. The second 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.

[0084] The rotational speed of the first wheel is adjusted based on the first adjustment value to reduce the rotational speed of the first wheel.

[0085] or,

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

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

[0088] In this embodiment, 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 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.

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

[0090] In one scenario: if the lane markings are straight, it is necessary to determine the adjustment value of the rotational speed of the first wheel and obtain the second correspondence corresponding to the straight lane markings. The second correspondence includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotational speed of the normal wheel. The braking force of the abnormal wheel is within the second abnormal range, while the braking force of the normal wheel is not within the second abnormal range. The first adjustment value corresponding to the rotational speed of the first wheel is obtained from the second correspondence. Furthermore, the rotational speed of the first wheel is adjusted based on the first adjustment value to reduce the vehicle's driving speed. The adjustment is made by adjusting the rotational speed of the wheel.

[0091] In another scenario: if the lane markings are curve markings, it is necessary to determine the adjustment value of the rotational speed of the first wheel and obtain the third correspondence corresponding to the straight lane markings. The third correspondence includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotational speed of the normal wheel. From the third correspondence, the second adjustment value corresponding to the rotational speed of the first wheel is obtained. Furthermore, the rotational speed of the first wheel is adjusted based on the second adjustment value, thereby reducing the vehicle's speed. By adjusting the rotational speed of the wheels, the vehicle can smoothly pass through the curve while decelerating.

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

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

[0094] Step 201: During the vehicle's operation, the rotational speed of each wheel of the vehicle is detected, and multiple detection values ​​are obtained.

[0095] During vehicle operation, wheel speed sensors detect the rotational speed of each wheel, obtaining multiple values. The wheel speed sensor mainly consists of a permanent magnet, a polar shaft, an induction coil, and a gear ring, which is typically mounted on the wheel hub or axle and rotates synchronously with the wheel.

[0096] Step 202: If at least one of the multiple detection values ​​is within the first abnormal range, adjust the vehicle's braking pressure to increase the braking force on each wheel of the vehicle.

[0097] In this embodiment, it is determined whether the multiple detection values ​​are within the first abnormal range. The first abnormal range can be preset, 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 travels at a constant speed and in a straight line, theoretically, the rotational speed of each wheel should be basically the same. However, in actual driving, the road surface is never perfectly smooth. There are slight undulations, potholes, or different coefficients of friction, which will cause the rolling radius of the wheels to change, thus causing differences in wheel rotational speed. For example, if the left wheel goes over a small pothole, the rotational speed of the left wheel will decrease briefly, while the speed of the other wheels remains unchanged, resulting in different wheel rotational speeds, although the difference is small.

[0099] The first abnormal range is also determined based on the rotational speed of each wheel of the vehicle. The rotational speed of each wheel is compared, and the minimum and maximum values ​​of the first abnormal range are formed by the rotational speeds of several wheels with small differences in rotational speed.

[0100] If at least one of the multiple detection values ​​falls within the first abnormal range, it indicates that the tire may have experienced an abnormality such as a blowout, air leak, or detachment. In this case, the vehicle's braking pressure is adjusted to increase the braking force on each wheel.

[0101] Step 203: If the braking force on at least one wheel is detected to be within the second abnormal range, then control the vehicle to decelerate.

[0102] In this embodiment, it is determined whether the braking force on the monitored wheel is within the second abnormal range. If the braking force on at least one wheel is detected to be 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 on each wheel is not within the second abnormal range, a prompt message is output to indicate that the wheel speed sensor is abnormal.

[0104] In this embodiment, if the controlled force on each wheel is detected to be within the second abnormal range, it indicates that there is no problem with each wheel. If the problem with the wheel is ruled out, it means that the wheel speed sensor is malfunctioning. Then, the vehicle is controlled to output a prompt message, which can be output by voice broadcasting the prompt message, and / or the prompt message can be displayed on the vehicle's infotainment system. The prompt message is used to indicate that the wheel speed sensor is abnormal, so as to promptly remind the user that the vehicle's wheel speed sensor is abnormal.

[0105] If a potential wheel malfunction is detected, the vehicle's braking pressure is adjusted to increase braking force. This braking force is used to determine if the wheel is malfunctioning, thereby controlling the vehicle's deceleration and ensuring driving safety, reducing the occurrence of accidents. Furthermore, after ruling out wheel problems, a wheel speed sensor malfunction warning is displayed to promptly alert the user to any abnormalities in the vehicle's wheel speed sensors.

[0106] The following provides an example of the vehicle control method provided in the embodiments of this application. Figure 3 Another schematic flowchart of an embodiment of the vehicle control method provided in this application is shown, as follows: Figure 3 As shown, the vehicle control method includes:

[0107] Step 301: During vehicle operation, the rotational speed of each wheel of the vehicle is detected by wheel speed sensors to obtain multiple detection values.

[0108] In this embodiment, during the entire operation of the vehicle, the wheel speed of each wheel is detected in real time and continuously by wheel speed sensors, and it is determined whether the detection value fed back by the wheel speed sensors is an abnormal value, such as 0.

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

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

[0111] Step 303: Determine whether each wheel can achieve brake pressure build-up.

[0112] In this embodiment, the hydraulic pressure corresponding to each wheel is detected by the brake caliper hydraulic pressure sensor, that is, the hydraulic pressure of the brake system corresponding to the wheel. If the hydraulic pressure corresponding to at least one wheel is detected to be within a preset abnormal range, the hydraulic pressure and braking force are positively correlated. The hydraulic pressure being within the preset abnormal range can reflect that the power of the wheel is also abnormal, that is, the braking force on at least one wheel is within the abnormal range (i.e., the braking force on at least one wheel is within the second abnormal range mentioned above). Then it is determined that the wheel cannot achieve brake pressure build-up. If the hydraulic pressure corresponding to each wheel is detected not to be within the preset abnormal range (i.e., if the braking force on each wheel is not within the second abnormal range mentioned above), then it is determined that each wheel can achieve brake pressure build-up.

[0113] Step 304: If each wheel can achieve brake pressure, output a wheel speed sensor malfunction message.

[0114] In this embodiment, if each wheel can achieve brake pressure, it means that there is no abnormality such as wheel detachment. If the wheel speed sensor is faulty, a wheel speed sensor malfunction warning message will be output (i.e., the output warning message mentioned above).

[0115] Step 305: If the wheels cannot build up braking pressure, the vehicle is slowed down until it stops by shifting to P gear.

[0116] In this embodiment, if a wheel cannot build up braking pressure, it indicates that there is an abnormality in the wheel. By adjusting the vehicle's gear to P gear, the vehicle is controlled to decelerate until it stops. The wheels are subjected to braking force, and the vehicle begins to gradually decelerate. The whole process is smooth and efficient, providing drivers and passengers with a safe and reliable parking experience.

[0117] Applicable to fuel-powered vehicles, if one or more wheels malfunction, such as being detached from the vehicle due to an impact, the above method applies braking force to the wheels, causing the vehicle to gradually decelerate. The entire process is smooth and efficient, providing drivers and passengers with a safe and reliable parking experience.

[0118] The following provides an example of the vehicle control method provided in the embodiments of this application. Figure 4 A further schematic flowchart of an embodiment of the vehicle control method provided in this application is shown, as follows: Figure 4 As shown, the vehicle control method includes:

[0119] Step 401: During vehicle operation, the rotational speed of each wheel of the vehicle is detected by wheel speed sensors to obtain multiple detection values.

[0120] In this embodiment, during the entire operation of the vehicle, the wheel speed of each wheel is detected in real time and continuously by wheel speed sensors, and it is determined whether the detection value fed back by the wheel speed sensors is an abnormal value, such as 0.

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

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

[0123] Step 403: Determine whether each wheel can achieve brake pressure build-up.

[0124] In this embodiment, the hydraulic pressure of each wheel is detected by the brake caliper hydraulic pressure sensor. If the hydraulic pressure of at least one wheel is detected to be within a preset abnormal range, the hydraulic pressure and braking force are positively correlated. The fact that the hydraulic pressure is within the preset abnormal range reflects that the power of the wheel is also abnormal. That is, the braking force of at least one wheel is within the abnormal range (i.e., the braking force of at least one wheel is within the second abnormal range mentioned above). Then it is determined that the wheel cannot achieve brake pressure. If the hydraulic pressure of each wheel is detected to be outside the preset abnormal range (i.e., if the braking force of each wheel is not within the second abnormal range mentioned above), then it is determined that each wheel can achieve brake pressure.

[0125] Step 404: If each wheel can achieve brake pressure, output a wheel speed sensor malfunction message.

[0126] In this embodiment, if each wheel can achieve brake pressure, it means that there is no abnormality such as wheel detachment. If the wheel speed sensor is faulty, a wheel speed sensor malfunction warning message will be output (i.e., the output warning message mentioned above).

[0127] Step 405: If the wheels cannot achieve braking pressure, determine the lane condition based on the slope of the lane line.

[0128] In this embodiment, if a wheel cannot build up braking pressure, it indicates that the wheel is damaged. The slope of the lane line is then used to determine whether the lane is a straight road or a curve.

[0129] Step 406: If the lane is straight, 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 road line as mentioned above), then based on the positions of the first wheel and the second wheel on the vehicle, the first adjustment value corresponding to the rotation speed of the first wheel is obtained from the second correspondence corresponding to the pre-obtained straight road line. The second 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 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 slow down.

[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 positions of the first wheel and the second wheel on the vehicle, a second adjustment value corresponding to the rotation speed of the first wheel is obtained from the third correspondence corresponding to the pre-obtained curve 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 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 maintain excellent handling and stability at all times, ensuring a safe and smooth completion of the entire cornering process, providing 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 without causing dangerous situations such as deviation, fishtailing, or skidding due to uneven distribution of braking force. This ensures that the vehicle can always maintain a safe, stable, and efficient operating state when driving on straight roads, whether in normal cruising or braking operation, providing a comfortable and safe travel experience for drivers and passengers.

[0135] Figure 5 A structural diagram of the vehicle control device provided in an embodiment of this application is shown. Figure 5 As shown, the vehicle control device 500 includes:

[0136] The detection module 501 is used to detect the rotational speed of each wheel of the vehicle during the vehicle's operation and obtain multiple detection values.

[0137] The adjustment module 502 is used to adjust the braking pressure of the vehicle to increase the braking force on each wheel of the vehicle if at least one of the multiple detection values ​​is within the first abnormal range.

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

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

[0140] In one embodiment of this application, the control module 503 is further configured to, if it is detected that the braking force on at least one wheel is within a second abnormal range, control the vehicle to decelerate until it stops by adjusting the vehicle's gear to P gear; or, if it is detected that the braking force on at least one wheel is within a second abnormal range, acquire the vehicle's status information and lane information of lanes within a preset range; and control the vehicle to decelerate based on the vehicle's status information and lane information.

[0141] In one embodiment of this application, the control module 503 is further configured to control the first wheel of the vehicle to decelerate based on the vehicle's status information and lane information, wherein the braking force of the first wheel is not within the second abnormal range of the wheel.

[0142] In one embodiment of this 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] The acquisition module is used to, if the lane line is a straight line, obtain a first adjustment value corresponding to the rotation speed of the first wheel from a pre-acquired second correspondence relationship corresponding to the straight line, based on the positions of the first wheel and the second wheel on the vehicle. 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 first control submodule is used 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 further configured to, if the lane line is a curve, obtain a second adjustment value corresponding to the rotational speed of the first wheel from a pre-acquired third correspondence relationship corresponding to the curve line, based on the positions of the first wheel and the second wheel on the vehicle. The third correspondence relationship includes the position of the abnormal wheel, the position of the normal wheel, and the adjustment value corresponding to the rotational speed of the normal wheel. The second control submodule is configured to adjust the rotational speed of the first wheel based on the second adjustment value to reduce the rotational speed of the first wheel.

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

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

[0147] The vehicle control device 500 provided in this application embodiment 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 described again here.

[0148] Figure 6 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0151] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0152] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 methods according to the first or second aspect of this disclosure.

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

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

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

[0156] Bus 610 includes hardware, software, or both, that couples components of an information auditing method or verification device together. For example, and not as a limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0157] Furthermore, in conjunction with the vehicle control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle control methods in the above embodiments.

[0158] Alternatively, this application embodiment can provide a computer program product for implementation, wherein the instructions in the computer program product, when executed by the processor of an electronic device, cause the electronic device to implement any of the vehicle control methods in the above embodiments.

[0159] In addition, in conjunction with the electronic devices in the above embodiments, this application embodiment can provide a vehicle that includes the electronic devices in the above embodiments.

[0160] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described as examples. However, the method process of this application is not limited to the specific steps described. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0161] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0162] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0163] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0164] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: During vehicle operation, the rotational speed of each wheel of the vehicle is detected, and multiple detection values ​​are obtained; If at least one of the multiple detection values ​​is within the first abnormal range, the braking pressure of the vehicle's master cylinder is adjusted to increase the braking force on each wheel of the vehicle. If it is detected that the braking force on at least one of the wheels is within the 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 of the plurality of detection values ​​is within a first abnormal range, adjusting the vehicle's braking pressure includes: If at least one of the multiple detection values ​​is within the first abnormal range, then the current driving speed of the vehicle is obtained; Obtain the first duration corresponding to the current driving speed from the pre-acquired first correspondence, wherein the first correspondence includes multiple driving speeds and the duration corresponding to each driving speed; Within the first time period, the brake pressure regulator of the vehicle is controlled to adjust the brake pressure of the master cylinder according to the preset target brake pressure.

3. The vehicle control method according to claim 1, characterized in that, If it is detected that the braking force on at least one of the wheels is within the second abnormal range, then controlling the vehicle to decelerate includes: If it is detected that the braking force on at least one of the wheels is within the second abnormal range, the vehicle is controlled to decelerate until it stops by adjusting the gear of the vehicle to P gear. or, If it is detected that the braking force on at least one of the wheels is within the second abnormal range, then the vehicle's status information and lane information of the lanes within the preset range are obtained. Based on the vehicle's status information and the lane information, the vehicle is controlled to decelerate.

4. The vehicle control method according to claim 3, characterized in that, The step of controlling the vehicle to decelerate based on the vehicle's status information and the lane information includes: Based on the vehicle's status information and the lane information, 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.

5. The vehicle control method according to claim 4, characterized in that, The lane information includes lane lines; the vehicle status information includes the position of the first wheel and the 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 based on the vehicle's status information and lane information includes: If the lane line is a straight line, then based on the position of the first wheel and the position of the second wheel on the vehicle, the first adjustment value corresponding to the rotation speed of the first wheel is obtained from the second correspondence corresponding to the pre-obtained straight line. The second 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 rotational speed of the first wheel is adjusted based on the first adjustment value to reduce the rotational speed of the first wheel. or, If the lane line is a curve line, then based on the position of the first wheel and the position of the second wheel on the vehicle, the second adjustment value corresponding to the rotation speed of the first wheel is obtained from the third correspondence corresponding to the pre-obtained curve 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 rotational speed of the first wheel is adjusted based on the second adjustment value to reduce the rotational speed of the first wheel.

6. The vehicle control method according to any one of claims 1-5, characterized in that, The detected value is obtained through a wheel speed sensor; If at least one of the plurality of detected values ​​falls within a first abnormal range, then after adjusting the vehicle's braking pressure, the method further includes: If it is detected that the braking force on each wheel is not within the second abnormal range, a prompt message is output, which is used to indicate that the wheel speed sensor is abnormal.

7. A vehicle control device, characterized in that, The device includes: The detection module is used to detect the rotational speed of each wheel of the vehicle during vehicle operation and obtain multiple detection values. An adjustment module is used to adjust the braking pressure of the vehicle's master cylinder to increase the braking force on 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 configured to control the vehicle to decelerate if it detects that the braking force on at least one of the wheels is within a second abnormal range.

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

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

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

11. A vehicle, characterized in that, Including the electronic device as described in claim 8.

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